Adaptive targeting system

Abstract

An adaptive targeting system includes a forward grip assembly, a pistol grip assembly, a buttstock assembly or a combination thereof. One example of the forward grip assembly includes a first motor, an inner shaft and an outer shaft. The inner shaft is partially disposed within the outer shaft. The inner shaft is linearly moveable in a first axis within the outer shaft by actuation of the first motor. The pistol grip assembly includes a second motor, a frame and a pistol grip. The frame is linearly moveable in a second axis within the pistol grip by actuation of the second motor. The buttstock assembly includes a third motor and a fourth motor.

Description

ADAPTIVE TARGETING SYSTEMCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority to U.S. Provisional Application No. 63 / 597,898, filed on November 10, 2023, U.S. Provisional Application No. 63 / 524,793, filed on July 3, 2023, and U.S. Provisional Application 63 / 457,837, filed on April 7, 2023, the contents of which are hereby incorporated in their entirety.FIELD

[0002] The application relates generally to the field of weapon targeting, and more specifically to an adaptive targeting system.SUMMARY

[0003] An adaptive targeting system as described herein provides target identification and adjustments to a weapon position based on the point of aim of the weapon and the identified target position or location. The adaptive targeting system includes a forward grip assembly, a pistol grip assembly, a buttstock assembly, or a combination thereof. The adaptive targeting system provides instructions to one or more motors to make adjustments to the assemblies such that the aiming point of the rifle would impact the identified target. A shooter may place one hand on the forward grip assembly, another hand on the trigger grip assembly, and may place the butt end of the buttstock assembly against a portion of the chest and / or shoulder. The adaptive targeting system makes positional adjustment to the assemblies while the shooter is targeting an object. The system provides fast adjustments to overall positioning of the weapon such that the aiming point of the weapon is locked onto the identified target. The adaptive targeting system is especially useful in those situations where either the shooter and / or the identified target is moving.

[0004] In some embodiments, the forward grip assembly includes a first motor, an inner shaft, and an outer shaft. The inner shaft is partially disposed within the outer shaft, and the inner shaft is linearly moveable along a first axis within the outer shaft by actuation of the first motor.

[0005] In some embodiments, the pistol grip assembly includes a second motor, a pistol grip, and a frame. The frame is linearly moveable in a second axis within the pistol grip by actuation of the second motor.

[0006] In some embodiments, the buttstock assembly includes a third motor and / or a fourth motor. The third motor is actuated to provide adjustments to the buttstock assembly along an x-axis. The fourth motor is actuated to provide adjustments to the buttstock assembly along a y-axis.

[0007] In some embodiments, the adaptive targeting system performs the operations of acquiring a target and adjusting a weapon to impact the target when fired. The system may identify or classify a target or an object. The system may determine a distance or a position of the target. The system may determine a projectile trajectory based on a ballistics profile based on the distance or position of the target. The system may make adjustments to the forward grip assembly, pistol grip assembly and / or the buttstock assembly such that the impact point of a fired ballistic intersects with the target. The system may instruct a first and / or second motor to operate, wherein the first motor causes a vertical adjustment of a rifle relative to a forward grip assembly coupled to the rifle, and wherein the second motor causes a horizontal adjustment of a rifle relative to a pistol grip assembly coupled to the rifle. The system may instruct a third and / or a fourth motor to operate, where the third motor causes an adjustment along one axis of the buttstock assembly relative the rifle, and where the fourth motor causes an adjustment along another axis of the buttstock assembly relative to the rifle.

[0008] Furthermore, the appended claims may serve as a summary of this application.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] FIGS. 1A-1B are diagrams illustrating an example weapon having adaptive targeting system 100.

[0010] FIGS. 2A-2F are diagrams illustrating an example of a forward grip assembly 200 of the adaptive targeting system 100.

[0011] FIGS. 3A-3H are diagrams illustrating an example of a trigger grip assembly 300 of the adaptive targeting system 100.

[0012] FIGS. 4A-4D are diagrams illustrating an example of a buttstock assembly 400 of the adaptive targeting system 100.

[0013] FIG. 5 is a flowchart illustrating a method 500 of operation of the adaptive targeting system 100.

[0014] FIGS. 6A-6F are diagrams illustrating an example of a forward grip assembly 600 of the adaptive targeting system 100.

[0015] FIG. 7 is a diagram illustrating an example weapon having an adaptive targeting system 100 with the forward grip assembly depicted in FIGS. 6A-6E.

[0016] FIGS. 8A-8B are diagrams illustrating an example of a camera assembly 800.

[0017] FIG. 9 is a diagram illustrating an exemplary computer and vision system that may perform processing in some embodiments.

[0018] FIGS. 10A-10I are diagrams illustrating an example of a buttstock assembly 1000 of the adaptive targeting system 100.

[0019] FIGS. 11A-11C are diagrams illustrating an example attachment housing assembly 1100 of the adaptive targeting system 100.

[0020] FIGS. 12A-12B are diagrams illustrating an example weapon having an adaptive targeting system 100 with the buttstock assembly depicted in FIGS. 10A-10G and the attachment housing assembly 1100 depicted in FIGS. 11A-11C.DETAILED DESCRIPTION OF THE DRAWINGS

[0021] In this specification, reference is made in detail to specific embodiments of the invention. Some of the embodiments or their aspects are illustrated in the drawings.

[0022] For clarity in explanation, the invention has been described with reference to specific embodiments, however it should be understood that the invention is not limited to the described embodiments. On the contrary, the invention covers alternatives, modifications, and equivalents as may be included within its scope as defined by any patent claims. The following embodiments of the invention are set forth without any loss of generality to, and without imposing limitations on, the claimed invention. In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be practiced without some or all of these specific details. In addition, well known features may not have been described in detail to avoid unnecessarily obscuring the invention.

[0023] In addition, it should be understood that steps of the exemplary methods set forth in this exemplary patent can be performed in different orders than the order presented in this specification. Furthermore, some steps of the exemplary methods may be performed in parallel rather than being performed sequentially.

[0024] In some embodiments, the Adaptative Targeting System may include the following components. They are labeled with a reference number corresponding to the component as illustrated in one or more FIGS. 1 A-4D, and FIGS. 6A-7.

[0025] Adaptive Targeting System Components

[0026] 100 - Adaptive Targeting System120 - Buttstock130 - Magazine140 - Upper Receiver150 - Lower Receiver160 - Barrel170 - Optics / Computer Vision200 - Forward Grip Assembly300 - Trigger Grip Assembly400 - Buttstock Assembly

[0027] 200 - Forward Grip Assembly (Example 1)202 - Boot Fastener204 - Rubber Boot206 - Cable Guide Clip208 - Motor Wiring210 - Lead Screw Nut212 - Picatinny Adapter214 - First Motor (adjusts vertical axis)215 - Gears (Motor Coupling)216 - Inner Shaft217 - Outer Shaft218 - Lead Screw219 - Axis of Movement220 - Point of articulation221 - Bottom Cap

[0028] 300 - Pistol Grip Assembly310 - Pistol Grip Body310a - Left-side Shell310b - Right-side Shell320 - Screw322 - Frame323 - Frame324 - Linear Bearing Assembly324a - Longitudinal Bar324b - Bar Coupler326 - Rack and Pinion Gear Engagement326a - gear326b - gear track328 - Second Motor (adjusts horizontal axis)330 - Motor Wiring332 - Linear Bearing Assembly332a - Longitudinal Bar332b - Bar Coupler334 - Axis of Movement

[0029] 400 - Buttstock Assembly (Example 1)410 - Buttstock Cap420 - Delta Y-axis Bracket430 - Linear Bearing Assembly430a - Longitudinal Bar430b - Bar Coupler432 - Linear Bearing Assembly432a - Longitudinal Bar432b - Bar Coupler440 - Motor Mount Bracket450 - Third Motor (adjusts y-axis)452 - Gear (y-axis)454 - Gear Track (y-axis not shown)460 - Delta X-axis Bracket462 - Bracket463 - Extension Frame464 - Linear Bearing Assembly464a - Longitudinal Bar464b - Bar Coupler466 - Linear Bearing Assembly466a - Longitudinal Bar466b - Bar Coupler470 - Fourth Motor (adjusts x-axis)472 - Gear (x-axis)474 - Gear track (y-axis)476 - Y-axis of Movement478 - X-axis of Movement

[0030] 600 - Forward Grip Assembly (Example 2)601 - Frame602 - Housing603 - 40 mm adapter604 - Rear Cap621 - Gear track (x-axis)606 - Picatinny Adapter608 - Gear Track (y-axis)609 - Gear Track Attachment610 - First Motor (adjusts horizontal axis)612 - First Motor Gear614 - First Motor Wiring616 - Linear Bearing Assembly616a - Longitudinal Bar616b - Bar Coupler618 - Linear Bearing Assembly618a - Longitudinal Bar618b - Bar Coupler620 - Second Motor (adjusts vertical axis)622 - Second Motor Gear624 - Second Motor Wiring626 - Linear Bearing Assembly626a - Longitudinal Bar626b - Bar Coupler630 - Y-axis of Movement632 - X-axis of Movement640 - Picatinny adapter

[0031] 800 - Camera Assembly802 - Housing804 - Fan Housing806 - Fan808 - Camera (sensor board and lens housing)810 - Picatinny Rail mount812 - Picatinny Rail

[0032] 1000 - Buttstock Assembly (Example 2)1010 - Buttstock Housing1011 - Battery Compartment1012 - Battery1013 - Battery Door1014 - First Component1014a - First Arm1014b - Second Arm1014c - Pivot Point1016 - Second Component1016a - First connector1016b - Second connector1016c - Pivot Point1016d - Arm1017 - Battery Cable Connector1018 - Y-axis of Movement1020 - X-axis of Movement1022 - Fist Motor (adjusts x-axis)1024 - Second Motor (adjusts y-axis)1026 - End Cap / Recoil pad

[0033] 1100 - Attachment Housing Assembly1102 - Connectors1104 - Sensors1104a - Digital camera1104b - LiDar sensor / range finder1104c - Window1106 - Processor / GPU1108 - Lid1110 - Base

[0034] FIGS. 1 A-1B are diagrams illustrating an example of an adaptive targeting system 100. An example rifle (such as AR-15 or AR-10) is shown equipped with the with components of the adaptive targeting system. In this example, the weapon includes a buttock 120, a magazine 130, and upper receiver 140, a lower receiver 150, a barrel 160, and an optics / computer vision system 170. The adaptive targeting system 100 includes modular components that are attachable to the rifle or are integral to the rifle. The modular components include a forwardgrip assembly 200, a trigger grip assembly 300 and a buttstock assembly 400 (not depicted inFIG. 1).

[0035] In some embodiments, a rifle may be configured with any of the following: only the trigger grip assembly 300; the forward grip assembly 200 and the trigger grip assembly 300; the forward grip assembly 200, the trigger grip assembly 300 and the buttstock assembly 400; or other combinations of the forward grip assembly 200, the trigger grip assembly 300 and the buttstock assembly 400.

[0036] In some embodiments, one or more of the modular components 200, 300, 400 and 600 may be integrally formed with or attached to a rifle or other suitable weapon system.

[0037] The adaptive targeting system 100 includes one or more sensors including a camera, stereo camera, a laser distance sensor, LiDar, thermal sensor, range finder, barometer, accelerometer, gyroscope, humidity sensor, global position system, a temperature sensor, or any combination thereof. These sensors are used by the adaptive targeting system 100 to obtain data of a target and determine a distance and / or position of the adaptive targeting system relative to the target. The adaptive targeting system includes an onboard processor that computes or determines a trajectory for a ballistic to impact the target. Moreover, the adaptive targeting system may determine a point of impact of the weapon if the weapons were to be fired. The adaptive targeting system 100 includes a data storage device or programmed firmware with ballistic tables that are used to compute the trajectory. The ballistics tables include information allowing the system to calculate or determine the trajectory of different ballistics. These ballistics tables are well known, but for illustration purposes, the ballistics tables may include a bullet weight (for example, weight in grains), ballistic coefficient, muzzle velocity, barrel twist of a particular weapon. The adaptive targeting system 100 may receive an input about a particular ballistic (such as ballistic coefficient (e.g., a value of 0.01-1.2), velocity(e.g., 100-4600 ft / second), weight of the ballistic (e.g., 5-1000 grain), and a drag coefficient (e.g., using G1-G7 models). Additionally, the adaptive targeting system may receive an input of a wind speed value (e.g., 0-75 mph), a wind angle value (e.g., 0-359 degrees), an ambient pressure value (e.g., 15-40 HG), a temperature value (e.g., -40 -140F) and / or a humidity value (0-100%). The adaptive targeting system 100 may use one or more of the preceding input values in conjunction with an identified range of a target (e.g., 5-2000 yards) to compute or determine a trajectory to the target. Based on the computed or determined trajectory, the adaptive targeting system 100 provides instructions, digital signals and / or voltages to one or more motors of the system to adjust positioning of the weapon held by a shooter such that a ballistic when fired from the weapon would impact the target.

[0038] In some embodiments, the adaptive targeting system 100 includes a wireless communications interface, such as BlueTooth or WiFi communication systems. A computer or mobile device, such as a mobile phone or tablet may communicate with the adaptive targeting system 100. The computer or mobile device may display an interface that receives a user input of the type of ballistic that would be fired from the weapon. The adaptive targeting system 100 would use the user input for the computation or determination of the trajectory to the target.

[0039] In some embodiments, the adaptive targeting system 100 includes an object detection module and / or a trained machine learning model or network that may receive an input of the data of the one or more sensors. For example, the adaptive targeting system 100 may identify a target of interest in one or more frames of image data. Pixel locations of an identified object in the one or more frames of image data may be used by the system in the computation or determination of the trajectory of the target.

[0040] In some embodiments, the adaptive targeting system 100 determines adjustments so that the position of the weapon by the forward grip assembly 200, the trigger grip assembly300 and / or the buttstock assembly 400, 1000 such that when the weapon is fired, the ballistic would impact the identified target. For example, the adaptive targeting system 100 determines rotational adjustments (such as instructions, digital signals, positive / negative voltages) to send to motors of any one of the forward grip assembly 200, the trigger grip assembly 300 and / or the buttstock assembly 400, 1000. In response to receiving the rotational adjustments, respective shafts of the motors of assembly 200, 300, 400 would rotate and cause a positional adjustment to the weapon.

[0041] Voltages, digital signals or instructions sent to a motor 214, 328, 450 and 470 would cause the respective motor shafts to rotate for a particular time, angle and / or distance. While the system is described with four motors, the adaptive targeting system 100 may be configured with less than four motors. Various motors are contemplated for use with the adaptive targeting system, with a stepper motor being a type of motor that may be used. A stepper motor is a brushless DC electric motor with the full rotation of the motor divided into a number of equal steps. For example, the shaft of a stepper motor moves in discrete steps and may convert instructions (such as digital pulses) into a mechanical rotation of the shaft.

[0042] FIGS. 2A-2F are diagrams illustrating an example of a forward grip assembly 200 of the adaptive targeting system 100. In some embodiments, the forward grip assembly 200 includes a boot fastener 202, rubber boot 204, cable guide clip 206, motor wiring 208, lead screw nut 210, picatinny adapter 212, a first motor 214 (e.g., a stepper motor), gears (e.g., motor coupling) 215, an inner shaft 216, an outer shaft 217, a lead screw 218 and a bottom cap 221. The inner shaft 216 is partially disposed within the outer shaft 217. A rubber boot 204 may be attached to an upper portion of inner shaft 216 and connected by a fastener 202 that screws onto the upper portion.

[0043] The inner shaft 216 is linearly moveable in a first axis within the outer shaft 217 by actuation of motor 214. The actuation of the motor 214 causes the gearing 215 of the motor coupling to rotate the lead screw 218. The lead screw nut 210 is fixed to the top portion of the inner shaft 216. The rotation of the lead screw 218 causes the inner shaft 216 to move upward or downward. The outer shaft 217 may be held in the hand of an operator of the weapon.

[0044] The forward grip assembly 200 may be coupled or attached to a forward portion of a rifle (such as a hand guard or picatinny rail) via a coupler, such as the picatinny adapter. In some embodiments, the forward grip assembly includes an inner shaft 216 and an outer shaft 217. In response to receiving voltages or instructions to the stepper motor 214, the inner shaft articulates in a vertical axis 219 at a point of articulation 220. Atop portion of the lead screw 218 is positioned withing grooves at the point of articulation 220. The stepper motor 214 causes the gears 215 to rotate either in a clockwise or counterclockwise direction. In turn, the rotation of the gears, which is coupled with the splines of the lead screw 218, cause the Inner Shaft to be moved either in an upward or downward direction. While shown as cylindrical body 216, 217, the shafts 216, 217 may be configured as other shapes, such as an oval shape, square shape, rhomboid shape, or other such shape allowing the inner shaft to move upward and downward in the outer shaft via rotation of the shaft of the motor 214.

[0045] FIGS. 3 A-3H are diagrams illustrating an example of a trigger grip assembly 300 of the adaptive targeting system 100. In some embodiments, the trigger grip assembly 300 includes a pistol grip body comprised of a left-side shell 310a and a right-side shell 310b, a screw 320, a frame 322, a first linear bearing assembly 324, rack and pinion gear 326, a second motor 328, motor wiring 330, and a second linear bearing assembly 332.

[0046] In some embodiments, the left-side shell 310a and the right-side shell 310b may be attached to the frame 322 via one or more screw or other attachment device. The frame 322may be attached to a portion of a rifle, such as a lower receiver 150 of the rifle, via a screw 320 or other attachment device. Frame 323 slides into a groove portion of frame 322. For example, frame 322 may have a dove-tail joint with a portion of frame 323 being configured to slide into the dove-tail joint. The frame 322 is secured to frame 323 via a screw or other attachment device.

[0047] The second motor 328 may receive instructions or voltages, via the motor wiring 330, to cause a gear of the second motor 328 to rotate in a clockwise or counterclockwise direction. The gear of the motor is coupled with the rack and pinion gear 326. The rotation of the gear of the motor drives the rack and pinion gear 326 causing a portion of the trigger grip assembly 300 to linearly move via an axis of movement 334. Afirst linear bearing assembly 324 includes a longitudinal bar 324a and a bar coupler 324b in which the longitudinal bar 324a is slideably seated. A second linear bearing assembly 332 includes a longitudinal bar 332a and a bar coupler 332b in which the longitudinal bar 332a is slideably seated. Each of the longitudinal bars 324a and 332a are attached to frame 323.

[0048] Referring to FIG. 3C, the assembled trigger grip is noted as portion A. The assemble trigger grip includes the left-side shell 310a attached to the right-side shell 310b. Frame 322 is attached or integrally formed with a receiver or other portion of a weapon. The assembled trigger grip slides over or fits onto frame 322 where frame 323 is coupled to frame 322. A screw or other fastening device may be used to securely attach the assembled trigger grip A to the frame 322.

[0049] FIGS. 4A-4D are diagrams illustrating an example of a buttstock assembly 400 of the adaptive targeting system 100. In some embodiments, the buttstock assembly 400 includes a buttstock cap 410, first bracket 420 (e.g., Delta Y bracket), a first set of linear bearing assemblies 430, 432 (used in making x-axis 476 adjustments), a second set of linear bearingassemblies (used in making y-axis 478 adjustments), a motor mount bracket 440, and a third motor 450 (for making y-axis adjustments), a gear 452 (attached to the third motor 450), a bracket 460 (e.g., Delta X Bracket), a fourth motor 470 (for making x-axis adjustments), a gear 472 (attached to the fourth motor 470), and a gear track 474. The buttstock cap 410 is attached to bracket 420.

[0050] In some embodiments, the buttstock assembly 400 is attached to a buttstock 120 of a rifle. The buttstock assembly may be integrally formed with the buttock of a weapon. The adaptive targeting system 100 may send voltages or instructions to the third motor 450 and / or the fourth motor 470 thereby causing portions of the buttstock assembly 400 to move along a first axis 476 and / or a second axis 478. In some embodiments, the first axis 476 and the second axis 478 are perpendicular or substantially perpendicular to one another. Based on the computed or determined trajectory of the ballistic to impact an identified target, the third and / or fourth motors 450, 470 rotate in a clockwise or counterclockwise direction. The rotation of the shaft of the motors 450, 470 cause portions of the buttstock to move along the first axis 476 and / or the second axis 478. The buttstock 120 may have an opening to receive a buffer tube of the weapon.

[0051] A gear 452, attached to the third motor 450, engages with a gear track (not depicted) which is attached to a bracket 462. A set of linear bearing assemblies 464 (464a, 464b), 466 (466a, 466b) are used for y-axis 478 adjustments of the buttstock assembly 400. One linear bearing assembly 464 includes a longitudinal bar 464a and a bar coupler 464b in which the longitudinal bar 464a is slideably seated. The longitudinal bar 464a is configured such that the bar slides into a side of the bar coupler 464b (such as in a dove-tail mating / joint configuration). Another linear bearing assembly 466 includes a longitudinal bar 466a and a bar coupler 466b in which the longitudinal bar 466a is slideably seated. The longitudinal bar 466a is configuredsuch that it slides into a side of the bar coupler 466b (such as in a dove-tail mating / joint configuration). The longitudinal bars 464a, 466a are moveable in the same axis 478 within their respective bar couplers 464b, 466b by actuation of the motors 460.

[0052] A gear 472, attached to the fourth motor 470, engages with a gear track 474 which is attached to the bracket 460. A set of linear bearing assemblies 430 (430a, 430b), 432 (432a, 432b) are used for x-axis adjustments 476 of the buttstock assembly 400. One linear bearing assembly 430 includes a longitudinal bar 430a and a bar coupler 430b in which the longitudinal bar 430a is slideably seated. The longitudinal bar 430a is configured such that the bar slides into a side of the bar coupler 432b (such as in a dove-tail mating / joint configuration). Another linear bearing assembly 432 includes a longitudinal bar 432a and a bar coupler 432b in which the longitudinal bar 432a is slideably seated. The longitudinal bar 432a is configured such that it slides into a side of the bar coupler 432b (such as in a dove-tail mating / joint configuration). The longitudinal bars 430a, 432a are moveable in the same axis 476 within their respective bar couplers 430b, 432b by actuation of the motor 470.

[0053] FIG. 5 is a flowchart illustrating a method 500 of operation of the adaptive targeting system 100. In some embodiments, the adaptive targeting system 100 performs the operation of method 500. In step 510, the adaptive targeting system 100 obtains sensor data of a target. The sensor data may include one or more data of images of the target, a distance of the target and / or a position of the target. In some embodiments, the adaptive targeting system 100 uses various sensor data to determine or identify a target. For example, thermal sensor data, camera data, LiDar data, distance data, and or a combination thereof, may be input into a trained machine learning model. The trained machine learning model may be trained to identify different types of objects, for example man-made objects or structures, an animal, vehicle, a person and the anatomy and features of a person. The trained machine learning model maydistinguish between different types of objects and identify a target and compute a point of aim or trajectory to impact the target.

[0054] In step 520, based on the sensor data, the adaptive targeting system 100 determines a trajectory for a ballistic to impact the target. The adaptive targeting system 100 may include onboard data of ballistic profiles to compute or determine a trajectory for a weapon to impact the target. The adaptive targeting system 100 may be calibrated to the particular rifle of weapon to which it is attached. The adaptive targeting system 100 determines a point of impact of where a ballistic fired from the weapon will impact. The system 100 determines a zone or area of possible adjustment around the determined point of impact relative to an identified target. In other words, the system 100 determines a position of a target and determines a point of impact of where the weapon is aimed. The adaptive targeting system 100 makes positional adjustments to the forward grip assembly 200, the trigger grip assembly 300, the buttstock assembly 400 or a combination thereof. These adjustments may be made where the zone or area of possible adjustments includes both the position of the target and the point of impact.

[0055] In step 530, the adaptive targeting system 100 determines positional adjustments to be made to the forward grip assembly 200 such that the trajectory of a bullet fired from the weapon would follow the determined trajectory. Voltages or instructions may be sent to a motor of the forward grip assembly 200. The motor rotates a motor shaft attached to gearing causing a portion of the forward grip assembly to move in an upward or downward vertical direction.

[0056] In step 540, the adaptive targeting system 100 determines positional adjustments to be made to the trigger grip assembly 300 such that the trajectory of a bullet fired from the weapon would follow the determined trajectory. Voltages or instructions may be sent to a motor of the trigger grip assembly 300. The motor rotates a motor shaft attached to gearing causing a portion of the trigger grip assembly 300 to move in a lateral direction. In some embodiments,the trigger grip assembly 300 provides positional adjustments to the weapon that are substantially parallel to positional adjustments made by the forward grip assembly 200.

[0057] In step 550, the adaptive targeting system 100 determines positional adjustments to be made to the buttstock grip assembly 400 such that the trajectory of a bullet fired from the weapon would follow the determined trajectory. Voltages or instructions may be sent to a third and / or fourth motor of the buttstock assembly 400. The third motor 450 rotates a motor shaft attached to gearing causing a portion of the buttstock assembly to move along a y-axis. The fourth motor 470 rotates a motor shaft attached to gearing causing a portion of the buttstock assembly to move along an x-axis.

[0058] While steps 530, 540, 550 are described in a sequential mode of operation, the steps may be performed concurrently, and in any order of operation. Also, in some embodiments, the adaptive targeting system 100 may continually obtain sensor data and constantly or periodically provide voltage or instructions to the first motor, second motor, third motor and / or fourth motor.

[0059] In step 560, after the rifle or weapon is fired, the adaptive targeting system 100 obtains sensor data depicting the target. The sensor data may include one or more data of images of the target, a distance of the target and / or a position of the target.

[0060] In step 570, based on the received sensor data, the adaptive targeting system 100 determines whether the target was impacted by the fired projectile from the rifle. For example, the object detection module and / or a trained machine learning model or network (described above) may receive an input of the data of the one or more sensors. The adaptive targeting system 100 may one or more frames of image data. The adaptive targeting system 100 may compare a first image of the target prior to the weapon being fired, and a second image of thetarget after the weapon is fired. The adaptive targeting may confirm that the target was impacted by the projectile and provide a visual confirmation via a display device.

[0061] In some embodiments, a rifle may be configured with any of the following: only the trigger grip assembly 300; the forward grip assembly 600 and the trigger grip assembly 300; the forward grip assembly 600, the trigger grip assembly 300 and the buttstock assembly 400; other combinations of the forward grip assembly 600, the trigger grip assembly 300 and the buttstock assembly 400; or the buttstock assembly 1000 alone, the buttstock assembly 1000 with the trigger grip assembly 300, or the buttstock assembly 1000 with the forwards grip assembly 600, or a combination thereof.

[0062] FIGS. 6A-6F diagrams illustrating an example of another forward grip assembly 600 of the adaptive targeting system 100. FIG. 7 is a diagram illustrating an example weapon having adaptive targeting system 100 with the forward grip assembly depicted in FIGS. 6A- 6E. In some embodiments, the forward grip assembly 600 includes a frame 601, a grip housing 602 optionally configured with a 40 mm adapter portion 603, a rear cap 604, a picatinny adapter 606, a gear track component 608, a first motor 610 for a second motor 620. The forward grip assembly 600 may be coupled or attached to a forward portion of a rifle (such as a hand guard or picatinny rail) via a coupler, such as the picatinny adapter 606.

[0063] The rear cap 604 is coupled to the grip housing 602, for example by extensions or tabs that mate with portions of the interior of the grip housing 602. The grip housing 602 may include integrally formed ridges or other formations extending from the grip housing to assist the gripping of the grip housing. The 40 mm adapter portion 603 allows other weapon components to be attached to the forward grip assembly 600, for example a grenade launcher. In some embodiments, the rear cap 604 has an integrally formed mount 640, such a picatinnyadapter, for mounting a bipod. In some embodiments, the mount 640 extends longitudinally away from the grip housing 602.

[0064] The first motor 610 has a gear 612 and motor wiring 614. The picatinny adapter 606 has a first linear bearing assembly 616 and a second linear bearing assembly 618 coupled to the picatinny adapter 606. The first linear bearing assembly 616 includes a longitudinal bar 616a and a bar coupler 616b. The longitudinal bar 616a is slideably seated within the bar coupler 616b. The second linear bearing assembly 618 includes a longitudinal bar 618a and a bar coupler 618b. The longitudinal bar 618a is slideably seated within the bar coupler 618b.

[0065] In response to receiving voltages or instructions to the stepper motor 610, the first motor 610 adjusts a forward portion of the weapon in a horizontal axis 632. For example, a shooter holds the grip housing while the first motor 610 rotates the gear 612 which causes a forward portion of the weapon to move in a horizontal direction 632. The gear 612 mates with a gear track in the gear track component 608. The rotation of the gear 612 moves the forward portion of the weapon to which the forward grip 600 is attached about a horizontal axis 632. The longitudinal bars 616a and 618a are fixed to the picatinny adapter 606 which is fixed to the forward portion of the weapon (e.g., the picatinny adapter may be mounted to a hand guard of the weapon). The bar couplers 616b and 618b are fixed to the frame 601 and slideably move about the respective longitudinal bars 616a and 618a. The gear track component 608 is coupled to a gear track attachment 609. The gear track attachment 609 for example may include a dove tail portion where the gear track component 608 has a corresponding dove tail portion that fits into the dove tail portion of the gear track attachment 609.

[0066] The second motor 620 has a gear 622 and motor wiring 624. The frame 601 has a linear bearing assembly 626 coupled thereto. The linear bearing assembly 626 includes a longitudinal bar 626a and a bar coupler 626b. The longitudinal bar 626a is slideably seated within the barcoupler 626b. The bar coupler 626b is fixed to the group housing 602 via screws or via another attachment mechanism.

[0067] In response to receiving voltages or instructions to the stepper motor 620, the second motor 620 adjusts a forward portion of the weapon in a vertical axis 630. The gear 622 mates with a gear track in the cap 604. The rotation of the gear 622 moves the forward portion of the weapon to which the forward grip 600 is attached about a vertical axis 630. For example, a shooter holds the grip housing while the second motor 620 rotates the gear 622 which causes a forward portion of the weapon to move in the vertical direction 630.

[0068] FIGS. 8A-8C are diagrams illustrating an example of a camera assembly 800. The camera assembly is mounted to a weapon 100 and includes a camera 808 to obtain image data. In some embodiments the camera assembly includes a housing 802, a fan housing 804, a fan 806, a camera (with sensor board and lens housing) 808, a picatinny rail mount 810 and a picatinny rail 812.

[0069] FIG. 8C depicts a cut-away view of the camera assembly 800. Air flow is provided over the camera by operation of a fan disposed in the fan housing 802. The generated air flow cools the camera 808 via an air flow geometry patterned into the housing 802. The fan housing is connected to a rear portion of the camera assembly 800. In some embodiments, the fan draws air about the camera 808 through the housing 802 and out of the fan housing 802. In other embodiments, the fan draws air about the camera 808 from through the fan housing 808, about the camera 808, and out of the housing 802. In some embodiments, an interior wall of the housing 802 has recessed channels to direct air flow through the housing 802.

[0070] Networked Adaptive Targeting System

[0071] In some embodiments, an adaptive targeting system 100 may receive data and / or information from other adaptive targeting systems, unmanned aerial vehicles, and / or other communications or electronics devices. For example, a team of individuals may have various weapon systems each configured with an adaptive targeting system 100. The respective adaptive targeting systems may be configured to communicate with one another. The systems may share targeting information, location information (such as coordinate / positions), and other data. This shared information allows a respective adaptive targeting system to have information of other team members such that when targeting an object, the adaptive targeting system may identify that another team member is close to or occludes the target.

[0072] In some embodiments, the adaptive targeting system 100 generates a point cloud of a 3 dimensional (3D) environment. For example, LiDar, stereo vision camera and other sensors may be used to acquire topography of an environment. The adaptive targeting system 100 may share data of the 3D topography with other adaptive targeting systems. The 3D topography may be annotated with positions of identified targets and / or positions of other team members. The adaptive target system may use the 3D topography to determine whether it would be safe to fire a weapon so as to not strike another team member.

[0073] FIG. 9 a diagram illustrating an exemplary computer and vision system that may perform processing in some embodiments. Processor 901 may perform computing functions such as running computer programs. The volatile memory 902 may provide temporary storage of data for the processor 901. RAM is one kind of volatile memory. Volatile memory typically requires power to maintain its stored information. Storage 903 provides computer storage for data, instructions, and / or arbitrary information. Non-volatile memory, which can preserve data even when not powered and including disks and flash memory, is an example of storage. Storage 803 may be organized as a file system, database, or in other ways. Data, instructions,and information may be loaded from storage 903 into volatile memory 902 for processing by the processor 901. The system may control multiple motors 904 (such as the first motor 214, the second motor 328, the third motor 450 and the fourth motor 470 and / or the motors 610,622). The system 900 may include a computer vision system 905 with one or more sensors as described herein. The system 900 may include one or more communications devices for receiving and transmitting wirelessly to other devices. The system 900 includes a power source such as a battery or other connectable power source.

[0074] FIGS. 10A-10I are diagrams illustrating an example of a buttstock assembly 1000 of the adaptive targeting system 100. FIGS. 10A-10I depict another example of a buttstock assembly that may be used with the system. In some embodiments, the buttstock assembly 1000 comprises a buttstock housing 1010, abattery compartment 1011, abattery 1012, abattery door 1013, a first component comprising a first arm 1014a, a second arm 1014 and a pivot point 1014c, a second component 1016 comprising a first connector 1016a, a second connector 1016b, a pivot point 1016c and an arm 1016d, a first motor 1022, a second motor 1024, and an end cap / recoil paid 1026.

[0075] In some embodiments, the first motor 1022 and the second motor 1024 a rigidly fixed or secured within the buttstock housing 1010. The second motor may be securely attached to the arm 1016c. In some embodiments, the axis of rotation of the first motor 1022 is perpendicular to the axis of rotation of the second motor 1024.

[0076] The buttstock assembly is configured to attach to the rear of a weapon, such as a rifle. The buttock assembly includes a buttstock housing 1010 and two moveable components 1014, 1016 that work together to move the weapon in an y-axis 1018 and in a y-axis 1020. The first component 1014 is moveably connected to the second component 1016. The second component 1016 is moveably connected to the buttstock housing 1010. The buttstock housing1010 is configured to be attached to the rear of the weapon, such as the weapon’s receiver. In some embodiments, the upper portion of the buttstock housing includes a hollow chamber or tube (not depicted) that serves as a buffer tube to receive a buffer and a spring for gas operated weapons.

[0077] The first component 1014 is driven by a first motor 1022 and the second component 1016 is driven by a second motor 1024. The system determines a trajectory for the weapon and the system provides instructions or signals to the first and / or second motor 1022, 1024 to change the pitch and / or yaw of the weapon. The system may continuously determine or update the trajectory for the weapon and provide intermittent and / or continuous instructions or signals to the first and / or second motor 1022, 1024. This allows the system to acquire a target and provide updated trajectories to an acquired target that is moving and / or in those situations where the operator is moving with the weapon system.

[0078] While in operation, the end cap 1026 of the first component 1014 is held against the body of the operator and a first motor 1022 drives (i.e., rotates) the first component 1014 in a y-axis in a first direction and in an opposite second direction. The first component 1014 is pivotally attached to the second component 1016 via a first arm 1014a and a second arm 1014b of the first component with the first arm pivoting about a first connector and the second arm pivoting about a second connector. The first and second connector 1016a, 1016b may comprise a screw, pin, or other device that includes a shaft around which an arm 1014a, 1014b may respectfully pivot. The first 1014 component may have a pad or other shock absorbing material or structure attached thereto. The first component 1014 pivots at the connection point 1014c. For example, while the end cap 1026 is held against the body of the operator, the first component 1014 moves along a y-axis 1018 thereby moving the front of the weapon. The actuation of the first motor 1022 changes the yaw of the front of the weapon from right to left,or from left to right relative to the first component 1014. The first component 1014 includes two arms 1014a, 1014b. The first component pivots at the pivot location 1014c. The arm 1014a is coupled to the first motor 1022 via connector which is rotated by the first motor 1022 which causes the arm 1014a to pivot left or right. The connection point 1014c of the arm 1014b may be pivotally connected to a shaft. The rotation of the first motor 1022 causes the first component to move along a curved path from right to left, or from left to right along the y-axis 1018. In some embodiments, the moveable arms 1014a and / or 1014b may be driven by the first motor 1022 through gears, linkages and / or other structures causing either arm, or both arms, to pivot left or right based on the rotation of the first motor 1022.

[0079] While in operation, a second motor 1024 drives the second component 1016 along an x-axis 1020 in a third direction and in an opposite fourth direction. The second component 1016 pivots at the connection point 1016d. The arm 1016c of second component 1016 is pivotally attached at the connection point 1016d to the buttstock housing 1010. The actuation of the second motor 1024 changes the pitch of the front of the weapon from up to down, or from down to up along. In some embodiments, the second component is attached to a moveable arm that pivots at one end connected to a part of the buttstock housing 1010. The other end of the moveable arm 1016c is rigidly connected to, or integrally formed with, the second component 1016. The moveable 1016c arm moves the second component 1016 along an arcuate or curved path relative to the pivot point 1016d while the arm is driven by the second motor 1024. The moveable arm 1016c pivots up or down within the buttstock housing 1010. An upper interior portion of the buttstock housing 1010 acts as a stop for the maximum upward movement of the arm 1016c, and a lower interior portion of the buttstock housing 1010 acts as a stop for the maximum downward movement of the arm 1016c. In some embodiments, the moveable arm 1016c may be driven by the second motor 1024 through gears, linkages and / or structures to cause the arm to move up or down based on the rotation of the second motor 1024.

[0080] In some embodiments, the buttstock housing 1010 includes an enclosable compartment 1011 for holding a battery 1012. The battery compartment 1011 may include a door 1013 that can be opened and closed for insertion or removal of the battery 1012. The battery compartment 1011 may include positive and negative leads that connect with respective positive and negative battery terminals. The power from the battery 1012 may be used to drive any of the motors of the system and / or other electronics or system cameras or sensors.

[0081] FIGS. 11A-11D are diagrams illustrating an example attachment housing assembly 1100 of the adaptive targeting system 100. FIGS. 11A-11D is an example of an attachment housing configured to hold one or more sensors and other electronic components of the system. The attachment housing assembly 1100 comprises a base 1110 with a plurality of openings, a lid 1108 and a window 1112. The attachment housing 1100 may include various sensors 1104 (such as digital camera 1104a and a LiDar sensor 1104b). The system’s processors and / or graphical procession units (GPUs) 1106 may be housed in the attachment housing assembly. The window may be made of a glass or plastic material and provides a port through which the LiDar sensor or other range finder may send and receive signals.

[0082] The attachment housing assembly 1100 should be securely attached to a front portion of a weapon. The attachment housing assembly 1100, for example, may be attached to a picatinny rail of the weapon. During operation of the weapon, the sensors 1104 are used to obtain ambient environmental information that is used by the system for computational processes such as target determination, target acquisition, trajectory determination, target impact, etc. In some embodiments, the attachment housing assembly 1100 includes one or more digital cameras 1104a and one or more LiDar sensors 1104b. Other types of range finders or sensors may be used to determine a range of the system to a potential target. As discussed herein, the system obtains digital images of the ambient environment and processes the imagesto determine a trajectory to a potential target. While the weapon system is held by the operator, the system provides instructions and / or signals to the motors to make adjustments to the buttock assembly and / or a foregrip assembly. The system via a continuous trajectory determination process makes adjustments to the weapon trajectory and causes the motors of the system to adjust the buttstock and / or foregrip components such that the weapon trajectory changes while being held by the operator.

[0083] In some embodiments, the attachment housing assembly 1100 includes one or more connectors 1102 allowing cables to be connected to the attachment housing assembly 1100. For example, a battery cable may be connected via wires from the positive and negative leads of the battery compartment. Also, the attachment housing assembly 1100 may house one or more processors or controllers 1106 that are operably connected to the various motors of the system. Cables may be attached to the attachment housing assembly 1100 and to the respective motors of the system.

[0084] In some embodiments, the attachment housing assembly 1100 is configured with seals, such as rubber gaskets or other materials position about the interface between the lid 1108 and the base 1110. Additionally, the opening around or about the openings to receive electrical connectors may be sealed and / or have gaskets or other materials. The gasketing prevents moisture, water and / or dust from entering the attachment housing assembly.

[0085] FIGS. 12A-12B are diagrams illustrating an example weapon having an adaptive targeting system 100 with the buttstock assembly depicted in FIGS. 10A-10G and the attachment housing assembly 1100 depicted in FIGS. 11A-11C.

[0086] An example rifle (such as AR-15 or AR-10) is shown equipped with the with components of the adaptive targeting system. In this example, the weapon includes a buttock assembly 1000, a magazine 130, and upper receiver 140, a lower receiver 150, a barrel 160,and the attachment housing assembly 1100. The adaptive targeting system 100 includes modular components that are attachable to the rifle or are integral to the rifle. The modular components include the buttstock assembly 1000 and the attachment housing assembly 1100. In this example, the attachment housing assembly 1100 is connected to the rights side of the rifle via a picatinny rail.

[0087] While this disclosure describes an example weapon system, the adaptive targeting system 100 may be configured or modified to attach to, be integrated with other rifles or weapons. Moreover, the assemblies may be used or adapted to be used individually with other rifles or weapons.

[0088] It will be appreciated that the present disclosure may include any one and up to all of the following examples.

[0089] Example 1 : An adaptive targeting system comprising: a forward grip assembly comprising: a first motor; an inner shaft; and an outer shaft, the inner shaft being partially disposed within the outer shaft, and the inner shaft being linearly moveable in a first axis within the outer shaft by actuation of the first motor; and a pistol grip assembly comprising: a second motor; a pistol grip; and a frame, the frame linearly moveable in a second axis within the pistol grip by actuation of the second motor.

[0090] Example 2. The adaptive targeting system of Example 1, wherein the first axis is a vertical direction and the second axis is a horizontal direction relative to the first axis.

[0091] Example 3. The adaptive targeting system of any one of Examples 1-2, wherein the first axis and the second axis are perpendicular to one another.

[0092] Example 4. The adaptive targeting system of any one of Examples 1-3, wherein the pistol grip assembly is attachable to a rear portion of a lower receiver of a rifle.

[0093] Example 5. The adaptive targeting system of any one of Examples 1-4, wherein the forward grip assembly is attachable to a forward portion of a rifle.

[0094] Example 6. The adaptive targeting system of any one of Examples 1-5, further comprising: a buttstock assembly comprising: a third motor; a fourth motor; and the buttstock frame, the buttstock frame linearly moveable in a third axis by the third motor and linearly moveable in a fourth axis by the fourth motor.

[0095] Example 7. The adaptive targeting system of any one of Examples 1-6, wherein the buttstock assembly is attachable to a buttstock of a rifle.

[0096] Example 8. The adaptive targeting system of any one of Examples 1-7, wherein the third axis is a vertical direction and the fourth axis is a horizontal direction relative to the third axis.

[0097] Example 9. The adaptive targeting system of any one of Examples 1-8, further comprising: a processor, the processor configured to perform the operations of: obtaining sensor data describing a target; determining a trajectory to the target; and providing instructions or voltages to the first motor and / or second motor to position a weapon to impact the target when the weapon is fired.

[0098] Example 10. The adaptive targeting system of any one of Examples 1-9, the operations further comprising: after the weapons is fired, obtaining sensor data describing the target; determining whether that target was impacted with a projectile fired from the weapon; and providing a visual indication, via a display device, that the target was impacted by the projectile.

[0099] Example 11. A rifle having an adaptive targeting system comprising: a rifle barrel; an upper receiver; a lower receiver; a buttstock; a forward grip assembly attached to forwardportion of the rifle barrel, the forward grip assembly comprising: a first motor; an inner shaft; and an outer shaft, the inner shaft being partially disposed within the outer shaft, and the inner shaft being linearly moveable in a first axis within the outer shaft by actuation of the first motor; and a pistol grip assembly attached to the lower receiver, the pistol grip assembly comprising: a second motor; a pistol grip; and a frame, the frame linearly moveable in a second axis within the pistol grip by actuation of the second motor.

[0100] Example 12. The rifle of Example 11, wherein the forward portion is a handguard, and the forward grip is attached to a picatinny rail of handguard.

[0101] Example 13. The rifle of any one of Examples 11-12, wherein the first axis and the second axis are perpendicular to one another.

[0102] Example 14. The rifle of any one of Examples 11-13, wherein the forward grip assembly and the trigger grip assembly are modular and configured to be attachable and detachable to the rifle.

[0103] Example 15. The rifle of any one of Examples 11-14, wherein the pistol grip assembly is attachable to a rear portion of a lower receiver of a rifle.

[0104] Example 16. The rifle of claim of any one of Examples 11-15, wherein the forward grip assembly is attachable to a forward portion of a rifle.

[0105] Example 17. The rifle of claim of any one of Examples 11-16, further comprising: a buttstock assembly attached to the buttstock, the buttstock assembly comprising: a third motor; a fourth motor; and the buttstock frame, the buttstock frame linearly moveable in a third axis by the third motor and linearly moveable in a fourth axis by the fourth motor.

[0106] Example 18. A method of adaptive targeting comprising: determining a distance of a target; determining a projectile trajectory based on a ballistics profile based on the distance of the target; and instructing a first and / or second motor to operate, wherein the first motor causes a vertical adjustment of a rifle relative to a forward grip assembly coupled to the rifle, and wherein the second motor causes a horizontal adjustment of a barrel of a rifle relative to a pistol grip assembly coupled to the rifle.

[0107] Example 19. The method of claim 18, wherein a forward grip assembly is attached to forward portion of a rifle barrel, the forward grip assembly comprising: a first motor; an inner shaft; and an outer shaft, the inner shaft being partially disposed within the outer shaft, and the inner shaft being linearly moveable in a first axis within the outer shaft by actuation of the first motor; and wherein a pistol grip assembly is attached to a lower receiver of the rifle, the pistol grip assembly comprising: a second motor; a pistol grip; and a frame, the frame linearly moveable in a second axis within the pistol grip by actuation of the second motor.

[0108] Example 20. The method of claim 19, further comprising: instructing a third and / or fourth motor to operate, wherein the third motor causes a vertical adjustment of a buttstock assembly, and the fourth motor causes a horizontal adjustment of the buttstock assembly.

[0109] Example 21. The method of claims 20, wherein the buttstock assembly comprises: a third motor; a fourth motor; and a first frame, the first frame linearly moveable in a third axis by the third motor; and a second frame and linearly moveable in a fourth axis by the fourth motor.

[0110] Example 22. An adaptive targeting system comprising: a forward grip assembly comprising: a first motor and a second motor; a first frame; a grip housing; a first linear bearing assembly attached to the first frame, the first linear baring assembly comprising a first slideable bar seated within a first bar coupler, wherein the first slideable bar moves in a firstaxis by actuation of the first motor; and a second linear bearing assembly attached to the frame, the second linear bearing assembly comprising a second slideable bar seated within a second bar coupler, wherein the second slideable bar moves in a second axis by actuation of the second motor; and a pistol grip assembly comprising: a third motor; a pistol grip; and a second frame, the second frame linearly moveable in the horizontal axis within the pistol grip by actuation of the third motor.

[0111] Example 23. The adaptive targeting system of Example 22, wherein the first axis is a vertical direction and the second axis is a horizontal direction relative to the first axis.

[0112] Example 24. The adaptive targeting system of any one of Examples 22-23, wherein the first axis and the second axis are perpendicular to one another.

[0113] Example 25. The adaptive targeting system any one of Examples 22-24, wherein the pistol grip assembly is attachable to a rear portion of a lower receiver of a rifle.

[0114] Example 26. The adaptive targeting system any one of Examples 22-25, wherein the forward grip assembly is attachable to a forward portion of a rifle.

[0115] Example 27. The adaptive targeting system any one of Examples 22-26, further comprising: a buttstock assembly comprising: a fourth motor; a fifth motor; and the buttstock frame, the buttstock frame linearly moveable in a third axis by the fourth motor and linearly moveable in a fourth axis by the fifth motor.

[0116] Example 28. The adaptive targeting system any one of Examples 22-27, wherein the buttstock assembly is attachable to a buttstock of a rifle.

[0117] Example 29. The adaptive targeting system of any one of Examples 22-28, wherein the third axis is a vertical direction and the fourth axis is a horizontal direction relative to the third axis.

[0118] Example 30. The adaptive targeting system any one of Examples 22-29, further comprising: a processor, the processor configured to perform the operations of: obtaining sensor data describing a target; determining a trajectory to the target; and providing instructions or voltages to the first motor, second motor and / or third motor to position a weapon to impact the target when the weapon is fired.

[0119] Example 31. The adaptive targeting system any one of Examples 22-30, the operations further comprising: after the weapons is fired, obtaining sensor data describing the target; determining whether that target was impacted with a projectile fired from the weapon; and providing a visual indication, via a display device, that the target was impacted by the projectile.

[0120] Example 32. A rifle having an adaptive targeting system comprising: a rifle barrel; an upper receiver; a lower receiver; a buttstock; a forward grip assembly attached to a forward portion of the rifle barrel, the forward grip assembly comprising: a first motor and a second motor; a first frame; a grip housing; a first linear bearing assembly attached to the frame, the second linear bearing assembly comprising a first slideable bar seated within a first bar coupler, wherein the first slideable bar moves in a first axis by actuation of the first motor; and a second linear bearing assembly attached to the frame, the second linear bearing assembly comprising a second slideable bar seated within a second bar coupler, wherein the second slideable bar moves in a second axis by actuation of the second motor; and a pistol grip assembly attached to the lower receiver, the pistol grip assembly comprising: a third motor; a pistol grip; and asecond frame, the second frame linearly moveable in the second axis within the pistol grip by actuation of the third motor.

[0121] Example 33. The rifle of Example 32, wherein the forward portion is a handguard, and the forward grip is attached to a picatinny rail of handguard.

[0122] Example 34. The rifle of any one of Examples 32-33, wherein the first axis and the second axis are perpendicular to one another.

[0123] Example 35. The rifle of any one of Examples 32-34, wherein the forward grip assembly and the trigger grip assembly are modular and configured to be attachable and detachable to the rifle.

[0124] Example 36. The rifle of any one of Examples 32-35, wherein the pistol grip assembly is attachable to a rear portion of a lower receiver of a rifle.

[0125] Example 37. The rifle of any one of Examples 32-36, wherein the forward grip assembly is attachable to a forward portion of a rifle.

[0126] Example 38. The rifle of any one of Examples 32-37, further comprising: a buttstock assembly attached to the buttstock, the buttstock assembly comprising: a buttstock frame; a fourth motor; a fifth motor; and the buttstock frame, the buttstock frame linearly moveable in a third axis by the third motor and linearly moveable in a fourth axis by the fourth motor.

[0127] Example 39. An adaptive targeting system comprising: a buttstock assembly comprising: a buttstock housing; a first motor; a second motor; a first component; and a second component; wherein the first component is moveably attached to the second component, and the second component is moveably attached to the buttstock housing.

[0128] Example 40. The adaptive targeting system of Example 39, wherein the first component moves along a first axis in a horizontal direction and the second component moves along a second axis in a vertical direction relative to the first axis.

[0129] Example 41. The adaptive targeting system of any one of Examples 39-40, wherein an axis of rotation of the first motor is perpendicular to an axis of rotation of the second motor.

[0130] Example 42. The adaptive targeting system of any one of Examples 39-41, wherein the buttstock assembly is attachable to a rear portion of a lower receiver of a rifle.

[0131] Example 43. The adaptive targeting system of any one of Examples 39-42, wherein the buttstock housing includes a battery compartment having a positive terminal lead and a negative terminal lead.

[0132] Example 44. The adaptive targeting system pf any one of Examples 39-43, wherein the second component moves along a curved path relative to the buttstock housing.

[0133] Example 45. The adaptive targeting system of any one of Examples 39-44, wherein a moveable arm is rigidly attached to the second component and pivotally attached to the buttstock housing.

[0134] Example 46. The adaptive targeting system of any one of Examples 39-45, wherein the buttstock housing includes a hollow chamber configured to receive a buffer and spring assembly.

[0135] Example 47. The adaptive targeting system of any one of Examples 39-46, wherein the first component pivots relative to the second component, and the second component pivots relative to the buttstock housing.

[0136] Example 48. The adaptive targeting system of any one of Examples 39-47, wherein the first motor and the second motor are securely attached to the second component.

[0137] Example 49. The adaptive targeting system of any one of Examples 39-48, wherein the first component is pivotally attached to the second component via a first arm and a second arm of the first component with the first arm pivot about a first connector and the second arm pivoting about a second connector.

[0138] Example 50. The adaptive targeting system of any one of Examples 39-49, further comprising: a processor, the processor configured to perform the operations of: obtaining sensor data describing a target; determining a trajectory to the target; and providing instructions or voltages to the first motor and / or second motor to position a weapon to impact the target when the weapon is fired.

[0139] Example 51. The adaptive targeting system of Example 50, the operations further comprising: after the weapons is fired, obtaining sensor data describing the target; determining whether that target was impacted with a projectile fired from the weapon; and providing a visual indication, via a display device, that the target was impacted by the projectile.

[0140] Example 52. A rifle having an adaptive targeting system comprising: a barrel; an upper receiver; a lower receiver; a buttstock assembly comprising: a buttstock housing; a first motor; a second motor; a first component; and a second component; wherein the first component is moveably attached to the second component, and the second component is moveably attached to the buttstock housing.

[0141] Example 53. The rifle of Example 52, wherein the first component moves along a first axis in a horizontal direction and the second component moves along a second axis in a vertical direction relative to the first axis.

[0142] Example 54. The rifle of any one of Examples 52-53, wherein an axis of rotation of the first motor is perpendicular to an axis of rotation of the second motor.

[0143] Example 55. The rifle of any one of Examples 52-54, wherein the buttstock assembly is attachable to a rear portion of a lower receiver of a rifle.

[0144] Example 56. The rifle of any one of Examples 52-55, wherein the buttstock housing includes a battery compartment having a positive terminal lead and a negative terminal lead.

[0145] Example 57. The rifle of any one of Examples 52-56, wherein the second component moves along a curved path relative to the buttstock housing.

[0146] Example 58. The rifle of any one of Examples 52-57, wherein a moveable arm is rigidly attached to the second component and pivotally attached to the buttstock housing.

[0147] Example 59. The rifle of any one of Examples 52-58, wherein the buttstock housing includes a hollow chamber configured to receive a buffer and spring assembly.

[0148] Example 60. The rifle of any one of Examples 52-59, wherein the first component pivots relative to the second component, and the second component pivots relative to the buttstock housing.

[0149] Example 61. The rifle of any one of Examples 52-60, wherein the first motor and the second motor are securely attached to the second component.

[0150] Example 62. The rifle of any one of Examples 52-61, wherein the first component is pivotally attached to the second component via a first arm and a second arm of the first component with the first arm pivot about a first connector and the second arm pivoting about a second connector.

[0151] Example 63. The rifle of any one of Examples 52-62, further comprising: a processor, the processor configured to perform the operations of: obtaining sensor data describing a target; determining a trajectory to the target; and providing instructions or voltages to the first motor and / or second motor to position a weapon to impact the target when the weapon is fired.

[0152] Example 64. The rifle of c any one of Examples 63, the operations further comprising: after the weapons is fired, obtaining sensor data describing the target; determining whether that target was impacted with a projectile fired from the weapon; and providing a visual indication, via a display device, that the target was impacted by the projectile.

[0153] Some portions of the preceding detailed descriptions have been presented in terms of algorithms, equations and / or symbolic representations of operations on data bits within a computer memory. These algorithmic and / or equation descriptions and representations are the ways used by those skilled in the data processing arts to most effectively convey the substance of their work to others skilled in the art. An algorithm is here, and generally, conceived to be a self-consi stent sequence of operations leading to a desired result. The operations are those requiring physical manipulations of physical quantities. Usually, though not necessarily, these quantities take the form of electrical or magnetic signals capable of being stored, combined, compared, and otherwise manipulated. It has proven convenient at times, principally for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like.

[0154] It should be borne in mind, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. Unless specifically stated otherwise as apparent from the above discussion, it is appreciated that throughout the description, discussions utilizing terms such as “identifying” or “determining” or “executing” or “performing” or “collecting” or “creating” or “sending” orthe like, refer to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage devices.

[0155] The present disclosure also relates to an apparatus for performing the operations herein. This apparatus may be specially constructed for the intended purposes, or it may comprise a general -purpose computer selectively activated or reconfigured by a computer program stored in the computer. Such a computer program may be stored in a computer readable storage medium, such as, but not limited to, any type of disk including read-only memories (ROMs), random access memories (RAMs), EPROMs, EEPROMs, magnetic cards, or any type of media suitable for storing electronic instructions, each coupled to a computer system bus.

[0156] Various general-purpose systems may be used with programs in accordance with the teachings herein, or it may prove convenient to construct a more specialized apparatus to perform the method. The structure for a variety of these systems will appear as set forth in the description above. In addition, the present disclosure is not described with reference to any programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the disclosure as described herein.

[0157] The present disclosure may be provided as a computer program product, or software, that may include a machine-readable medium having stored thereon instructions, which may be used to program a computer system (or other electronic devices) to perform a process according to the present disclosure. A machine-readable medium includes any mechanism for storing information in a form readable by a machine (e.g., a computer). For example, a machine-readable (e.g., computer-readable) medium includes a machine (e.g., a computer)readable storage medium such as a read only memory (“ROM”), random access memory (“RAM”), magnetic disk storage media, optical storage media, flash memory devices, etc.

[0158] In the foregoing disclosure, implementations of the disclosure have been described with reference to specific example implementations thereof. It will be evident that various modifications may be made thereto without departing from the broader spirit and scope of implementations of the disclosure as set forth in the following claims. The disclosure and drawings are, accordingly, to be regarded in an illustrative sense rather than a restrictive sense.

Claims

CLAIMSWhat is claimed is:

1. An adaptive targeting system comprising: a buttstock assembly comprising: a buttstock housing; a first motor; a second motor; a first component; and a second component; wherein the first component is moveably attached to the second component, and the second component is moveably attached to the buttstock housing.

2. The adaptive targeting system of claim 1, wherein the first component moves along a first axis in a horizontal direction and the second component moves along a second axis in a vertical direction relative to the first axis.

3. The adaptive targeting system of claim 1, wherein an axis of rotation of the first motor is perpendicular to an axis of rotation of the second motor.

4. The adaptive targeting system of claim 1, wherein the buttstock assembly is attachable to a rear portion of a lower receiver of a rifle.

5. The adaptive targeting system of claim 1, wherein the buttstock housing includes a battery compartment having a positive terminal lead and a negative terminal lead.

6. The adaptive targeting system of claim 1, wherein the second component moves along a curved path relative to the buttstock housing.

7. The adaptive targeting system of claim 1, wherein a moveable arm is rigidly attached to the second component and pivotally attached to the buttstock housing.

8. The adaptive targeting system of claim 1, wherein the buttstock housing includes a hollow chamber configured to receive a buffer and spring assembly.

9. The adaptive targeting system of claim 1, wherein the first component pivots relative to the second component, and the second component pivots relative to the buttstock housing.

10. The adaptive targeting system of claim 1 , wherein the first motor and the second motor are securely attached to the second component.

11. The adaptive targeting system of claim 1, wherein the first component is pivotally attached to the second component via a first arm and a second arm of the first component with the first arm pivot about a first connector and the second arm pivoting about a second connector.

12. The adaptive targeting system of claim 1, further comprising: a processor, the processor configured to perform the operations of: obtaining sensor data describing a target; determining a trajectory to the target; and providing instructions or voltages to the first motor and / or second motor to position a weapon to impact the target when the weapon is fired.

13. The adaptive targeting system of claim 12, the operations further comprising: after the weapons is fired, obtaining sensor data describing the target; determining whether that target was impacted with a projectile fired from the weapon; and providing a visual indication, via a display device, that the target was impacted by the projectile.

14. A rifle having an adaptive targeting system comprising: a barrel; an upper receiver; a lower receiver;a buttstock assembly comprising: a buttstock housing; a first motor; a second motor; a first component; and a second component; wherein the first component is moveably attached to the second component, and the second component is moveably attached to the buttstock housing.

15. The rifle of claim 14, wherein the first component moves along a first axis in a horizontal direction and the second component moves along a second axis in a vertical direction relative to the first axis.

16. The rifle of claim 14, wherein an axis of rotation of the first motor is perpendicular to an axis of rotation of the second motor.

17. The rifle of claim 14, wherein the buttstock assembly is attachable to a rear portion of a lower receiver of a rifle.

18. The rifle of claim 14, wherein the buttstock housing includes a battery compartment having a positive terminal lead and a negative terminal lead.

19. The rifle of claim 14, wherein the second component moves along a curved path relative to the buttstock housing.

20. The rifle of claim 14, wherein a moveable arm is rigidly attached to the second component and pivotally attached to the buttstock housing.

21. The rifle of claim 14, wherein the buttstock housing includes a hollow chamber configured to receive a buffer and spring assembly.

22. The rifle of claim 14, wherein the first component pivots relative to the second component, and the second component pivots relative to the buttstock housing.

23. The rifle of claim 14, wherein the first motor and the second motor are securely attached to the second component.

24. The rifle of claim 14, wherein the first component is pivotally attached to the second component via a first arm and a second arm of the first component with the first arm pivot about a first connector and the second arm pivoting about a second connector.

25. The rifle of claim 14, further comprising: a processor, the processor configured to perform the operations of: obtaining sensor data describing a target; determining a trajectory to the target; and providing instructions or voltages to the first motor and / or second motor to position a weapon to impact the target when the weapon is fired.

26. The rifle of claim 25, the operations further comprising: after the weapons is fired, obtaining sensor data describing the target; determining whether that target was impacted with a projectile fired from the weapon; and providing a visual indication, via a display device, that the target was impacted by the projectile.

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