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.

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&#39;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&#39;s hand, and by supporting the device on a base rather than on the frame of the operator&#39;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&#39;s need to be in a direct line of sight with the target, and reducing the operator&#39;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.™. 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.