FIREARM SAFETY AND TRAINING AID

Description

RELATED APPLICATIONS

This application claims the benefit under 35 U.S.C. § 119(e) of U.S. Provisional Patent Application No. 63/574,551 filed on 4 Apr. 2024, the contents of which are incorporated herein by reference in its entirety.

FIELD OF THE DISCLOSURE

The present disclosure relates generally to projectile weapons and more particularly to a firearm safety and training aid.

BACKGROUND

Gaining proficiency with a shooting device such as a rifle, pistol, shotgun, or bow requires practice. That practice typically involves hundreds or thousands of shots to be fired at a suitable shooting range. Currently, in the case of firearms, each pull of the trigger can cost anywhere between $0.10 and $3.80 or more depending on the caliber and the quality of the ammunition being used. For someone who is simply maintaining proficiency, the person may fire several hundred rounds per training session. For example, a beginner may fire 30-50 rounds per week, while an avid or competitive shooter may fire hundreds or thousands of rounds per week. This amount of shooting can quickly add up to a considerable expense—often quickly exceeding the cost of the firearm itself. Techniques and embodiments of the present disclosure are discussed with reference to a firearm (e.g., a rifle, pistol, or shotgun that uses a cartridge with a combustible charge), but the principles of the present disclosure are not limited to firearms and can be applied to other projectile weapons, such as a paint-ball gun, an airsoft gun, a pellet gun, a bow, a crossbow, or any other handheld or shoulder fired device having similar concerns relative to safe and accurate usage.

In addition to proficiency in properly placing a projectile on a target, there are safety concerns associated with firearm use. For example, it is important to know that the firearm is pointed at the correct target, that the proper firearm is being used, that there is little risk of causing damage or injury to unintended targets, that the firearm is loaded (or unloaded), that the firearm is held in an appropriate manner, that the safety mechanisms on a particular firearm are enabled (or disabled), and other concerns that would be apparent to one skilled in the use of firearms.

In the art there are several devices that address some aspects of proper firearm use. For example, U.S. Pat. No. 5,004,423 (“Bertrams”) describes a system that replaces the bullet in a pistol with a device to generate a beam of infrared light that, if the pistol is properly aimed when the trigger is pulled, is detected by a photosensor that gives the user feedback that they hit the target. Recognizing that systems such as Bertrams lack the tactile feedback of the recoil of a pistol and its effect on point of impact, U.S. Pat. No. 6,869,285 (“Jones”) incorporates a mechanism to use compressed gas to actuate the slide of a pistol to emulate the feel of recoil when a shot is fired. U.S. Patent Application Publication No. 2010/0227298 (“Charles”) expands on the concept of Bertrams by incorporating a radio transmitter and a receiver in an audio device that allows, for example, simulating the sound of a firearm being fired, or which provides instruction from a human instructor. U.S. Pat. No. 8,908,045 (“Stewart”) attempts to train shooters by capturing images of the target around the time when the firearm is discharged. This system allows the shooter to compare the sight pictures of various successful and unsuccessful shots to facilitate learning the correct sight picture.

SUMMARY

Unlike previous inventions, the inventions described herein use devices integrated within, or attached to a firearm to not only facilitate training the user of the firearm (herein referred to as the shooter), but to also assist in improving the situation awareness of the shooter in order to avoid unintended consequences of using the firearm.

As a training aid, a camera attached to the firearm allows tracking the motion of the firearm as it is being held on a target. This camera image can be used to track the motion of the firearm relative to the target before the trigger is actuated, at the time of actuation, and subsequent to actuation during dry-fire (no live ammunition used) or live-fire (live ammunition is used) exercises. Images may be analyzed by a computer system incorporated with the camera, allowing feedback to the user about shot placement, or the images may be transmitted via Bluetooth™, Wi-Fi, or other suitable transmission means to a portable device, such as a cellphone, or to another computing device for analysis or archiving. In applications as a training aid an accelerometer having one or more axes may be used in addition to the camera images to track the motion of the firearm before, during, and after trigger actuation.

As a safety aid, the camera can be used in conjunction with an image processing system to perform target recognition. In this way an annunciator can be used to signal the user to shoot, or don't shoot. For example, an image recognition system could be used to recognize a proper target (such as a standard bullseye target), and the annunciator could signal the shooter to shoot the target. If the firearm is not pointed at a proper target the annunciator could signal the shooter to not shoot. It is within the scope of this invention that such a target recognition system could be trained, for example, to recognize family members so that, in the event of a potential intruder, if the firearm was accidently pointed at a family member the shooter would be signaled to not shoot. Additionally, the target recognition system could be integrated with the mechanical safety systems typically found on firearms to mechanically disable the firearm if the firearm is pointed at an inappropriate target.

In another aspect as a safety and training aid, the inclusion of an accelerometer having one or more axes allows for tracking the movement of the firearm. This can be useful when, for example, multiple firearms are being carried by a single shooter. In these embodiments when a firearm is drawn from, for example, a holster, an annunciator can signal that a pistol was drawn or that a taser was drawn. In such embodiments, for example, training is enhanced by giving the shooter feedback as to which weapon was drawn in a given scenario, and safety can be enhanced by providing the shooter additional feedback that the correct weapon is being used.

In another aspect as a safety aid, Bluetooth™, Wi-Fi, or other suitable radio technology can be used to associate a firearm with a portable device such as a cellphone. In this manner, the shooter and the firearm can be linked together when both are in proximity of each other. This enables the firearm, for example, to be disabled when the shooter and firearm are not in close proximity. It also makes the firearm impossible to fire if the shooter (or another authorized person) is not in the proximity of the firearm.

In another aspect as a safety aid if the firearm incorporates Bluetooth™, Wi-Fi, cellular, or other suitable radio technology and one or more accelerometers, then a notification can be broadcast if the firearm has been moved. For example, if a firearm is moved from its storage location without the shooter in proximity, then an alarm may sound or the shooter is notified of the unauthorized movement of the firearm. By incorporating an ability to broadcast a signal using Bluetooth™, Wi-Fi, or other suitable radio technology, it is also possible for a compatible receiver to detect if the firearm has moved into the proximity of the receiver. By locating receivers at the entrance to facilities where firearms are not allowed (such as schools, hospitals, post offices, courtrooms, and the like) it is possible to alert security personnel of the presence of an unauthorized firearm at a particular location.

In yet another aspect of the invention, a location determining system such as a global positioning system (GPS) receiver can be included on the firearm to track the location of the firearm. In the event of theft, Bluetooth™, Wi-Fi, cellular, or other suitable radio technology could be used to locate and possibly recover the firearm. Such a location determining system can include, without limitation, GPS-based, cellular-based, Wi-Fi-based, or other position-determining technologies.

Features and advantages described herein are not all-inclusive and, in particular, many additional features and advantages will be apparent to one of ordinary skill in the art in view of the drawings, specification, and claims. Moreover, it should be noted that the language used in the specification has been selected principally for readability and instructional purposes and not to limit the scope of the disclosed subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the inventions disclosed herein may be better understood by referring to the following description in conjunction with the accompanying drawings in which:

FIG. 1 illustrates a side view of a firearm with a safety device attached, in accordance with an embodiment of the present disclosure.

FIG. 2 illustrates the main components of the firearm safety system, in accordance with an embodiment of the present disclosure.

FIG. 3 illustrates a reference coordinate system and its relationship to an example firearm, in accordance with an embodiment of the present disclosure.

FIG. 4 is a plot of accelerations before, during, and after a firearm is physically moved, in accordance with an embodiment of the present disclosure.

FIG. 5 is a flow diagram of an algorithm for detecting firearm movement, in accordance with an embodiment of the present disclosure.

FIG. 6A is a plot of accelerations before, during, and after a firearm is discharged, in accordance with an embodiment of the present disclosure.

FIG. 6B is a zoomed-in view of the accelerations at the time of discharge, in accordance with an embodiment of the present disclosure.

FIG. 7 is a flow diagram of an algorithm for using acceleration to predict point of impact, in accordance with an embodiment of the present disclosure.

FIG. 8 is a block diagram showing the main components of the optical processing which may be included in the firearm safety system, in accordance with an embodiment of the present disclosure.

FIG. 9 illustrates the use of optical sensors to track a target, in accordance with an embodiment of the present disclosure.

FIG. 10 illustrates how the image boresight image moves as the firearm moves during pointing, in accordance with an embodiment of the present disclosure.

FIG. 11 is a flow diagram of an algorithm for using image data to predict point of impact, in accordance with an embodiment of the present disclosure.

FIG. 12 is a flow diagram of an algorithm for disabling the firearm if it is pointed at an improper target, in accordance with an embodiment of the present disclosure.

FIG. 13 is a flow diagram of an algorithm for using image data to disable firearm if it is pointed at a known target, in accordance with an embodiment of the present disclosure.

FIG. 14A illustrates a cross-sectional view of part of a firearm frame with a blocking mechanism, in accordance with an embodiment of the present disclosure.

FIG. 14B illustrates a side view showing fire control components of a revolver, in accordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION

In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the inventions disclosed herein. It will be understood by those of ordinary skill in the art that these embodiments may be practiced without some of these specific details. It will also be understood by those of ordinary skill in the art that the descriptions provided are an example of how an invention might be realized, but that there may be other equivalent ways that a particular invention may be realized.

FIG. 1 depicts one possible embodiment of safety device 100 attached to a representative firearm 101. In FIG. 1, safety device 100 is illustrated as attached below the slide of firearm 101, however it is envisioned that safety device 100 may be placed at any convenient location on firearm 101, including, but not limited to, the slide, a Picatinny rail, the butt, or a location interior to firearm 101. Similarly, firearm 101 is illustrated as a semi-automatic pistol, however it is envisioned that safety device 100 may be used with any type of device such as a pistol, revolver, rifle, shotgun, airsoft gun, paintball gun, pellet gun, bow, crossbow, or other similar instrument that causes a projectile to be discharged. Note that not all components are required in all embodiments.

FIG. 2 illustrates the components that are used to realize the various inventions realizable by safety device 100. As illustrated in FIG. 2, safety device 100 generally includes devices used to perform various functions such as the detection and interpretation of images in the vicinity of safety device 100, detection of the motion of firearm 101, inhibiting the operation of firearm 101, detection of the proximity of firearm 101 to other devices, detection of the location of firearm 101, providing audible or tactile alerts to the user of firearm 101, or other operations as described herein.

To realize the various inventions described herein, firearm 101 includes various sensors, actuators, and processors. For example, safety device 100 may include one or more optical sensors 201 which, for example, provide visual data such as still images, video images, biometrics such as fingerprint data and the like; it may include optical emitters such as laser, infrared, or other light sources; or it may include sensors and emitters configured as a rangefinder as is known in the art. Inertial measurement unit 202, for example, may include accelerometers which measure acceleration along one or more axes, gyroscopes that measure rotational rate around one or more axes, and magnetometers that measure orientation relative to one or more axes.

Solenoid 203 may be an electromechanical solenoid or other device such as a motor or electromagnet, that can be used to enable or disable the trigger mechanism of firearm 101. Solenoid 203 provides a mechanism for using an electrical signal to allow, or prevent, the discharge of a projectile from firearm 101.

USB interface 204 generically refers to a wired interface that can be used for connecting a computer or a battery charger to firearm 101. Element USB 204 is not intended to be limited strictly to the known USB family of standard protocols and may include such things as USB, Thunderbolt, RS-232, SPI, IIC, near-field communications (NFC), wireless charging interfaces and the like. In this context, a person of skill in the art would understand USB 204 to simply provide a means for communicating with processor 205 and/or charging battery 208. Functions provided by USB 204 include, without limitation, an ability to update the software of safety device 100, an ability to download data collected by Optical sensor 201, IMU 202, Wireless 206, and/or GPS 210.

Processor 205 may consist of one or more microprocessors, microcontrollers, graphics processors, signal processors and the like. Processor 208 alone, or in combination with other processors, executes program instructions that receive data from the various sensors 201, 202, and 203, processes that data, and outputs results to output devices 203 and 209. Additionally, program instructions executing on processor 205 provide the functions necessary to interact with input/output interfaces such as USB 204, and Wireless 206. Memory 207 may be a combination of volatile and non-volatile memory devices. Typically, non-volatile memory devices such as, but not limited to, solid-state drives (SSDs), EPROM, EEPROM, flash, or battery backed-up random access memory (RAM) would be used to store program instructions and other data that must remain stored in the event of power failure. Memory 207 may also include other types of volatile memory, known generally as random-access memory, to store transient data that need not be preserved in the event of a power failure.

Wireless 206 is intended to refer to one or more wireless communications techniques and includes, without limitation, interfaces such as Bluetooth™, Wi-Fi, cellular, or ZigBee radio frequency interfaces, but in some embodiments may also include NFC or optical communications technologies.

Battery 206 supplies power to operate the various electronic components included in safety device 100. Battery 206 may be a conventional battery using Li-ion, Li-Po, NiMH, Ni—Cd, or other known rechargeable battery technology, it may be a non-rechargeable lithium, alkaline, zinc-carbon, or other non-rechargeable battery technology. In some embodiments, battery 206 may harvest power through the motion of firearm 101 avoiding the need for charging or replacing more conventional batteries. In other embodiments, battery 206 may utilize so-called super capacitor technology to store sufficient energy to supply the power needed to operate safety device 100.

Annunciator 209 provides aural and/or tactile feedback to the user of firearm 101. This annunciator can be a vibration motor, loudspeaker, piezoelectric alarm, or other annunciator. In some embodiments the annunciator provides an alarm if the processor determines that it is not safe to discharge a projectile. In other embodiments the annunciator may provide status information about firearm 101.

GPS 210 refers to a device, such as a Global Positioning System receiver, for determining an absolute location, for example in latitude and longitude, of firearm 101. While GPS 210 is referred to as a GPS receiver, it can be any positioning system receiver including a Global Navigation Satellite System (GNSS) receiver, a cellular-based positioning system, a Wi-Fi based positioning system, or other radio-based positioning system as is known in the art.

Mobile device 200 communicates with safety device 100 through wireless interface 206. In various embodiments mobile device 200 may be a conventional Apple or Android cellular telephone, but the mobile device 200 can be any other device such as a tablet, laptop, or desktop computer, an iPad, or any other device supporting the protocol(s) used by wireless interface 206. The characteristics of the signal 211 passed between mobile device 200 and safety device 100 depends on the requirements for a specific embodiment of the invention. For example, and without limitation, when the user is in close proximity to firearm 101, signal 211 may be a Bluetooth low energy (BLE) signal. Similarly, if the user is distant from firearm 101, signal 211 may be cellular or Wi-Fi signal. In this way a user can be notified of any change in the status of firearm 101 regardless of the proximity of the user to the firearm.

Acceleration Detection System

In some embodiments IMU 202 includes accelerometers that measure the accelerations of firearm 101 along one or more axes. For example, in one embodiment the accelerometers in IMU 202 are arranged to measure the accelerations along three orthogonal axes, X, Y, and Z where, in one case, the Y axis points along the barrel of firearm 101, the X axis points along the right-hand side of firearm 101 (from the user's perspective) and the Z axis points vertically upward from firearm 101, such as shown in FIG. 3.

In one embodiment, it is desirable to determine if firearm 101 is in motion. For example, the owner may have stored firearm 101 when not in use and wishes to be alerted if firearm 101 is moved for any reason. FIG. 4 illustrates an example acceleration profile which might occur if firearm 101 is stored laying on its side (+X axis pointing downward). When the firearm is stationary, processor 205 would receive little or no acceleration data from IMU 202. During quiescent period 401 when firearm 101 remains stationary, any acceleration measurements would be due to random noise from the accelerometers or possible vibrations in the storage environment. However, if firearm 101 is moved, there will be a notable change in the acceleration measured during quiescent period 401 resulting in larger accelerations, 402, which provide an indication of the movement of firearm 101. While this example describes accelerations along a single axis for simplicity, a person of ordinary skill in the art would understand that this same principal can be applied to acceleration measurements along multiple axes.

FIG. 5 provides an example algorithm 500 that could be implemented in program code for processor 205 for detecting movement of firearm 101. At step 501 it is assumed that firearm 101 is placed in storage, or in some other condition where it is expected to remain. Accelerations can then be measured 502 in one or more axes to determine the quiescent level of acceleration associated with bias errors or noise from the accelerometer(s) or from other relatively small vibrations in the environment. Based on the sample data collected in step 502, the mean value, m, and the standard deviation, s, about the mean can be calculated 503. This deviation about the mean provides a basis for selecting a threshold value gamma, g, that provides a statistical basis for determining whether a detected acceleration indicates movement of firearm 101 or if it is simply a random acceleration that does not indicate movement. One of skill in the art would understand that setting the threshold value g too low will result in false alarms, while setting the threshold too high might result in ignoring an actual movement. A typical setting for g would require the absolute value of an acceleration measurement made in step 505 to be approximately m+2s=g as shown in step 506. Of course, this value may be adjusted to assure acceptable probabilities of missed detections and false alarms based on the specific components being used and the specific requirements of a particular embodiment. If the acceleration exceeds the threshold, it is determined that firearm 101 has moved and in step 507 an alert is sent to mobile device 200. If the threshold has not been exceeded, then the program flow returns to step 505. While this description focuses on the use of acceleration measurements from IMU 202, this description is not intended to be limited to the use of acceleration data. Indeed, a person of ordinary skill in the art would understand that an analogous algorithm could use rotational rate from one or more gyroscopes or heading changes from a magnetometer in place of acceleration measurements to achieve substantially the same result.

In another embodiment, safety device 100 can be used in a training mode in order to provide a user feedback on their technique. It is well known that when using firearm 101 without rigid supports that the firearm will be constantly have some amount of motion. When training for accuracy, shooters learn to compensate for these inevitable motions through practice.

FIG. 6A shows the Z-Axis accelerations 600 of a hand-held pistol prior to firing, as well as during the firing of three shots. Region 601 shows a relatively low acceleration period where firearm 101 is being held on a target. Regions 602 show the significantly higher acceleration that results as a result of firing firearm 101. Region 603 shows a period where there is oscillatory behavior as the user recovers from the recoil associated with discharging a firearm, eventually settling back on target, and firing again.

FIG. 6B provides a closeup view of the area around the first acceleration peak shown in 600. At 604 a brief negative acceleration is observed, suggesting that the user tipped firearm 101 down slightly as the trigger was pulled. Following this brief negative acceleration, 605 shows the positive acceleration resulting from discharging the firearm. Region 606 clearly shows the post-discharge oscillations associated with recoil recovery.

Using data such as that shown in FIG. 6B, an analysis of how firearm 101 was being moved before, during, and after discharge can be determined. For example, by integrating the acceleration associated with region 604 the velocity of the downward motion of firearm 101 can be estimated. By integrating that velocity estimate, the amount of vertical movement of firearm 101 can also be estimated. If these estimates are created along the X, Y, and Z axes identified in FIG. 3, the direction firearm 101 is pointed at the time of discharge can be estimated. This, in turn, allows predicting the point of impact of a projectile discharged from firearm 101. While this embodiment has been described under the assumption that there is significant recoil from discharging a projectile, similar patterns as those shown in FIG. 6A and FIG. 6B occur even in so-called dry-fire exercises. While the magnitudes of the accelerations are significantly smaller, these accelerations also allow predicting the point of impact based on the accelerations prior actuating the trigger on firearm 101. In such an embodiment, safety device 100 allows a user to practice and improve their technique without ever discharging the firearm.

If IMU 202 contains gyroscopes in addition to accelerometers additional information about the trajectory of firearm 101 can be estimated and any prediction of point of impact can be improved. The point of impact of a projectile discharged from firearm 101 depends not only on translational movements along the X, Y, and Z axes of the firearm, but also on any rotations about those axes. These rotations are often characterized in Euler angles referred to as roll, pitch, and yaw. In the example of FIG. 3, roll is a rotation around the Y axis of the firearm, pitch is a rotation about the X axis of the firearm, and yaw is a rotation about the Z axis of the firearm. A person of ordinary skill in the art would understand that these six degrees of freedom, translation in X, Y, and Z and rotation in roll, pitch and yaw, completely specify the movement of an object in a three-dimensional space. While Euler angles can be used to express rotational movements, other ways of representing rotations, such as quaternions, can be used to achieve substantially the same results.

FIG. 7 provides an example algorithm for predicting point of impact as discussed above. In this embodiment, algorithm 700 begins with the collection 701 of acceleration data samples from a 3-axis accelerometer, a_x, a_y, a_z, and collection of angular rate samples from a 3-axis gyroscope, w_r, w_p, w_y. This data collection occurs throughout the time that firearm 101 is used in this mode. As described previously, as firearm 101 is aligned with a target there will be relatively low-level accelerations due to the inevitable motion of the user. During this time an average orientation of firearm 101 is determined as the oscillations about the desired target point as the user aims the firearm will be approximately correct and is established as the baseline, on-target, position of the firearm. As part of the sample collection 701 program code executing within processor 205 will determine a mean and standard deviation of the motion during period 601 as well as a threshold g as described previously.

When the trigger of firearm 101 is actuated, threshold g will be exceeded and at this time the acceleration samples are integrated once to obtain the velocity that firearm 101 is moving along each axis and integrated again to obtain the distance the firearm has moved along each axis. In this manner, the translation of firearm 101 relative to the baseline, on-target, position of the firearm is determined. If more accuracy is desired, in step 703 the rotations about each axis may be determined using angular rate measurements from the 3-axis gyroscope. Program code executing within processor 205 can integrate these angular rates to determine the amount of rotation of firearm 101 around each axis. Since the translations and rotations of firearm 101 are now known, in step 704 the actual muzzle orientation relative to the baseline, on-target, position of the firearm previously determined can be calculated by simply transforming the coordinates and projecting the estimated point of impact based on the estimated direction of the muzzle of firearm 101 (in this example this direction would be along the Y axis).

Vision System

In some embodiments safety device 100 includes one or more optical sensors 201 that may be used within vision system 800. In vision system 800 camera 801 receives optical input which is processed by vision processor 802. Depending on the specific embodiment, vision system 800 may perform one or more functions including, but not limited to, prediction of point of impact of a projectile, detection and identification of a proper target, and detection and identification of an improper target.

For the prediction of point of impact, vision system 800 may operate independently, or in combination with the acceleration detection system described above. FIG. 9 illustrates an example of a possible embodiment of a system for predicting point of impact. In this embodiment, safety device 901 includes camera 902 which provides image data to vision system 800. Initially, firearm 101 is oriented such that the muzzle is pointed towards the center 904 of target 903.

As described previously, unless firearm 101 is rigidly supported, there will inevitably be small motions as firearm 101 is aligned with target 903. These motions will appear in the camera image as the target moving within the field of view of camera 902. However, as discussed previously while firearm 101 is being steadied on target 903, an average orientation of firearm 101 is determined since the orientation of the firearm will be approximately correct. Therefore, the location of the target within the camera image can be established as the baseline, on-target, position of the firearm.

As was the case with detecting the movement of firearm 101 based on acceleration data, it is expected that the firearm may tend to move as the trigger is actuated and then move upward due to recoil as a projectile is discharged. FIG. 10 illustrates the situation in which the muzzle tilts downward as the trigger of firearm 101 is actuated. In this case, the muzzle rotates downward by angle 1002 thereby lowering the point of aim 1002 of firearm 101. Since camera 902 is fixed to firearm the image of target 903 will appear to move up in creating image 1003. The amount of upward movement of image 1003 relative to the baseline, on-target, image 903 is proportional to the amount of downward movement 1001 of firearm 101.

A possible algorithm for predicting point of impact based on image data is illustrated in FIG. 11. In step 1101 image data from camera 801 is collected for processing by vision processor 802 and/or processor 205 (choice of processor or processors is dependent on system requirements). Program code in vision processor 802 can then process the incoming image data by, for example, using image processing libraries, such as those provided in OpenCV, to perform noise removal, frame-to-frame subtraction, dilation, and thresholding in order to quantify the motion of the target within the image. Once movement has been detected, the amount and the direction of movement can be determined by calculating the difference in the pixel locations in the X and Y axes in the image. As was the case with acceleration-based motion detection, due to movement of an unsupported firearm, the image seen by optical sensor 201 will also exhibit small movements. As before, the amount of movement can be characterized by its mean and standard deviation of the image data collected at step 1102 allowing a threshold, g, to be determined at step 1103 that allows for smaller movements while steadying firearm 101 but which detects the larger movements associated with pulling the trigger, discharging the firearm, flinching, or other causes of movement.

Once a threshold associated with steadying firearm 101 has been determined, image data collection continues at step 1104 as long as movements are below threshold. If the threshold has been exceeded at step 1105, then the previous image acquired is saved in step 1106 and images continue to be collected to allow tracking the movement of the image (which is proportional to the movement of the muzzle of firearm 101). By tracking the movement above threshold g the peak movement can be determined at step 1108. Based on the movement relative to the baseline image data along the X and Y axes of the image, the change in direction of the muzzle of firearm 101 can be determined and the predicted point of impact can be calculated in 1109 based on the change in orientation of the muzzle of the firearm. In some embodiments, if optical sensor 201 includes, for example, a laser rangefinder, it is possible to correct for the parallax error caused by the distance between the muzzle of firearm 101 and camera 902. However, for training purposes, this refinement may not be necessary.

Target Detection

One additional advantage of including optical sensor 201 is that it becomes possible to validate that the target is, in fact, an appropriate target. Using optical sensor 201 along with processing using vision processor 802 and/or processor 205, it is possible to not only track movement of a target, but to identify that target and determine if, in fact, it is a proper target. For example, using the techniques of Lu, Siyuan. “Lightweight target shooting image analysis device based on Raspberry Pi.” Journal of Physics: Conference Series. Vol. 2170. No. 1. IOP Publishing, 2022, incorporated herein by reference, it is possible to detect the various types of targets used in shooting sports as well as predict the point of impact of projectiles. Similar techniques are also disclosed in Gregorová, Jana. “Innovating Sports Shooting With Computer Vision.” 2021, incorporated herein by reference. Additional techniques described in Hartmann, Jacob, et al. “Target detection using image processing techniques.” AIAA Infotech@ Aerospace. 2015. (p. 2030), included herein by reference, described detecting particularly shaped targets using blob detection, color analysis (HSV), and bounding box algorithms written in the Python programming language.

This ability to recognize images can be extended to detecting animated objects such as dogs, cats, and other animals as well as detecting humans and differentiating between male, female, adult or child using machine learning using deep neural networks, or other known techniques such as tensor flow, Mask RCNN, YOLOR, YOLO or other techniques to recognize and localize images.

FIG. 12 provides a flow diagram for an embodiment in which image recognition is used to determine if a target is proper. The detection of a proper target 1200 begins with the collection 1201 of image data from one or more optical sensors 201. This image data is processed and analyzed 1202 as described above to detect features present in the image data. Once processed, image recognition is performed 1203 to determine whether the firearm 101 is pointed at a proper image. If the collected image is determined to be proper, the firing mechanism of firearm 101 is enabled 1205 using, for example, solenoid 203, and a projectile may be discharged toward the target. If the target is not proper 1206, the firing mechanism is disabled, and the discharge is firearm 101 is inhibited. In this example, solenoid 203 provides a mechanism to mechanically enable or disable discharging a projectile by actuating a safety interlock, inhibiting the hammer, preventing trigger movement, or other mechanisms for preventing discharge appropriate for firearm 101 as described further below or an audio or visual alert is presented to the user. In this embodiment, regardless of the decision made by the image processing system, control returns to image collection 1201 to allow algorithm 1200 to continuously re-evaluate the decision to enable or disable the discharge of firearm 101. In other embodiments the decision made in 1204 may or may not be re-evaluated.

FIG. 13 provides a flow diagram provides a flow diagram for an embodiment in which image recognition is used to perform, for example, facial recognition, to determine assist in making a shoot/don't shoot decision. In an embodiment using facial recognition 1300 the process begins with collecting image data 1301 and performing image analysis 1302 using facial recognition software such as TrueKey, Face First, BioID, or other facial recognition software. Once analysis is performed a decision can be made to enable or disable the discharge of firearm 101. For example, at 1303 the collected image is compared against family members stored in memory, a database, or other storage media in communication with the image recognition system, to determine whether the image is that of a family member. At 1304, the image is compared to, for example, known animals in the area or family pets. At 1305 the image is analyzed to determine if the image is that of a child. At 1306 the image is analyzed to determine if it includes a potential threat. A person of skill in the art would understand that the order of making decisions about image content in example embodiment 1300 may be changed based on the specific requirements of the system being created. The main point of example 1300 is that by incorporating facial recognition software with the ability to enable or disable the discharge of firearm 101, the potential for accidental discharge is reduced.

FIG. 14A illustrates a cross-sectional view of a firearm frame 1410 and a blocking mechanism 1420. In this example, the blocking mechanism 1420 includes a solenoid actuator 1425 that moves a blocking component 1430 between a blocking position (shown) and a non-blocking position based on the solenoid being energized or not. As will be appreciated, the blocking position can correspond to an energized state or a non-energized state of the solenoid. In one embodiment, the blocking component 1430 is a pin; in other embodiments, the blocking component can be a plate or some other shape.

In some embodiments, the pin occupies the non-blocking position in a default or non-energized state of the solenoid. In other embodiments, the blocking component 1430 occupies the blocking position by default unless and until the solenoid is energized. In this example, the pin 1430 engages, passes through, or otherwise blocks movement of a transfer bar 1440 from moving to a firing position, as discussed in more detail below with reference to FIG. 14B. The pin 1430 can be arranged to interact with any one or more components of the fire control assembly, including a trigger, a trigger bar, a transfer bar, a sear, a disconnector, a hammer, a striker, or some other component that can be used to prevent firing the gun by pulling or attempting to pull the trigger. In yet other embodiments, the blocking component 1430 obstructs the hammer, striker, or firing pin from making contact with the cartridge primer. For example, the blocking component 1430 is a plate or bar that moves into the path of the hammer, striker, or firing pin when in the blocking position, so that when the trigger is pulled, the hammer, striker, or firing pin contacts the blocking component 1430 rather than the cartridge primer.

FIG. 14B illustrates components of a handgun 1402 that can be equipped with the blocking mechanism 1420 discussed above, in accordance with an embodiment of the present disclosure. In this example, the handgun 1402 is configured as a revolver that includes a trigger 1455, a transfer bar 1440, a scar 1460, a firing pin 1470, and a hammer 1450. The blocking mechanism 1420 can be applied to any other firearm, including semiautomatic handguns, short-barreled rifles, bolt-action rifles, semi-automatic and fully automatic rifles, and shotguns, to name a few examples.

When cocked, the hammer spring 1465 holds the hammer 1450 under tension against the scar 1460, which falls into position when the hammer 1450 is pulled back. The trigger 1455 both moves the sear 1460 out of engagement with the hammer 1450 and simultaneously moves the transfer bar 1440 upward so that it is between the hammer 1450 and the firing pin 1470. To fire the handgun 1402, the hammer 1450 rotates forward to contact the transfer bar 1440, which in turn transfers the force to the firing pin 1470. In this way, if the sear 1460 becomes disengaged without the trigger 1455 being pulled, the transfer bar 1440 would not move and the hammer would fall harmlessly against the frame 1410. Accordingly, the firing pin 1470 would not be struck due to the gap between the hammer 1450 and the firing pin 1470. Only when the trigger 1455 is pulled does the transfer bar 1470 fill that gap, allowing the handgun 1402 to fire.

The blocking mechanism 1420 can be installed at one or more locations on the frame 1410, the grip 1475, or some other location. Thus, the blocking component 1430 can engage the trigger 1455 at position A, the transfer bar 1440 at position B, the hammer 1450 at position C, or the sear 1460 at position D, for example. Numerous variations and embodiments will be apparent in light of the present disclosure.

Wireless System

Wireless 206 provides a mechanism for safety device 100 to communicate with one or more wireless devices in its environment. Wireless 206 is envisioned as including cellular, Bluetooth™, and/or Wi-Fi based communications, but could also include other types of near-field or far-field RF communications as well as infrared, ultrasonic, or magnetic communications devices.

In some embodiments, wireless 206 allows communicating with an external device such as a cellular telephone, laptop computer, or other device containing compatible communications devices. The communications can be used to upload or download, for example, data, configuration information, software updates, usage statistics, and the like.

Other embodiments allow wireless 206 to interact with a nearby device to determine if firearm 101 is in reasonable proximity to, for example, cellular telephone 200, or some other compatible wireless device such as an iPad or laptop computer. In such an embodiment, firearm 101, can be configured to be disabled unless a connection is established between wireless 206 and another authorized wireless device. In such a configuration, for example, firearm 101 may be disabled, unable to discharge, unless a connection has been established with an authorized wireless device. Only if a wireless device such as cellular telephone 200 is in proximity to firearm 101, could firearm 101 be discharged.

In another embodiment wireless 206 can be used to communicate the current status of firearm 101. For example, if firearm 101 is stored and is unexpectedly moved, IMU 202 could detect the movement and communicate the movement to a compatible wireless device locally using, for example, Bluetooth™, or globally using, for example, Wi-Fi or cellular communications. In combination with GPS 210 or by using cellular, Wi-Fi, or other position determining methods known in the art this embodiment provides a way of tracking the movement of firearm 101.

In still another embodiment, wireless 206 allows conveying identifying information about firearm 101 such that nearby devices can detect the presence of firearm 101. For example, if wireless 206 periodically broadcasts a known beacon signal, or responds to a signal from the environment, receiving devices near the entrance of, for example, areas such as churches, schools, hospitals, courts, and other buildings in which the presence of a firearm is restricted, could detect the presence of firearm 101. Further, depending on the signal broadcast from firearm 101, it is possible to determine if firearm 101 is authorized to be in such area. Additionally, if firearm 101 is not authorized, wireless 206 would allow disabling firearm 101 until it exits the restricted area.

Interlock/Safety Mechanism/Biometrics

Solenoid 203 is intended to represent a mechanism for disabling firearm 101. Solenoid 203 can act as a mechanical interlock, for example by acting as, or by actuating a pin that by default is inserted through the hammer/trigger into the frame of the firearm such that when the firearm is unused there is little power required. The electronics of safety device 100 would normally be in a “sleep” mode, activating based on an interrupt provided by one of the peripheral devices. In such a mechanical interlock the pin would be under sufficient spring tension that when the electromechanical actuator is off, the pin disables the firearm by default.

As discussed above, wireless 206 establishes a connection with an external wireless device depicted as cellular phone 200 and described above. Handling of the firearm can be detected by an accelerometer that is normally in sleep mode. When the firearm is handled, wireless link 211 can be established with a cellular telephone or other wireless device that is paired with firearm 101. In some embodiments, if no link is established, then it can be assumed that there is no authorized user and the firearm remains disabled using solenoid 203. If a link is established, then an authorized user is present, and an electromechanical actuator withdraws the pin, enabling the firearm. (“enabling” in this context refers only to the subject firearm safety device 100—it is expected that in many cases all other safety mechanisms of firearm 101 remain in place).

Desirably, when the pin is withdrawn it is mechanically locked in place to avoid having the actuator energized during the entire period of firearm use. A second actuator would be energized to unlock the pin if it is detected that the firearm has not been used for a selected period of time or if wireless link 211 fails (for example, by an authorized user moving out of range).

If this second actuator also had an inertial release mechanism, then conceivably the pin could be mechanically actuated by a user action such as disengaging the firearm mechanical safety. If this was done, engaging and disengaging the safety would allow use of the firearm for one firing. If the battery/supercap was depleted, this may allow enough charge for the harvesting systems to allow seeking authentication and retaining the pin to normal firing. It would, however, allow an unauthorized user to fire the gun with the caveat that they would need to engage/disengage the mechanical safety for each firing. This would significantly slow down the possible rate of fire.

In the case where firearm 101 has an electronically actuated trigger mechanism solenoid 203 need not be an electromechanical device, but may simply provide an electrical interface to the electronically actuated trigger mechanism.

Annunciators

Firearm safety device 100 may also include a variety of annunciators 209 to provide acoustic, visual, and/or tactile feedback to the user.

For example, depending on the specific embodiment, annunciator 209 may include a loudspeaker to generate vocal instructions to the user or to generate tones that indicate, for example, enabled/disabled or on-target/off-target. If a microphone is included, it would be possible to control safety device 100 using voice commands.

Similar to audio notifications, it would be possible to include tactile feedback in annunciator 209. For example, if it is determined that firearm 101 is pointed at an improper target, a vibration motor could provide tactile feedback to alert the user.

Additionally, annunciator 209 could include visual indicators to provide feedback to the user. For example, annunciator 209 could comprise a red/yellow/green visual indicator to provide a danger/caution/proceed indicator to the user.

Other Applications

Holstered/Not Holstered Indicator.

Using the annunciator and/or visual indicators it is possible to create a positive indicator of the holstered/unholstered state of the firearm. In some embodiments this could include an indication of the type of firearm that is being handled. For example, there could be one indicator for a lethal weapon such as a service pistol and a different indicator for a non-lethal weapon such as a taser. Having such positive acknowledgements may reduce the possibility of error. This functionality could be triggered by the detection of movement by the inertial sensors, visual sensors, or other sensors attached to the holster which wirelessly communicate with the firearm(s).

Shot Timer.

Using the inertial sensors, visual sensors, or other sensors attached to the holster which wirelessly communicate with the firearm, it becomes possible to start a timer based on firearm movement. Additionally, it becomes possible to detect the time at which each shot fired occurs and the time the firearm is returned to its holster or other safe location. Such a timer can be used for training, timed fire exercises, competition, or other purposes, where shot timing and/or number of shots is important to record.

Statistical Data on Shot Placement.

Since some embodiments of the firearm safety device can be used to detect shot placement, it is also possible to collect statistics over the course of multiple shots or courses of fire. Such information could be useful for training purposes. Since the sensors detect movement at the time of discharge (or the related trigger pull) such data could be collected during live fire exercises using live ammunition, or during dry fire exercises using no, or inert, ammunition.

Retrieve/Report Gun Location Based on Cell/GPS.

The connectivity provided by the wireless capabilities of the firearm safety device, in combination with the ability to detect movement and/or determine position using geolocation technologies like GPS, cellular, or Wi-Fi based positioning allows implementing a “find my gun” type of functionality. If the firearm moves, it would be possible to trace that movement through collected geolocation information to recover and/or locate the firearm.

Remotely Disable Firearm.

The connectivity provided by the wireless capabilities of the firearm safety device, in combination with the ability to disable the operation of the firearm provide a way to remotely disable the firearm. This disabling can be based on geographic location (i.e. within a selected distance from a school, hospital, stadium, and the like), or can simply be based on detected unauthorized movement of the firearm.

Pair Gun to Multiple Users.

Since the firearm safety device has the ability to be paired with, for example, an authorized user's cellular telephone (or other sensed data such as image, voice, or biometric data), it becomes possible to allow the firearm to be used by multiple authorized users.

Gaming Interface.

Given the ability of the firearm safety device to determine its position and orientation in at least 6 different axes (i.e. translation in x, y, z as well rotation about the roll, pitch and yaw axes), as well as the ability to communicate wirelessly and to recognize a target, the firearm safety device to be used as input to a computer for use as a firearm training aid and/or an input device for video games. In some embodiments reusable targets designed for dry-fire exercises could be modified based on communications between the firearm using a computer/cellular telephone to increase-decrease challenges of the exercise, practice or gaming session.

Qualification as a Trigger Lock.

In some jurisdictions it is required that all firearms be equipped with a so-called trigger lock that physically prevents actuating the trigger of a firearm unless the lock is physically removed. Since the firearm safety device could be configured to mechanically disable the firearm from use by unauthorized users, it may qualify as a trigger lock in at least some jurisdictions.

Limitations/Adjustments on Rate of Fire.

Since the firearm safety device can disable the firing of a firearm, it could also be used to limit the rate of fire or the firearm or to limit the number of shots that may be fired within a certain amount of time.

Subscription Services.

Some or all of the above-described features could be enabled/disabled on a subscription basis. For example, shot statistics could be analyzed in real-time, or off-line, by a professional trainer. Such options may be enabled on a subscription basis.

Voice Recognition.

Using the audio input/output capabilities of the firearm safety device it is possible to create embodiments of the firearm safety device that are activated/deactivated using vocal commands from one or more individuals.

Vision Recognition

Using the vision recognition capabilities of the firearm safety device some embodiments can automatically disable the firearm when it is pointed at a human, or other improper target.

Further Example Embodiments

The following examples pertain to further embodiments, from which numerous permutations and configurations will be apparent.

Example 1 is a firearm vision system comprising an image sensor configured to capture an image, and a processor having executable code that when executed analyzes the image, compares the image with image data stored in a database, and identifies the presence of a target in the image based on the comparison.

Example 2 includes the firearm vision system of Example 1, wherein the target is a physical target having a predefined geometry.

Example 3 includes the firearm vision system of Example 2, wherein the physical target is one of a bullseye target, a metal target, a sight-in target, and a competition target.

Example 4 includes the firearm vision system of any one of the foregoing examples, wherein the target is a steel target having a predefined geometry.

Example 5 includes the firearm vision system of Example 4, wherein the predefined geometry has a shape of an animal.

Example 6 includes the firearm vision system of any one of the foregoing examples, wherein the target is a living target and wherein the image data includes humanoid and animal shapes.

Example 7 includes the firearm vision system of any one of the foregoing examples, wherein the vision system is configured to provide a warning to a user based on the comparison with the database.

Example 8 includes the firearm vision system of Example 7, wherein providing the warning includes the firearm vision system establishing communication with a user computing device and communicating the warning via the user computing device.

Example 9 includes the firearm vision system of Example 7, wherein the firearm vision system is configured to emit one or more of a visual warning and an audible warning.

Example 10 includes the firearm vision system of any one of the foregoing examples, wherein the firearm vision system is configured to operably connect to one or more fire control components of the firearm when installed.

Example 11 includes the firearm vision system of Example 10, wherein the firearm vision system is configured to disable the firearm based on the comparison with the database.

Example 12 includes the firearm vision system of Example 11, wherein the firearm vision system is configured to block movement of the one or more fire control components.

Example 13 includes the firearm vision system of any one of the foregoing examples, wherein the image sensor includes an infrared light sensor.

Example 14 includes the firearm vision system of Example 13, wherein the processor is configured to analyze temperature information of the image and identify a living target in the image.

Example 15 includes the firearm vision system of Example 14, wherein identifying the living target includes identifying a humanoid form having a temperature from 90-110° F.

Example 16 includes the firearm vision system of any one of the foregoing examples, wherein the image sensor is configured for visible light.

Example 17 includes the firearm vision system of Example 16, wherein comparing the image with the database includes performing facial recognition.

Example 18 includes the firearm vision system of any one of the foregoing examples, wherein the image sensor includes a LIDAR sensor.

Example 19 includes the firearm vision system of any one of the foregoing examples, wherein the image sensor includes a RADAR sensor.

Example 20 includes the firearm vision system of any one of the foregoing examples, further comprising a GPS sensor in communication with the processor, wherein the processor is further configured to compare a location of the handgun with a location database.

Example 21 includes the firearm vision system of Example 20, wherein the firearm vision system is configured to operably connect to one or more fire control components of the firearm when installed and to disable the firearm based on the comparison with the location database.

Example 22 includes the firearm vision system of Example 21, wherein disabling the firearm includes blocking movement of the one or more fire control components.

Example 23 includes the firearm vision system of any one of the foregoing examples, wherein the processor is configured to communicate, based on recognizing a target, with at least one of another firearm, a computer, a remote computer, a mobile device, and an electronic device having wireless connectivity.

The foregoing description of example embodiments has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the present disclosure to the precise forms disclosed. Many modifications and variations are possible in light of this disclosure. It is intended that the scope of the present disclosure be limited not by this detailed description, but rather by the claims appended hereto. Future-filed applications claiming priority to this application may claim the disclosed subject matter in a different manner and generally may include any set of one or more limitations as variously disclosed or otherwise demonstrated herein.