Semi-autonomous motorized weapon systems

Abstract

Various techniques are described herein for controlling autonomous and semi-autonomous motorized weapons systems. In various embodiments, semi-autonomous motorized weapons systems may perform automated target identification, selection and prioritization techniques. Dynamic target tracking may be performed, for both primary and secondary targets, in cases of stationary and moving targets and weapon systems. A motorized weapon system then may be actuated automatically toward a firing solution target point, during which the operator-controlled firing mechanism may be enabled or disabled based on the projected point of impact of the weapon in comparison to a determined boundary area associated with the target.

What is claimed is: 
     
         1 . A semi-autonomous motorized weapon system, comprising:
 a weapon capable of firing munitions;   a two-axis or three-axis mount configured to support and position the weapon;   a motor coupled to the mount and configured to move the mount to specified positions, thereby controlling the direction to which the weapon is aimed;   a manual firing mechanism coupled to the weapon;   a processing unit comprising one or more processors; and   memory coupled with and readable by the processing unit and storing therein a set of instructions which, when executed by the processing unit, causes the semi-autonomous motorized weapon system to:
 determine a target point associated with a target, at a remote location from the weapon system; 
 determine an area having a boundary surrounding the target point, wherein the boundary of the area is determined by comparing a likelihood of the weapon hitting the target when aimed at the boundary to a predetermined likelihood threshold, such that the weapon, when aimed at any point within the area, has a likelihood of hitting the target higher than the predetermined likelihood threshold; 
 after determining the target point, engage the motor with instructions to move the mount from an initial position to a target position at which the weapon is aimed at the target point; 
 during the engagement of the motor:
 (1) periodically determine, during the movement of the mount toward the target position, whether the weapon is aimed at a position within the area surrounding the target point; 
 (2) in response to determining, during the movement of the mount toward the target position, that the weapon is not aimed at a position within the area surrounding the target point, disable the manual firing mechanism of the weapon system to prevent firing of the weapon; and 
 (3) in response to determining, during the movement of the mount toward the target position, that the weapon is aimed at a position within the area surrounding the target point, enable the manual firing mechanism to allow firing of the weapon by an operator; 
 
 receive a firing command from an operator, via the manual firing mechanism; and 
 in response to firing command being received at a time when the manual firing mechanism is enabled, firing the weapon. 
   
     
     
         2 . The semi-autonomous motorized weapon system of  claim 1 , wherein determining the area surrounding the target point comprises:
 calculating an angular distance, from the perspective of the weapon system, between the target point and the boundary of the area surrounding the target point.   
     
     
         3 . The semi-autonomous motorized weapon system of  claim 2 , wherein the angular distance is calculated based on a first determined distance between the weapon system and the target point, and a second spherical radius distance determined based on characteristics of the target. 
     
     
         4 . The semi-autonomous motorized weapon system of  claim 1 , wherein determining the area surrounding the target point comprises:
 calculating a distance between the target point and the boundary of the area surrounding the target point, wherein the distance is calculated based on the size of the target..   
     
     
         5 . The semi-autonomous motorized weapon system of  claim 1 , wherein determining the area surrounding the target point comprises:
 calculating a distance between the target point and the boundary of the area surrounding the target point, wherein the distance is calculated based on characteristics of at least one of: the weapon, the mount, or the motor of the weapon system.   
     
     
         6 . The semi-autonomous motorized weapon system of  claim 1 , wherein determining the area surrounding the target point comprises:
 calculating a distance between the target point and the boundary of the area surrounding the target point, wherein the distance is calculated based on detected movement of the target.   
     
     
         7 . The semi-autonomous motorized weapon system of  claim 1 , wherein determining the area surrounding the target point comprises:
 calculating a distance between the target point and the boundary of the area surrounding the target point, wherein the distance is calculated based on movement of the weapon system.   
     
     
         8 . The semi-autonomous motorized weapon system of  claim 1 , further comprising a display screen, wherein the memory stores additional instructions which, when executed by the processing unit, further causes the semi-autonomous motorized weapon system to:
 output an augmented reality user interface via a display screen, the augmented reality user interface displaying an image of the target, a computer-generated indication of the target point, and a computer-generated indication of the boundary of the area surrounding the target point.   
     
     
         9 . A method of operating a motorized weapon system, the method comprising:
 determining, by a targeting system of the motorized weapon system, a target point associated with a target, at a remote location from the motorized weapon system;   determining, by the targeting system of the motorized weapon system, an area having a boundary surrounding the target point, wherein the boundary of the area is determined by comparing a likelihood of a weapon of the motorized weapon system hitting the target when aimed at the boundary to a predetermined likelihood threshold, so that the weapon, when aimed at any point within the area, has a likelihood of hitting the target higher than the predetermined likelihood threshold;   initiating, by the targeting system, engagement of a motor of the motorized weapon system, to move a mount from an initial position to a target position at which the weapon is aimed at the target point;   during the engagement of the motor:
 (1) periodically determining by the targeting system, during the movement of the mount toward the target position, whether the weapon is aimed at a position within the area surrounding the target point; 
 (2) in response to determining by the targeting system, during the movement of the mount toward the target position, that the weapon is not aimed at a position within the area surrounding the target point, disabling a firing mechanism of the weapon system to prevent firing of the weapon; and 
 (3) in response to determining by the targeting system, during the movement of the mount toward the target position, that the weapon is aimed at a position within the area surrounding the target point, enabling the firing mechanism to allow firing of the weapon; 
   receiving, by the motorized weapon system, a firing command via the firing mechanism; and   in response to firing command being received when the firing mechanism is enabled, initiating firing of the weapon.   
     
     
         10 . The method of operating a motorized weapon system of  claim 9 , wherein determining the area surrounding the target point comprises:
 calculating an angular distance, from the perspective of the motorized weapon system, between the target point and the boundary of the area surrounding the target point.   
     
     
         11 . The method of operating a motorized weapon system of  claim 10 , wherein the angular distance is calculated based on a first determined distance between the motorized weapon system and the target point, and a second spherical radius distance determined based on characteristics of the target. 
     
     
         12 . The method of operating a motorized weapon system of  claim 9 , wherein determining the area surrounding the target point comprises:
 calculating a distance between the target point and the boundary of the area surrounding the target point, wherein the distance is calculated based on the size of the target.   
     
     
         13 . The method of operating a motorized weapon system of  claim 9 , wherein determining the area surrounding the target point comprises:
 calculating a distance between the target point and the boundary of the area surrounding the target point, wherein the distance is calculated based on characteristics of at least one of: the weapon, the mount, or the motor of the motorized weapon system.   
     
     
         14 . The method of operating a motorized weapon system of  claim 9 , wherein determining the area surrounding the target point comprises:
 calculating a distance between the target point and the boundary of the area surrounding the target point, wherein the distance is calculated based on detected movement of the target.   
     
     
         15 . The method of operating a motorized weapon system of  claim 9 , wherein determining the area surrounding the target point comprises:
 calculating a distance between the target point and the boundary of the area surrounding the target point, wherein the distance is calculated based on movement of the weapon system.   
     
     
         16 . The method of operating a motorized weapon system of  claim 9 , further comprising:
 outputting an augmented reality user interface via a display screen, the augmented reality user interface displaying an image of the target, a computer-generated indication of the target point, and a computer-generated indication of the boundary of the area surrounding the target point.   
     
     
         17 . One or more non-transitory computer-readable media, comprising computer-executable instructions, which when executed by one or more processors, perform actions including:
 determining, by a targeting system of a motorized weapon system, a target point associated with a target, at a remote location from the motorized weapon system;   determining, by the targeting system of the motorized weapon system, an area having a boundary surrounding the target point, wherein the boundary of the area is determined by comparing a likelihood of a weapon of the motorized weapon system hitting the target when aimed at the boundary to a predetermined likelihood threshold, so that the weapon, when aimed at any point within the area, has a likelihood of hitting the target higher than the predetermined likelihood threshold;   initiating, by the targeting system, engagement of a motor of the motorized weapon system, to move a mount from an initial position to a target position at which the weapon is aimed at the target point;   during the engagement of the motor:
 (1) periodically determining by the targeting system, during the movement of the mount toward the target position, whether the weapon is aimed at a position within the area surrounding the target point; 
 (2) in response to determining by the targeting system, during the movement of the mount toward the target position, that the weapon is not aimed at a position within the area surrounding the target point, disabling a firing mechanism of the motorized weapon system to prevent firing of the weapon; and 
 (3) in response to determining by the targeting system, during the movement of the mount toward the target position, that the weapon is aimed at a position within the area surrounding the target point, enabling the firing mechanism to allow firing of the weapon; 
   receiving, by the motorized weapon system, a firing command via the firing mechanism; and   in response to firing command being received when the firing mechanism is enabled, initiating firing of the weapon.   
     
     
         18 . The non-transitory computer-readable media of  claim 17 , wherein determining the area surrounding the target point comprises:
 calculating a distance between the target point and the boundary of the area surrounding the target point, wherein the distance is calculated based on detected movement of the target.   
     
     
         19 . The non-transitory computer-readable media of  claim 17 , wherein determining the area surrounding the target point comprises:
 calculating a distance between the target point and the boundary of the area surrounding the target point, wherein the distance is calculated based on movement of the motorized weapon system.   
     
     
         20 . The non-transitory computer-readable media of  claim 17 , wherein the computer-executable instructions, when executed by the one or more processors, perform further actions including:
 outputting an augmented reality user interface via a display screen, the augmented reality user interface displaying an image of the target, a computer-generated indication of the target point, and a computer-generated indication of the boundary of the area surrounding the target point.