Multi-shot disrupter

Abstract

Disrupter tools, devices, systems, methods, computer-readable media, and associated devices are provided for a multi-shot projectile system operable to fire shotgun type ammunition cartridges along with a fluid-type shot to eject a volume of fluid from a barrel of the multi-shot projectile system. The multi-shot projectile system may include a revolver-type design with a revolver cylinder having a plurality of independent firing chambers. The systems may further include a fluid fill sensing system or assembly for monitoring a fluid fill progression of a volume of fluid in the barrel based on signals from one or more fluid fill sensors disposed on or near the barrel.

Description

BACKGROUND1. Field

[0001] Embodiments of the present disclosure relate to disrupter devices. More specifically, embodiments of the present disclosure relate to remotely operated multi-shot disrupter devices.2. Related Art

[0002] Disrupters are a class of tool used, for example, by military Explosive Ordnance Disposal (EOD) and Law Enforcement Agency Bomb Squad personnel to disrupt the function, render-safe, or otherwise destroy and / or dispose of an item of Un-Exploded Ordnance (UXO) or other hazardous device. A typical disrupter tool is a single-shot manually re-loaded tool configured to be manually positioned near a target by a human operator wearing a cumbersome bomb suit. Other implementations have mounted single-shot disrupters on heavy-class EOD robots. However, because the firing pressures, energies, and muzzle velocities of EOD loads greatly exceeds that of standard shotgun loads, operation of disrupters may result in damage to even large robot arms if recoil is not effectively mitigated.

[0003] In addition to firing solid-projectile shotgun rounds, disrupters may be used to fire a “water-shot”, in which a volume of fluid is expelled from the disrupter at high pressure, for example, to remove or tear holes in coverings or other obstacles associated with a hazardous device. For manually-loaded single-shot disrupters, the human operator places an elastomeric seal plug in the forward aspect of the chamber using a seating tool, and then manually fills water or other liquid from the muzzle end of the bore, visually monitoring the process before placing another seal at the muzzle end to contain the fluid. The visually-controlled manual filling process is difficult to replicate using a remote robotic bore filling process. Further, the water-shots produce a relatively larger recoil response even compared to EOD shotshell rounds because of the larger projectile mass of the fluid volume.

[0004] Another weakness of known multi-shot disrupter tools with single firing chambers can be attributed to reliance on complex robotic loading and extraction techniques, especially for single-chamber systems in which complex means are used to extract cartridges from the chamber post firing. Said complex cartridge extraction techniques are costly and lack high reliability.SUMMARY

[0005] Embodiments of the present disclosure solve the above-mentioned problems by providing a disrupter system configured to be mounted onto a robotic platform or other unmanned vehicle. The disclosed disrupter system is a multi-shot disrupter tool operable to fire a plurality of rounds in succession such that multiple journeys up and down range for loading and extraction between shots, as in single-shot systems, is not necessary. In some embodiments, the multi-shot disrupter tool has a revolver type design including a revolver cylinder with a plurality of chambers such that sequential shots are possible between manual loading and manual extraction.

[0006] Some embodiments of the present disclosure also contemplate a recoil dissipation assembly comprising a support rail on which a chassis or body structure of the disrupter is slidably coupled. As the chassis translates along the rail, a ramp structure of the rail interacts with one or more linear recoil dissipator devices. The stroke of the one or more dissipator devices is directly matched to the stroke of the chassis by the slope of the ramp structure, such that a separate transfer mechanism is not used to match the recoil stroke or ramp stroke to the dissipator stroke(s), or to transfer a load to the dissipator(s).

[0007] In some aspects, the techniques described herein relate to a multi-shot projectile-firing device including: at least one barrel, the at least one barrel including a rearward end, a forward end, and a bore; a plurality of distinct firing chambers, each firing chamber of the plurality of distinct firing chambers including a forward end, a rearward end, and a cavity operable to receive an ammunition cartridge of a plurality of ammunition cartridges disposed respectively in the plurality of distinct firing chambers, wherein each firing chamber of the plurality of distinct firing chambers is operable to move into a position of alignment with respect to the bore of the at least one barrel; a firing apparatus adapted to optionally initiate an ammunition cartridge in a respective firing chamber of the plurality of distinct firing chambers when the respective chamber is in a position of alignment with the bore of the at least one barrel; and a control system configured to remotely or automatically control movement of the plurality of distinct firing chambers into positions of alignment with the bore of the at least one barrel, and to remotely or automatically control the firing apparatus, to allow firing of the plurality of ammunition cartridges according to a selected order.

[0008] In some aspects, the techniques described herein relate to a fluid fill sensing system for monitoring and controlling a fluid filling process of a disrupter tool, the fluid fill sensing system including: a front seal plug including at least one sensor stimulus such as a magnet, the front seal plug configured to be disposed within an internal bore of a barrel of the disrupter tool, wherein the front seal plug is pushed along the internal bore toward a distal end of the barrel as a volume of fluid is pumped into the barrel such that a sensed position of the front seal plug within the barrel is indicative of a fill progression of the barrel with the volume of fluid; one or more fluid fill sensors disposed on or adjacent to the barrel, the one or more fluid fill sensors operable to monitor the fill progression of the barrel based at least in part on the position of the front seal plug within the barrel.

[0009] In some aspects, the techniques described herein relate to a multi-shot projectile-firing device including: a barrel including a rearward end, a forward end, and a bore; a revolver cylinder including a plurality of distinct firing chambers disposed therein, each firing chamber of the plurality of distinct firing chambers including a forward end, a rearward end, and a cavity operable to receive an ammunition cartridges of a plurality of ammunition cartridges disposed respectively in the plurality of distinct firing chambers, wherein each firing chamber of the plurality of distinct firing chambers is operable to move into a position of alignment with respect to the bore of the barrel by rotation of the revolver cylinder; a firing apparatus adapted to optionally initiate an ammunition cartridge in a respective firing chamber of the plurality of distinct firing chambers when the respective chamber is in a position of alignment with the bore of the barrel; and a control system configured to remotely or automatically control rotation of the revolver cylinder to move the plurality of distinct firing chambers into positions of alignment with the bore of the barrel, and to remotely or automatically control the firing apparatus, to allow firing of the plurality of ammunition cartridges sequentially.

[0010] In some aspects, the techniques described herein relate to a recoil system of a remotely operated disrupter tool for mitigating a recoil response associated with firing of the remotely operated disrupter tool, the recoil system including: a fixed rail structure including a ramp surface, the fixed rail structure slidably coupled to a chassis portion of the disrupter tool such that the chassis portion translates along the fixed rail structure responsive to firing of the disrupter tool; at least one sliding wedge block bearing structure operable to interface with the ramp surface as the chassis portion translates along the fixed rail structure; and one or more dissipator devices coupled to the at least one sliding wedge block structure such that the one or more dissipator devices absorb recoil energy as the chassis portion translates along the fixed rail structure, wherein the at least one sliding wedge block bearing structure compresses the piston(s) of the dissipator devices as the at least one sliding wedge block structure slides along the ramp surface, with minimal transfer of side-loads to the dissipator input shafts.

[0011] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Other aspects and advantages of the present disclosure will be apparent from the following detailed description of the embodiments and the accompanying drawing figures.BRIEF DESCRIPTION OF THE DRAWING FIGURES

[0012] Embodiments of the present disclosure are described in detail below with reference to the attached drawing figures, wherein:

[0013] FIG. 1 illustrates an exemplary disrupter system relating to some embodiments of the present disclosure;

[0014] FIG. 2 illustrates a cross-sectional view of an exemplary disrupter system relating to some embodiments of the present disclosure;

[0015] FIG. 3A illustrates a cross-sectional view of the exemplary disrupter system prior to a firing operation relating to some embodiments of the present disclosure;

[0016] FIG. 3B illustrates a cross-sectional view of the exemplary disrupter system emphasizing an exemplary water filling system of the disrupter system relating to some embodiments of the present disclosure;

[0017] FIG. 4 illustrates a cross-sectional view of an exemplary fill sensing system for the disrupter system relating to some embodiments of the present disclosure;

[0018] FIG. 5 illustrates a diagram of an exemplary control system relating to some embodiments of the present disclosure;

[0019] FIG. 6 illustrates an operational view of an exemplary robotic system equipped with the disrupter system relating to some embodiments of the present disclosure;

[0020] FIG. 7 illustrates an exemplary user interface associated with operation of the disrupter system relating to some embodiments of the present disclosure;

[0021] FIG. 8A illustrates an exemplary ring seal for a gas seal system of the disrupter system relating to some embodiments of the present disclosure;

[0022] FIG. 8B illustrates an exemplary integrated monolithic seal for a gas seal system of the disrupter system relating to some embodiments of the present disclosure;

[0023] FIG. 8C illustrates an exemplary piston seal for a gas seal system of the disrupter system relating to some embodiments of the present disclosure; and

[0024] FIG. 9 illustrates an exemplary method of providing and operating a disrupter system relating to some embodiments of the present disclosure.

[0025] The drawing figures do not limit the present disclosure to the specific embodiments disclosed and described herein. The drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the present disclosure.DETAILED DESCRIPTION

[0026] The following detailed description references the accompanying drawings that illustrate specific embodiments in which the present disclosure can be practiced. The embodiments are intended to describe aspects of the present disclosure in sufficient detail to enable those skilled in the art to practice the present disclosure. Other embodiments can be utilized and changes can be made without departing from the scope of the present disclosure. The following detailed description is, therefore, not to be taken in a limiting sense. The scope of the present disclosure is defined only by the appended claims, along with the full scope of equivalents to which such claims are entitled.

[0027] In this description, references to “one embodiment,”“an embodiment,” or “embodiments” mean that the feature or features being referred to are included in at least one embodiment of the technology. Separate references to “one embodiment,”“an embodiment,” or “embodiments” in this description do not necessarily refer to the same embodiment and are also not mutually exclusive unless so stated and / or except as will be readily apparent to those skilled in the art from the description. For example, a feature, structure, act, etc. described in one embodiment may also be included in other embodiments but is not necessarily included. Thus, the technology can include a variety of combinations and / or integrations of the embodiments described herein.

[0028] Embodiments of the present disclosure relate to a disrupter device and associated components, assemblies, and systems, such as, for example, recoil control assemblies, revolver assemblies, remote control assemblies, fluid-filling assemblies, and fluid-filling sensing systems. In some embodiments, the disrupter device described herein is configured to be controlled remotely. For example, a disrupter device may be coupled to a remotely controlled robotic assembly to operate in a remote environment.

[0029] In some embodiments, a fluid fill sensing system is contemplated for the disrupter device to monitor a fluid filling process prior to a water-shot firing of the disrupter device. The fluid fill sensing system may utilize one or more fluid fill sensors that monitor a volume of fluid within a barrel bore of the disrupter device.

[0030] In some embodiments, the disrupter device is a multi-shot disrupter device has a revolver type design utilizing a plurality of independent firing chambers. The revolver type design with multiple firing chambers presents an improvement over other contemplated multi-shot designs, such as a magazine-fed single chamber design, because of the high pressure associated with disrupter rounds and difficulty with extraction post-fire. Accordingly, in some cases, magazine-fed single chamber designs are subject to a number of issues associated with high pressure leading to unreliability during operation.

[0031] In some embodiments of the present disclosure, the disrupter device is configured to be remotely controlled during operation. However, embodiments are contemplated in which ammunition cartridges are manually fed and extracted from multiple chambers of the multi-shot disrupter device. Manual extraction solves a number of issues associated with traditional remotely controlled disrupters that are automatically extracted from a single chamber. In particular, the firing sequence speed is improved because individual extraction is not performed between each successive firing. Further, for embodiments configured for manual extraction, a complex automated extraction assembly is not included, which greatly simplifies the design and reduces the overall weight of the device, a significant advantage for remotely controlled systems with a limited carrying capacity.

[0032] In some embodiments of the present disclosure, a recoil mitigation system is contemplated that reduces recoil effects in response to firing of the disrupter device. The recoil mitigation system may include a rail structure with at least one ramp structure that interfaces with one or more dissipator devices to absorb recoil energy as a chassis of the disrupter device slides along the rail structure responsive to firing recoil.

[0033] FIG. 1 illustrates an exemplary disrupter system 10 relating to some embodiments of the present disclosure. The disrupter system 10 may include a projectile-firing disrupter device. In some embodiments, the disrupter system 10 comprises at least one barrel 12 such as an elongated barrel 12 with a rearward end (i.e., proximal end), a forward end (i.e., distal end), and an internal barrel bore 14 extending through a length of the barrel 12. In some embodiments, the disrupter system 10 is a multi-shot disrupter system having a plurality of distinct firing chambers 15. For example, in some embodiments, the disrupter system 10 is a revolver type disrupter comprising a revolver cylinder 16, as shown, operable to hold and fire a plurality of ammunition cartridges within respective firing chambers 15. In some embodiments, the revolver cylinder 16 includes at least one sensing device to monitor a rotational orientation of the revolver cylinder 16, such as, for example, a rotary encoder. The revolver cylinder 16 may be configured to rotate automatically. For example, the disrupter system 10 may include one or more motors coupled to the revolver cylinder 16 operable to drive rotation of the revolver cylinder 16. Further, in some embodiments, the revolver cylinder 16 comprises one or more detents to provide angular precision when aligning a respective firing chamber 15 with the barrel bore 14.

[0034] In some embodiments, the revolver cylinder 16 includes the plurality of distinct firing chambers 15, each firing chamber 15 including a hollow cavity configured to receive ammunition cartridges therein. For example, in some embodiments, each firing chamber 15 may be configured to receive a shotgun shell therein, such as, for example, a 2″, 2 ¾″, or 3 ½″ length shotgun shell, as well as other shell lengths not explicitly described herein. In some embodiments, the revolver cylinder 16 comprises eight independent firing chambers 15. Alternatively, in some embodiments, a different number of firing chambers 15 are included, such as, 4 chambers, 5 chambers, 6 chambers, 10 chambers, or another suitable amount of firing chambers not explicitly described herein. Embodiments are contemplated in which a variety of distinct types of ammunition cartridges are loaded into the revolver cylinder 16, for example, such that the disrupter system 10 may be fired in a predetermined order based on one or more selected cartridge types. As a specific, example, the revolver cylinder 16 may include one or more 2.75″ length shotshells, one or more 3 ½″ length shotshells, and one or more blank 2.75″ shotshells. Further, in some embodiments, varying types of blank shotshells or other blank ammunition cartridges are included.

[0035] In some embodiments, the disrupter system 10 further includes a front cover portion 17 disposed at a front end of the revolver cylinder 16. The front cover portion 17 may be operable to shield internal components of the revolver cylinder 16, such as, for example, the ammunition cartridges within the firing chambers 15, from debris. In some embodiments, the front cover portion 17 is operable to receive one or more seal plugs 34. In some embodiments, each seal plug 34 is a seal plug pair comprising a front portion and rear portion, as will be described in further detail below. Further, the front cover portion 17 may be removable such that the cover may be removed to access the revolver cylinder 16, or one or more other internal components of the disrupter system 10.

[0036] In some embodiments, the disrupter system 10 comprises a gas seal apparatus (not shown), operable to at least partially limit propellant gas flow at a joint formed between the forward end of a respective firing chamber of the plurality of distinct firing chambers and the rearward end of the barrel. For example, in some embodiments, the gas seal apparatus comprises a seal portion operable to seal gas and prevent propellant gas from escaping from the sliding plane interface between the front of the revolver cylinder and the rear surface of the barrel. In some embodiments, each respective firing chamber of the plurality of firing chambers 15 is independently sealed. For example, a respective gas seal apparatus may be included for each firing chamber. Exemplary forms of gas seal systems are described in further detail below in reference to FIGS. 8A-8C.

[0037] In some embodiments, the disrupter system 10 comprises a chassis portion 18 that supports the barrel 12 and revolver cylinder 16. The chassis portion 18 may be slidably coupled to a rail structure 20, as shown. In some embodiments, the rail structure 20 is part of a recoil control subsystem of the disrupter system 10, as will be described in further detail below. For example, in some embodiments, the chassis portion 18 is configured to translate along the rail structure 20 responsive to firing of the disrupter system 10 such that recoil energy is transferred into longitudinal motion along a length of the rail structure 20 of the chassis portion 18 along with other portions of the disrupter system 10. In some embodiments, the rail structure 20 may be fixed to a mounting device such as a robotic assembly. For example, embodiments are contemplated in which the rail structure 20 is fixed to a robotic arm, as will be described in further detail below.

[0038] In some embodiments, the disrupter system 10 comprises a recoil assembly 22. For example, the recoil assembly 22 may be disposed at a rear side of the revolver cylinder and firing portion of the disrupter system 10. Further, in some embodiments, the recoil assembly 22 may include one or more dissipator devices operable to absorb and dissipate recoil kinetic energy generated in response to a firing operation of the disrupter system 10. In some embodiments, recoil kinetic energy is absorbed and dissipated into thermal energy based at least in part on an interaction between the recoil assembly 22 and a portion of the rail structure 20, as will be described in further detail below.

[0039] In some embodiments, the disrupter system 10 includes one or more cable connections 24 or other electrical connections, such as electrical power connections, communication connections, or other suitable power, communication, and control connections not explicitly described herein. For example, in some embodiments, the cable connection 24 is configured to receive an electrical or fiber optic cable, where the cable is operable to provide electrical power, control communications, or any combination thereof. Further, in some embodiments, multiple separate types of connections and cables are included. For example, in some embodiments, the cable connection 24 communicates one or more control signals from a control device to one or more components of the disrupter system 10. As a specific example, the cable connection 24 may receive a signal indicative of a firing command and transmit the signal to an automated firing pin to commence firing of the disrupter system 10. Embodiments are also contemplated in which one or more operations may be performed based on wireless signals such that cables and cable connections may be replaced with a wireless transceiver or the like.

[0040] In some embodiments, the disrupter system 10 is configured to fire a water-based disrupter shot in which one or more fluids are expelled at relatively high pressure from the disrupter system 10. For example, water-based disrupter shots may be used to perform general disruption tasks or to create access into a container, to tear through protective coverings, create holes in other structures, or to clear a working area. Accordingly, in some embodiments, the disrupter system 10 may include one or more fluid cables 26 operable to provide fluid to a fluid-filling system of the disrupter system 10. In some embodiments, the fluid cable 26 is coupled to a fluid manifold 28 of the disrupter system 10, as shown, such that fluid may be routed to the fluid manifold 28 through the fluid cable 26 in preparation for a water-based disrupter shot.

[0041] In some embodiments, the disrupter system 10 includes at least one loading port 30 operable to receive and expel ammunition cartridges from the respective firing chambers 15. In some embodiments, the disrupter system 10 is configured to be loaded and unloaded manually through the at least one loading port 30. For example, the loading port 30 may include a recessed surface providing a space to manually insert and / or extract an ammunition cartridge into a respective firing chamber 15. A tool, such as a short ram rod, may be used to dislodge fired ammunition cartridges which have developed an interference fit in a chamber after the firing event.

[0042] FIG. 2 illustrates a cross-sectional view of an exemplary disrupter system 10 relating to some embodiments of the present disclosure. The disrupter system 10 may comprise a multi-shot disrupter similar as described above with respect to FIG. 1. For example, the disrupter system 10 may include a barrel 12 with an internal bore 14 extending the length of the barrel 12. For example, in some embodiments, the barrel 12 comprises a titanium alloy material to provide a rugged yet lightweight structure as compared to steel alloy material barrels. In some embodiments, titanium, another non-magnetic metal, other non-magnetic material, or substantially non-magnetic material is used for the barrel 12, as to not interfere with magnetic fill sensing techniques, as will be described in further detail below.

[0043] The disrupter system 10 further includes the revolver cylinder 16, as shown, with one or more ammunition cartridges 32 disposed within respective chambers of the revolver cylinder 16. For example, each chamber of the revolver cylinder may include a hollow cavity operable to receive an ammunition cartridge such as a shotgun shell or the like. As mentioned above, in some embodiments, the revolver cylinder 16 is operable to receive two or more distinct types of ammunition cartridges. For example, in some embodiments, the respective chambers of the revolver cylinder 16 may receive any combination of one or more blank rounds, one or more live shotshell rounds, one or more slug rounds, as well as other suitable ammunition cartridges not explicitly described herein such as any suitable gauge, length, shot type and size, and load.

[0044] In some embodiments, the disrupter system 10 further includes one or more seal plugs 34. For example, in some embodiments, a seal plug 34 may be included for each respective firing chamber 15 of the revolver cylinder 16. The seal plugs 34 may be operable to provide a pressure seal within the barrel 12. For example, during a water shot operation, the seal plug 34 may be operable to contain a volume of fluid within the barrel 12, as water or another fluid is pumped into the barrel 12.

[0045] In some embodiments, the revolver cylinder 16 is operable to rotate about a central axis to adjust positioning of a selected firing chamber with the barrel 12 prior to firing. In some embodiments, an axle 36 is included disposed through a central opening of the revolver cylinder 16. Accordingly, the revolver cylinder 16 may be rotatably coupled and / or supported on the axle 36.

[0046] The disrupter system 10 may include a firing apparatus adapted to optionally initiate an ammunition cartridge of the disrupter system 10. For example, in some embodiments, a firing pin 38 is included in line with the barrel 12 such that the firing pin 38 aligns with a percussion primer of one the ammunition cartridges 32, when the respective firing chamber 15 is rotated into a firing position. The firing pin 38 may be configured to interact with the primer of the ammunition cartridge 32 responsive to a received signal. For example, the firing pin 38 may be actuated automatically based on an electrical or optical signal received from a control system of the disrupter system 10 or an associated system.

[0047] In some embodiments, the disrupter device 10 is operable to be remotely controlled, for example, using teleoperation techniques to provide operator inputs from a remote human operator to a control system of the disrupter device 10. Further, in some embodiments, one or more actions of the disrupter device 10 are performed autonomously or automatically. Further still, in some embodiments, a combination of manual remote control and automatic control are contemplated. For example, in some embodiments, certain transportation actions may be performed using autonomous techniques to transport the disrupter device 10 to an area of interest. Further, in some embodiments, autonomous techniques may be used to identify and / or suggest targeting approaches to human operators.

[0048] In some embodiments, the rail structure 20 comprises a ramp surface 40. For example, the ramp surface 40 may include an upper surface of the rail structure 20 that interacts with a portion of the recoil assembly 22. The ramp surface 40 may include an angled ramp structure with a predetermined contour. For example, in some embodiments, the ramp surface 40 comprises a constant slope, as shown. The ramp surface 40 may engage with a wedge block structure 42 of the recoil assembly 22. The recoil assembly 22 may further include one or more dissipator devices 44. For example, the dissipator devices 44 may include hydraulic absorbers operable to absorb energy associated with operation of the disrupter system 10. In some embodiments, the dissipator devices 44 comprises a pair of hydraulic absorbers. In some embodiments, the wedge block structure 42 comprises a bearing surface that eliminates side loads on the absorber shafts of the one or more dissipator devices 44. As such, the stroke of the absorber shafts is directly equivalent to the rise of the ramp itself coupled through the solid sliding bearing. In some embodiments, the sliding wedge block structure 42 is configured to adjust a position of the one or more dissipator devices 44. For example, in some embodiments, the sliding wedge block structure 42 is configured to adjust the position of input shafts of the dissipator devices 44.

[0049] In some embodiments, the dissipator devices 44 include a shaft that moves responsive to system operation and a throttling system that throttles viscous fluid through an orifice. In some embodiments, the dissipator devices are capable of absorbing up to 90 joules of kinetic energy each. Accordingly, a disrupter system 10 with two dissipator devices 44 may be operable to absorb approximately 180 joules of kinetic energy associated with firing the disrupter system 10. However, other embodiments are contemplated in which other forms of dissipator devices are used or dissipators with varying energy absorbing capabilities are used.

[0050] In some embodiments, the wedge block structure 42 is a plane bearing and operable to slide along the ramp surface 40 of the rail structure 20. Accordingly, the wedge block structure 42 may be translated upwards responsive to the disrupter system chassis portion 18 sliding backwards along the rail structure 20 responsive to firing. The wedge block structure 42 may be coupled to the dissipator devices 44 such that translation of the wedge block structure 42 driven by the ramp surface 40 causes actuation of one or more shafts of the dissipator devices 44.

[0051] In some embodiments, the disrupter system 10 includes one or more fastener holes 46 operable to receive respective fasteners therethrough for mounting the disrupter system 10 onto another structure. In some embodiments, the fastener holes 46 are disposed through the rail structure 20 such that the rail structure 20 is secured with respect to the mounting device, while the remainder of the disrupter system 10 is able to slide along the rail structure 20.

[0052] FIG. 3A illustrates a cross-sectional view of the exemplary disrupter system 10 prior to a firing operation relating to some embodiments of the present disclosure. As described above, the disrupter system 10 may be operable to fire a column of water, or other fluid, at high pressure rather than a solid projectile. For example, to fire a water shot, at least a portion of the barrel 12 may be filled with one or more fluids, prior to firing a blank round to actuate the water shot and expel the seal plug pair 34 along with a volume of water.

[0053] To initiate the water shot, the revolver cylinder 16 may be rotated to align a respective seal plug pair 34 including a front seal plug 47 and rear seal plug 48 with a proximal end of the barrel 12 such that the front seal plug 47 and rear seal plug 48 or at least a portion thereof enters the bore 14 before the bore 14 is filled with fluid from the fluid manifold 28.

[0054] Alternatively, to fire a standard solid projectile shotshell shot, a selected ammunition cartridge 32 is moved into alignment with the bore 14 and firing pin 38. Further, prior to firing, the chassis portion 18 may be positioned in battery at a front portion of the rail 20 such that a substantial portion of the ramp surface 40 is positioned behind the recoil assembly 22, as shown.

[0055] FIG. 3B illustrates a cross-sectional view of the exemplary disrupter system 10 emphasizing an exemplary water filling system of the disrupter system 10 relating to some embodiments of the present disclosure. As described above, the disrupter system 10 may be used to fire a water shot in which a volume of water, or another fluid is expelled from the barrel 12. Prior to firing the water shot, water, or another fluid, is pumped into the barrel bore 14. To initiate a fluid filling process, the front seal plug 47 and rear seal plug 48 may be aligned with the barrel bore 14 and a rear seal plug 48 of the seal plug pair 34 may be seated into a larger diameter opening of the barrel bore 14 (also known as a forcing cone) at a proximal end of the barrel 12. For example, the larger diameter opening, or forcing cone, may be sized to receive the rear seal plug 48 but allow the front seal plug 47 to enter a smaller diameter opening of the bore 14, such that the front seal plug 47 may extend into the barrel bore 14 as fluid is pumped into the barrel 12 behind the front seal plug 47.

[0056] In some embodiments, the front seal plug 47 comprises a substantially cylindrical shape with a plurality of grooves along the outer surface of the front seal plug 47 to seal against the inner surface of the barrel bore 14, as shown. During operation the front seal plug 47 travels down the barrel bore 14 similar to a piston as the front seal plug 47 is pushed forward by water injected through a small hole in the center of the rear seal plug 48. In some embodiments, the rear seal plug 48 comprises a conical outer surface that is operable to seat into a corresponding forcing cone of the barrel 12. The forcing cone may comprise a conical shaped surface machined into the barrel at a transition region from the chamber to the bore 14.

[0057] In some embodiments, a sensor stimulus 50 is included in or coupled to the front seal plug 47. In some embodiments, the sensor stimulus 50 comprises a magnet. For example, any of a ferrite magnet, neodymium iron boron magnet, samarium magnet, cobalt magnet, alnico magnet, or ceramic magnet, is disposed or coupled to the front seal plug 47. For example, the sensor stimulus 50 may be embedded into a portion of the front seal plug 47, as shown. Alternatively, or additionally, embodiments are contemplated in which the sensor stimulus 50 is not actively magnetic, but is operable to interact with a magnetic field, for example, such that the sensor stimulus 50 is detectable via a magnetic field sensor. In some embodiments, one or more magnetic sensors may be included for detecting a position of the front seal plug 47 within the barrel 12 based on an interaction with the magnet, as will be described in further detail below.

[0058] In some embodiments, the disrupter system 10 includes at least one filling adapter assembly 52. The filling adapter assembly 52 may be disposed in the revolver cylinder 16, as shown, such as, within one of the firing chambers 15 or within a dedicated opening for the filling adapter assembly 52. In some embodiments, the filling adapter assembly 52 is fluidly coupled to a filling port 54 such that fluid from the fluid manifold 28 is supplied to the filling adapter assembly 52. The filling adapter assembly 52 operable to route fluid into the bore 14. In some embodiments, the filling adapter assembly 52 includes one or more actuators for pushing the rear seal plug 48 into the larger diameter bore opening and the front seal plug 47 into the main portion of the bore 14.

[0059] In some embodiments, to fire the water shot and expel fluid from the barrel bore 14 a blank ammunition cartridge is used. For example, the blank ammunition cartridge may be rotated into alignment with the barrel bore 14 and firing pin 38 such that firing of the blank ammunition cartridge by actuating the firing pin to engage a primer of the blank ammunition cartridge provides an impulse operable to expel the pressurized volume of fluid within the bore 14 along with the front seal plug 47 and rear seal plug 48, which may be expelled with the volume of fluid. Accordingly, embodiments are contemplated in which the front seal plug 47 and rear seal plug 48 are disposable and manufactured using relatively lower cost materials and processes as compared to more permanent components of the disrupter system 10.

[0060] FIG. 4 illustrates a cross-sectional view of an exemplary fill sensing system 56 for the disrupter system 10 relating to some embodiments of the present disclosure. The fill sensing system 56 may be used to monitor a progress of the fluid filling process prior to firing a water shot with the disrupter system 10.

[0061] A cross-section of the barrel 12 and bore 14 is shown with the front seal plug 47 including the sensor stimulus 50 disposed therein. In some embodiments, the exemplary fill sensing system 56 includes one or more fluid fill sensors 58, as shown, operable to detect a level of fluid fill within the barrel bore 14. In some embodiments, the fluid fill sensors 58 are disposed on or adjacent to the barrel 12. For example, one or more fluid fill sensors 58 may be mounted external to the barrel 12 such that the fluid fill progression is detectable through the barrel 12. The fluid fill sensors 58 may be used to monitor a volume of fluid 60 within the barrel bore 14 behind the front seal plug 47. In some embodiments, the fluid fill sensors 58 comprise any combination of Hall-effect sensors, variable reluctance sensors, magnetic flux sensors, capacitive, acoustic, ultrasonic, or inductive sensors. For example, in some embodiments, the fluid fill sensors include one or more Hall-effect sensors operable to detect a position of the front seal plug 47 via interaction with the sensor stimulus 50 disposed therein.

[0062] In some embodiments, the one or more fluid fill sensors 58 are wirelessly coupled to a control system of the disrupter system 10. Further, embodiments are contemplated in which the one or more fluid fill sensors 58 are battery-powered such that a wired power is not needed on the barrel 12. For example, in some embodiments, each fluid fill sensor 58 includes at least one battery or other power source. As such, by using battery-power, another devoted power device (e.g., solar power or capacitor-based power), or wireless communication, complex and congested routing of cables along the barrel 12 is avoided.

[0063] In some embodiments, the barrel 12 includes a non-magnetic material, such as titanium, such that the material of the barrel 12 does not interfere with magnetic sensing of the one or more fluid fill sensors 58. Accordingly, the one or more fluid fill sensors 58 may be operable to detect the sensor stimulus 50 through one or more non-magnetic walls of the barrel 12 and may be mounted externally to the barrel 12, either on an external surface of the barrel 12 or adjacent to the barrel 12.

[0064] Alternatively, or additionally, in some embodiments, inductive or capacitive electronic sensing is used to sense the fluid within the barrel bore 14 directly such that a sensor stimulus 50 may not be needed within the front seal plug 47. In some embodiments, the fluid fill process is monitored using acoustic sensing techniques. For example, the fluid fill may be determined based on an acoustic resonance frequency of the exposed gun bore air column as the front seal plug advances into the bore 14. Here, the one or more fluid fill sensors 58 may include at least one acoustic sensor operable to detect acoustic resonance within the barrel bore 14 such that changes in acoustic resonance may be attributed to the amount of fluid (or alternatively air) present within the bore 14. In some embodiments, any of hydrophones, geophones, accelerometers, and microphones, as well as combinations thereof, may be used to monitor the acoustic resonance frequency of the bore 14.

[0065] In some embodiments, the fluid fill sensing techniques described herein provide an advantage over pump-based and volumetric fill sensing techniques, such as fluid volume or flow metering at the pump, which does not account for potential leaks or variable flow rates at other points in the fluid system. In particular, the fill sensing techniques described herein account for errors and inaccuracies in the pumping process such as faulty pumps and fluid leaks to detect a lack of filling progress by detecting the fluid or object (such as the front seal plug 47) within the barrel 12.

[0066] The fluid fill progress monitored by the fill sensing system 56 may be used as an input to a control system of the disrupter system 10. For example, in some embodiments, a closed-loop control filling process may be adjusted based at least in part on a progression of the fill process as measured by the fill sensing system 56. In some embodiments, the control system adjusts operation of one or more fluid pumps based on one or more signals from the fill sensing system 56. For example, the fluid pumps may be automatically disengaged responsive to the fill sensing system 56 detecting that the bore 14 is filled close to or beyond a predetermined fill volume threshold.

[0067] In some embodiments, two or more redundant fill sensing techniques may be combined to detect fill to a greater degree of certainty. For example, in some embodiments, both of the one or more fill sensors 58 (e.g., Hall-effect sensors) and magnetic ball float sensor within a fluid pump reservoir are used. Accordingly, in the case of a fluid leak, the discrepancy between the fill sensors 58 and the pump reservoir sensor may be used to detect the leak.

[0068] FIG. 5 illustrates a diagram of an exemplary control system 62 relating to some embodiments of the present disclosure. In some embodiments, the control system 62 is included as a dedicated control system of the disrupter system 10. Further, in some embodiments, the control system 62 is included as a control system of a robotic system, a drone system, or other autonomous, semi-autonomous, or remote manually controlled vehicle or device. Further still, in some embodiments, the control system 62 is divided between one or more devices. For example, a first portion of the control system 62 may be included on the disrupter system 10, while a second portion of the control system 62 is included on an associated robotic system with one or more communication connections therebetween.

[0069] In some embodiments, the control system 62 is configured to remotely or automatically control movement of the revolver cylinder 16, for example, to drive a motor coupled to the revolver cylinder that adjusts the rotational orientation to align a specified firing chamber 15 with the barrel 12. In some embodiments, the control system 62 is configured to remotely or automatically control a firing apparatus of the disrupter system 10, such as the firing pin 38. For example, the firing pin 38 may be actuated in response to a control signal from the control system 62 based on an automated input or a manual remotely received user input.

[0070] The control system 62 may include at least one controller 64 such as any of a microcontroller, a microprocessor, a closed-loop control system, an open-loop control system, a logic controller, a Proportional-Integral-Derivative (PID) controller, or another suitable control device not explicitly described herein, as well as combinations thereof.

[0071] In some embodiments, the at least one controller 64 includes at least one processor 66 and at least one storage element 68. For example, the at least one storage element 68 may store one or more non-transitory computer-readable media that store computer-readable media that, when executed using the at least one processor 66, perform one or more operational steps associated with the disrupter system 10 or robotic system. For example, in some embodiments, the control system 62 may be operable to perform any combination of rotating the revolver cylinder 16, activating the firing pin 38, controlling and monitoring a filling process, as well as other operations described with respect to the disrupter system 10. Any number of said operational steps may be performed by executing computer-readable instructions on the at least one processer 66.

[0072] In some embodiments, the controller 64 further includes one or more communication devices 70. For example, a communication device 70 may include any of a wireless transceiver, a wired connection, as well as other suitable communication devices not explicitly described herein. In some embodiments, the communication device 70 is communicatively coupled to a user device 72 such that an operator may interact with the controller 64, for example, to provide user inputs for controlling the disrupter system 10 or to view output associated with the disrupter system 10, such as a fluid filling progression.

[0073] In some embodiments, the controller 64 is coupled to one or more operation devices such as any combination of disrupter controls 74, pump controls 76, and robotic controls 78. The disrupter controls 74 may be associated with one or more devices or components of the disrupter 10 such as one or more motors coupled to the revolver cylinder 16, a firing pin actuator of the firing pin 38, a rotary encoder that monitors rotational orientation of the revolver cylinder 16, or an actuator of the filling adapter assembly 52. Additionally, or alternatively, in some embodiments, a bidirectional communication connection is included between the controller 64 and the disrupter controls 74, for example, such that one or more signals detected by or on the disrupter system 10 may be communicated back to the controller 64, such as a fill progression signal sensed by the fill sensing system 56.

[0074] The pump controls 76 may include controls operable to drive one or more fluid pumps associated with the fluid filling process. For example, the controller 64 may provide one or more control signals to activate, deactivate, or adjust one or more pumps based at least in part on a fluid fill progression signal from the fill sensing system 56.

[0075] The robotic controls 78 may be associated with operation of robotic equipment associated with the disrupter system 10. For example, in some embodiments, the disrupter system 10 may be configured to be mounted on an autonomous robot or vehicle for locomotion of the disrupter system 10 independent of human operators. Accordingly, the controller 64 may be communicatively coupled to robotic controls 78 of the robot or vehicle to receive signals or provide signals to the coupled equipment. For example, in some embodiments, the controller 64 provides input signals to control operation of the robotic equipment. Alternatively, or additionally, the robotic equipment may include a separate dedicated control system. Further, in some embodiments, communication connection with the robotic controls 78 may be used to receive information and other signals associated with the operational environment and provide said information to the controller 64. For example, the robotic equipment may include at least one camera to capture real-time imagery of the operational environment and communicate captured image data to the controller 64.

[0076] FIG. 6 illustrates an operational view of an exemplary robotic system 80 equipped with the disrupter system 10 relating to some embodiments of the present disclosure. In some embodiments, the robotic system 80 may be deployed within an operational environment, such as for any of a military, law enforcement, or counter-terrorism functions.

[0077] In some embodiments, the disrupter system 10 is configured to be mounted to a medium-sized (e.g., robots around 150 lbs) and / or larger-sized robot (e.g., robots around 550 lbs and greater). For example, in some embodiments, the rail structure 20 is mounted to a rail structure or other supporting component of the robotic system 80.

[0078] The robotic system 80 may include any combination of one or more motion tracks 82, one or more camera arms 84, one or more cameras 86, and one or more robot arms 88 for performing operations and supporting robotic tools such as, the disrupter system 10. For example, in some embodiments, the disrupter system 10 is configured to be mounted onto a robot arm 88 of the robotic system 80, as shown. In some embodiments, one or more cameras 86 may be included as part of the disrupter system 10. In some embodiments, the rail structure 20 of the disrupter system 10 is mounted to, or otherwise fixed to the robotic arm 88. For example, in some embodiments, the rail structure 20 is bolted to a surface of the robotic arm 88 or secured using another suitable fastening means.

[0079] Additionally, or alternatively, in some embodiments, an additional precision robotic arm is contemplated. For example, a precision robotic arm may be operable to support and precisely aim the disrupter system 10. Further, embodiments are contemplated in which the existing robotic arm 88 is equipped with an auxiliary precision aiming assembly for aiming the disrupter system 10. Here, for example, the precision aiming assembly include one or more motion devices for moving the disrupter system 10, such as motors, and may be disposed between the coupling between the robot arm 88 and the disrupter system 10, such that the aiming assembly further adjusts the position and orientation of the disrupter system 10 during an aiming operation.

[0080] The robotic system 80 may be used to traverse the operational environment and aim the disrupter system 10 at one or more target objects 90 prior to firing. In some embodiments, the disrupter system 10 is operable to fire any combination of water shots and solid projectile shots in succession by positioning the desired ammunition cartridge into the firing position using rotation of the revolver cylinder 16 and firing the shot by remote actuation of the firing pin 38. For example, at least one initial water shot may be used to destroy a covering or provide a hole in a covering, and a subsequent solid projectile shot may be used to safely detonate and / or destroy explosives or other hazardous objects for explosive ordnance disposal (EOD).

[0081] In some embodiments, the one or more target objects 90 include any of unexploded ordnance (UXO) fuse bodies, pipe bombs, packages, and vehicles / vehicle components, as well as other potentially hazardous objects not explicitly mentioned herein. In some embodiments, the disrupter system 10 using any combination of different EOD percussion actuated non-electric (PAN) solid projectile cartridges and blank cartridge-propelled water-shots to open, expose, cut, and destroy hazardous objects and associated structures.

[0082] FIG. 7 illustrates an exemplary user interface 100 associated with operation of the disrupter system 10 relating to some embodiments of the present disclosure. For example, in some embodiments, the user interface 100 is generated for display on a display device of the user device 72 such that a user may view image data of the operational environment while controlling operation of the disrupter system 10 and / or the robotic system 80 remotely. For example, the user interface 100 may display real-time image data captured by the one or more cameras 86 of the robotic system 80. Accordingly, the user interface 100 may include real-time imagery of any of portions of the disrupter system 10, portions of the robotic system 80, portions of the one or more target objects 90. For example, the user interface 100 may include a real-time image of the barrel 12 being aimed at the target object 90, as shown. In some embodiments, range to a target surface may be measured using time-of-flight laser sensing, phase-shift laser sensing, ultrasonic sensing, stereopsis, or other suitable methods.

[0083] In some embodiments, the user interface 100 includes any combination of a number of overlay elements. For example, in some embodiments, a reticle 102 may be included as an overlay element overlayed onto the real-time imagery to indicate a firing projectile impact position of the disrupter system 10. In some embodiments, the user interface 100 includes one or more icons or indicators to convey information associated with operation of the disrupter system 10. For example, any of a revolver cylinder position indicator 104, an active chamber indicator 106, an ammunition type indicator 108, or a fill progression indicator 110 may be included on the user interface 100.

[0084] In some embodiments, the user interface 100 may be adapted to include additional information not explicitly shown. For example, an indicator corresponding to any detected signal herein may be generated for display on the user interface 100. Further, in some embodiments, the revolver cylinder position indicator 104 may include an indication for each respective firing chamber indicating a type of ammunition cartridge disposed therein and whether each respective ammunition cartridge has been fired. An indicator may also indicate a fault status in an actuator, such as higher than expected current draw or less-than expected motion progress.

[0085] FIGS. 8A-8C illustrate exemplary gas seal systems of the disrupter system 10 relating to some embodiments of the present disclosure. The gas seal systems described herein may be used to provide a seal at the junction of the barrel 12 and a respective firing chamber 15 in alignment with the barrel 12. The gas seal prevents propellant gas from leaking out at the sliding plane interface between the revolver cylinder 16 and the rearward end of the barrel 12.

[0086] FIG. 8A illustrates an exemplary ring seal 112 for a gas seal system of the disrupter system 10 relating to some embodiments of the present disclosure. In some embodiments, the ring seal 112 is disposed in the firing chamber at a forward end of the respective firing chamber 15. The ring seal 112 is operable to provide a gas seal against a rearward end of the barrel 12. For example, in some embodiments, the ring seal 112 seals against a rearward end of the barrel 12 at the junction between the firing chamber 15 and the barrel 12, as shown. In some embodiments, the ring seal 112 has an aspect ratio of length to diameter of about 0.5 or less than 0.5.

[0087] In some embodiments, the ring seal 112 is received into a recessed larger diameter portion of the firing chamber bore at the forward end of the firing chamber 15, as shown. In some embodiments, the ring seal 112 comprises at least one groove disposed therein. For example, in some embodiments, the ring seal 112 comprises a rounded groove disposed on the inner side of the ring seal 112 (i.e., the side facing rearward toward the rearward side of the firing chamber 15.

[0088] FIG. 8B illustrates an exemplary integrated monolithic seal 114 for a gas seal system of the disrupter system 10 relating to some embodiments of the present disclosure. In some embodiments, the integrated monolithic seal 114 is machined directly into the revolver cylinder 16 at the front edge of the firing chambers 15. For example, the integrated monolithic seal 114 may comprises a flexure element operable to flex forward and seal against a rear flat surface of the barrel 12. In some embodiments, the flexure element is provided by machining a channel or angled recess into the inner surface of the firing chamber 15 such that a flap element is formed at a front edge of the firing chamber 15. Accordingly, the flap element may be configured to flex forward during a firing event to provide a gas seal at the junction of the firing chamber 15 and barrel bore 14. In some embodiments, the gas pressure associated with a firing event pushes the flap element forward toward the barrel 12 to thereby provide a seal between the revolver cylinder 16 and the barrel 12.

[0089] FIG. 8C illustrates an exemplary piston seal 116 for a gas seal system of the disrupter system 10 relating to some embodiments of the present disclosure. In some embodiments, the piston seal 116 has an aspect ratio of length to diameter of greater than 0.5. In some embodiments, the piston seal 116 is disposed in a recessed larger diameter portion of the firing chamber bore at the forward end of the firing chamber 15, as shown. In some embodiments, the piston seal 116 comprises one or more grooves on an outer surface of the piston seal 116. For example, in some embodiments, the piston seal 116 comprises a pair of circumferential grooves that extend around the outer surface. In some embodiments, the one or more grooves on the piston seal 116 are operable to receive respective piston guide rings or seal ring therein that act against the interior surface of the firing chamber 15.

[0090] FIG. 9 illustrates an exemplary method 900 of providing and operating a disrupter system relating to some embodiments of the present disclosure. For example, the method 900 may be associated with the disrupter system 10, as described herein. In some embodiments, at least a portion of the steps of method 900 are performed using the components, devices, and systems described herein, such as any of the disrupter system 10, the filling adapter assembly 52, the fill sensing system 56, the control system 62, the controller 64, the at least one processor 66, the robotic system 80, or another device or system described herein. Further, in some embodiments, the steps of the method 900 are divided between two or more devices or systems. For example, the robotic system 80 may perform a first portion of steps while the disrupter system 10 performs a second portion of steps. Further still, embodiments are contemplated in which even individual steps are performed in consonance between two or more distinct systems or devices.

[0091] At step 902, a disrupter system is provided. In some embodiments, the disrupter system is the disrupter system 10, as described above with respect to any of FIGS. 1-3B. Accordingly, embodiments are contemplated in which the provided disrupter system is a multi-shot disrupter system operable to fire a plurality of shots in succession between feeding and extraction operations. Because spent ammunition cartridges are not extracted from chambers between multiple shots, the multi-shot disrupter provides a faster firing sequence compared to disrupter tools with individual extraction following each shot. The multi-shot disrupter may comprise a revolver type system having the revolver cylinder 16 with the plurality of independent firing chambers 15. Further, in some embodiments, one or more other systems are provided along with the disrupter system 10. Further still, the disrupter system 10 may be provided as a tool mounted onto another carrier system, such as the robotic system 80, as described above.

[0092] At step 904, a plurality of ammunition cartridges are loaded into the chambers of the disrupter system 10. For example, in some embodiments, the plurality of ammunition cartridges includes two or more distinct types of ammunition cartridges such as any of ammunition cartridges with varying sizes and firing types, such as one or more sizes of standard firing type and a water-shot firing type. The ammunition cartridges 32 may be fed into respective firing chambers 15 manually through the at least one loading port 30, as described above. In some embodiments, multiple types of ammunition cartridges are fed into the firing chambers according to a predetermined order such that a specific type of ammunition cartridges of the multiple types may be selected during operation. Further, the type of ammunition in each chamber may be input into a memory or otherwise recorded such to identify the available ammunition types and locations during operation. For example, while manually loading the ammunition cartridges into numbered firing chambers an operator may input the type of ammunition in each chamber into a control system of the disrupter system 10.

[0093] In some embodiments, the firing chambers may be loaded with any combination of ammunition cartridges, for example, the revolver cylinder may be loaded with all blank rounds of the same or different type to fire a sequence of successive water-shots. Alternatively, or additionally, the revolver cylinder may be loaded with all solid projectile rounds to fire a sequence of standard EOD PAN shots. In some embodiments, the sequence order and number of each type of shot may be selected based at least in part on the operational environment and type of target object. For example, if a target object is expected to include a covering, which a water-shot would remove, and a UXO component or other hazardous device, which a solid projectile would destroy or displace, a revolver cylinder with eight firing chambers may be loaded with two blank rounds for water-shots and six solid projectile EOD rounds for redundancy, in case a shot is missed or multiple different shot types are needed. For example, in some embodiments, the solid projectile rounds may include any combination of different types of lead slugs, steel slug, clay composition “AVON” slug, frangible copper projectile, aluminum slug, tungsten penetrator, as well as other suitable forms of solid projectile loads.

[0094] At step 906, the disrupter system 10 is positioned near one or more target objects, such as target object 90. In some embodiments, the disrupter system 10 is positioned and aimed using the robotic system 80. For example, the disrupter system 10 may be mounted onto a robot arm 88 of robotic system 80, as shown in FIG. 6. Accordingly, the robotic system 80 may be deployed within an operational environment to approach the target object 90 without manual deployment such that human operators are not placed within a hazardous environment.

[0095] At step 908, a firing type for the disrupter system 10 is selected. For example, the firing type may be selected from one of a standard-shot fire type and a water-shot firing type. In some embodiments, one or more additional firing types are also contemplated. Further, in some embodiments, the solid projectile firing type may include two or more distinct types of shotshells with different types of projectile or propellant loading. For example, two or more distinct ammunition grades, sizes, or bullet types (i.e., low-velocity blank, black-powder blank, high velocity blank, enhanced blank, high-velocity lead slug, ultra-velocity lead slug, aluminum slug, AVON slug, steel slug, etc.) may be disposed in various orders within the plurality of firing chambers 15.

[0096] If a water-shot firing type is selected at step 908, the method continues to step 910. At step 910, a filling adapter of the disrupter system 10 is actuated to initiate a fluid filling process. In some embodiments, the filling adapter comprises the filling adapter assembly 52, as described above. The filling adapter may be rotated into alignment with the barrel bore 14. In some embodiments, prior to initiating filling, an actuator of the filling adapter may be used to push the front seal plug 47 along with rear seal plug 48 into the bore 14 to seal a volume of fluid into the bore 14. One or more fluid pumps may then be activated to pump fluid into the bore 14.

[0097] At step 912, a filling progression is detected. The filling progression may be detected using the fill sensing system 56, as described above. For example, one or more fluid fill sensors 58 may be used to directly or indirectly measure the volume of fluid within the bore 14. In some embodiments, the one or more fluid fill sensors 58 are disposed on or adjacent to the barrel 12 such that the sensor stimulus 50 of the front seal plug 47 is detectable through a wall of the barrel 12.

[0098] At step 914, the filling process is adjusted based at least in part on the filling progression state detected by the fill sensing system 56. In some embodiments, one or more parameters of the filling process are adjusted based on the detected fill progression. For example, in some embodiments, any one of or combination of a pump rate, a pump activation state, a pump duration, or another parameter may be adjusted based on the filling progression state. In some embodiments, adjusting the filling process includes completing the filling process by deactivating the one or more pumps responsive to detecting that the fluid filling progression is beyond a fluid fill threshold.

[0099] In some embodiments, multiple distinct fluid fill thresholds are contemplated. For example, in some embodiments, a first fluid fill threshold may be used to fill and fire a relatively smaller volume of water, and a second fluid fill threshold may be used to fill and fire a relatively larger volume of water. In some embodiments, additional fluid fill thresholds are contemplated corresponding to other sizes of fluid volumes. For example, an operator may select between a plurality of distinct thresholds based at least in part on a characteristic of the target object. For example, a smaller volume threshold may be used to dispose of a light target covering, such as a cardboard or other thin material obstruction, while a larger volume may be used to dispose of a heavier target covering, such as a metal or hard plastic covering.

[0100] At step 916, a selected chamber of the plurality of firing chambers 15 is aligned with the barrel 12. For example, the selected chamber may be moved into alignment through rotation of the revolver cylinder 16. For the water-shot, the selected chamber may comprise a blank ammunition cartridge disposed therein. As mentioned above, the blank ammunition cartridge may be used to activate the water-shot to thereby expel the volume of fluid responsive to firing of the blank ammunition cartridge.

[0101] In some embodiments, alignment of the selected firing chamber is performed based at least in part on a rotational orientation of the revolver cylinder 16. For example, the revolver cylinder may include a rotation sensor, or other rotation sensitive device, such as an absolute encoder disposed on the revolver cylinder that monitors the rotation of the cylinder, or an encoder disposed near a rear side of a motor that rotates the revolver cylinder 16. Accordingly, a feedback control loop may be used to align the rotation of the revolver cylinder into a desired position based on a signal from the rotation sensor. In some embodiments, other suitable techniques are contemplated to monitor rotational orientation including techniques not explicitly described herein.

[0102] At step 918, the disrupter system 10 is fired at the target object. Prior to firing the disrupter system 10 may be aimed at the target object. For example, the disrupter system 10 may be aimed using motion adjustment of the robot arm 88 on which the disrupter system 10 is mounted. In some embodiments, motion adjustment of the robot arm 88 is performed in response to one or more user inputs from a human operator remotely controlling the robotic system 80 and disrupter system 10. Alternatively, or additionally, embodiments are contemplated in which one or more motions, such as aiming adjustment are automatically performed. For example, the robotic system 80 may be at least semi-autonomous. Here, for example, computer-vision techniques may be used to identify target objects and other objects in the operational environment and modify motion control and aiming as a response.

[0103] In some embodiments, at step 918, the firing pin 38 is actuated to strike the primer of the blank ammunition cartridge and ignite gun powder within the ammunition cartridge to fire the blank round. It should be understood that the blank ammunition cartridge, as described herein, does not include a bullet or projectile therein. Accordingly, firing of the blank round, rather than firing a solid projectile or plurality of pellets, provides an impulse that propels the front seal plug 47, rear seal plug 48, and volume of fluid 60 out of the barrel 12.

[0104] At step 920, recoil associated with firing of the disrupter system 10 is mitigated. For example, the recoil system, such as the recoil assembly 22 described above, may be used to absorb recoil energy associated with firing while transferring lower peak force to the host platform. In some cases, the recoil kinetic energy generated from a high velocity water-shot is substantially higher than that compared to a solid projectile shot. Accordingly, the recoil assembly 22 may be operable to absorb recoil from the water-shot to prevent damage to the disrupter system 10 and the robotic system 80 on which the disrupter system 10 may be mounted.

[0105] Alternatively, if a solid projectile firing type is selected at step 908, the method continues to step 922. At step 922, the selected chamber with a solid projectile ammunition cartridge disposed therein is aligned with the barrel bore 14 and firing pin 38. In some embodiments, as described above, the selected firing chamber may be aligned using one or more motors to drive rotation of the revolver cylinder 16. Further, in some embodiments, a control system of the disrupter system 10 monitors the current rotation of the revolver cylinder 16, as well as the type of ammunition within each respective firing chamber 15.

[0106] At step 924, the solid projectile ammunition cartridge is fired at the target object. In some embodiments, prior to firing, the disrupter system 10 may be aimed or re-aimed at the target similar to as described above with respect to aiming the water-shot. The solid projectile ammunition cartridge may also be fired similar to the water-shot blank cartridge through actuation of the firing pin 38 to strike a primer of the standard-shot ammunition cartridge and ignite the propellent (e.g., gun powder) to propel the projectile(s) out through the barrel bore 14 towards the target.

[0107] At step 926, recoil associated with firing of the standard-shot ammunition cartridge is mitigated, for example, using the recoil assembly 22, as described above. While the standard-shot ammunition cartridge may produce less recoil compared to the water-shot, the recoil assembly 22 may still be used to mitigate the recoil response to prevent damage. For example, when firing a PAN EOD disrupter round, the recoil energy still greatly exceeds that of a standard manually fired shotgun round. For example, the firing pressure, energy, and muzzle velocities of some EOD PAN loads may be up to or greater than four times or even five times that of a standard hunting shotgun load, such that damage to the robotic system 80 and especially supporting robot arm 88 is a concern. In some instances, the recoil energy generated by the EOD PAN load is on par with that of a 12.7×99 mm machinegun round. As such, the contemplated recoil assembly 22 prevents said potential damage by absorbing recoil energy through a directly matched stroke of the disrupter chassis 18 and the one or more dissipator devices 44 through the ramp surface 40.

[0108] At step 928, one or more subsequent shots may be fired using the disrupter system 10. For example, subsequent shots may be performed similarly using any of steps 908 through 926. In some embodiments, it may be desirable to file a sequence of shops of specific firing types. For example, an initial water-shot may be used to destroy or remove an obstacle structure, followed by one or more standard-shots to detonate or destroy the target object. In some embodiments, a control system of the disrupter system 10, such as the control system 62, may monitor which of the firing chambers 15 have been previously fired to keep track of a number and types of ammunition cartridges that are still available.

[0109] At step 930, ammunition cartridges are removed from the disrupter system 10. In some embodiments, the ammunition cartridges are removed manually. For example, as described above, the disrupter system 10 is configured with the at least one loading port 30 to enable manual loading and extraction of the ammunition cartridges from respective firing chambers 15. Accordingly, in some embodiments, the disrupter system 10 may be operable to be transported out of the operational environment to a safe area, for example, using the robotic system 80, to be manually unloaded by a human operator.

[0110] In some embodiments, the method 900 includes any number of additional steps, for example, to perform additional operations or to completely destroy a durable target object that has withstood an initial sequence of shots. Accordingly, extraction of ammunition cartridges may include manual extraction of any combination of live and depleted cartridges. For example, if another subsequent operation is desired, only depleted cartridges may be extracted, and additional live rounds are fed into the empty firing chambers. Alternatively, if a subsequent operation is not desired, all cartridges may be removed and the disrupter system 10 may be removed from the robotic system 80 for storage or stored along with the robotic system 80. Further, because the spent ammunition cartridges are not automatically extracted and ejected from the disrupter system 10 reusing and recycling of cartridge materials including brass casings is possible through manual extraction at a safe location away from the hazardous object.

[0111] Clause 1. A multi-shot projectile-firing device comprising: at least one barrel, the at least one barrel comprising a rearward end, a forward end, and a bore; a plurality of distinct firing chambers, each firing chamber of the plurality of distinct firing chambers comprising a forward end, a rearward end, and a cavity operable to receive one or more ammunition cartridges therein, wherein each firing chamber of the plurality of distinct firing chambers is operable to move into a position of alignment with respect to the bore of the at least one barrel; a firing apparatus adapted to optionally initiate an ammunition cartridge in a respective firing chamber of the plurality of distinct firing chambers when the respective chamber is in a position of alignment with the bore of the at least one barrel; and a control system configured to remotely or automatically control movement of the plurality of distinct firing chambers into positions of alignment with the bore of the at least one barrel, and to remotely or automatically control the firing apparatus, to allow firing of the one or more ammunition cartridges according to a selected order.

[0112] Clause 2. The multi-shot projectile-firing device of clause 1, further comprising: a fluid fill sensing system for monitoring a fluid filling process of the multi-shot projectile-firing device, the fluid fill sensing system comprising: a front seal plug comprising at least one magnet, the front seal plug configured to be disposed within an internal bore of the at least one barrel, wherein the front seal plug is pushed along the internal bore toward a distal end of the at least one barrel as a volume of fluid is pumped into the at least one barrel such that the position of the front seal plug within the at least one barrel is indicative of a fill progression of the at least one barrel with the volume of fluid; one or more fluid fill sensors disposed on or adjacent to the at least one barrel, the one or more fluid fill sensors operable to monitor the fill progression of the at least one barrel based at least in part on the position of the front seal plug within the at least one barrel.

[0113] Clause 3. The multi-shot projectile-firing device of clause 1, further comprising: a gas seal apparatus, operable to at least partially limit propellant gas flow at a joint formed between the forward end of a respective firing chamber of the plurality of distinct firing chambers and the rearward end of the at least one barrel.

[0114] Clause 4. The multi-shot projectile-firing device of clause 1, wherein the plurality of distinct firing chambers comprises eight independent firing chambers.

[0115] Clause 5. The multi-shot projectile-firing device of clause 1, further comprising: a manual loading port for manual loading and removal of ammunition cartridges from the plurality of distinct firing chambers.

[0116] Clause 6. The multi-shot projectile-firing device of clause 1, further comprising: a recoil system for mitigating a recoil response associated with firing of the multi-shot projectile-firing device, the recoil system comprising: a fixed rail structure comprising a ramp surface, the fixed rail structure slidably coupled to a chassis portion of the multi-shot projectile-firing device such that the chassis portion translates along the fixed rail structure responsive to firing of the multi-shot projectile-firing device; at least one sliding wedge block structure operable to interface with the ramp surface as the chassis portion translates along the fixed rail structure; and one or more dissipator devices coupled to the at least one sliding wedge block structure such that the one or more dissipator devices absorb recoil energy as the chassis portion translates along the fixed rail structure, wherein the at least one sliding wedge block structure adjusts a position of the one or more dissipator devices as the at least one sliding wedge block structure slides along the ramp surface.

[0117] Clause 7. The multi-shot projectile-firing device of clause 6, wherein the fixed rail structure is configured to be mounted onto a robot arm of a robotic system.

[0118] Clause 8. A fluid fill sensing system for monitoring a fluid filling process of a disrupter tool, the fluid fill sensing system comprising: a front seal plug comprising at least one magnet, the front seal plug configured to be disposed within an internal bore of a barrel of the disrupter tool, wherein the front seal plug is pushed along the internal bore toward a distal end of the barrel as a volume of fluid is pumped into the barrel such that a position of the front seal plug within the barrel is indicative of a fill progression of the barrel with the volume of fluid; one or more fluid fill sensors disposed on or adjacent to the barrel, the one or more fluid fill sensors operable to monitor the fill progression of the barrel based at least in part on the position of the front seal plug within the barrel.

[0119] Clause 9. The fluid fill sensing system of clause 8, further comprising: at least one fluid manifold fluidly coupled to the internal bore of the barrel operable to route the volume of fluid to the internal bore; and one or more pumps operable to pump the volume of fluid into the internal bore.

[0120] Clause 10. The fluid fill sensing system of clause 9, wherein operation of the one or more pumps is automatically adjusted responsive to the fill progression of the barrel.

[0121] Clause 11. The fluid fill sensing system of clause 8, wherein the one or more fluid fill sensors comprise at least one Hall-effect sensor operable to detect the at least one magnet of the front seal plug through the barrel.

[0122] Clause 12. The fluid fill sensing system of clause 11, wherein the at least one Hall-effect sensor is battery powered and wirelessly coupled to a control system of the disrupter tool.

[0123] Clause 13. The fluid fill sensing system of clause 12, wherein a signal indicative of the fill progression of the barrel is wirelessly transmitted to the control system of the disrupter tool.

[0124] Clause 14. The fluid fill sensing system of clause 8, wherein a signal indicative of the fill progression of the barrel is transmitted to a user.

[0125] Clause 15. A multi-shot projectile-firing device comprising: a barrel comprising a rearward end, a forward end, and a bore; a revolver cylinder including a plurality of distinct firing chambers disposed therein, each firing chamber of the plurality of distinct firing chambers comprising a forward end, a rearward end, and a cavity operable to receive one or more ammunition cartridges therein, wherein each firing chamber of the plurality of distinct firing chambers is operable to move into a position of alignment with respect to the bore of the barrel by rotation of the revolver cylinder; a firing apparatus adapted to optionally initiate an ammunition cartridge in a respective firing chamber of the plurality of distinct firing chambers when the respective chamber is in a position of alignment with the bore of the barrel; and a control system configured to remotely or automatically control rotation of the revolver cylinder to move the plurality of distinct firing chambers into positions of alignment with the bore of the barrel, and to remotely or automatically control the firing apparatus, to allow firing of the one or more ammunition cartridges.

[0126] Clause 16. The multi-shot projectile-firing device of clause 15, further comprising: a gas seal apparatus, operable to at least partially limit propellant gas flow at a joint formed between the forward end of a respective firing chamber of the plurality of distinct firing chambers and the rearward end of the barrel.

[0127] Clause 17. The multi-shot projectile-firing device of clause 15, further comprising: a recoil system for mitigating a recoil response associated with firing of the multi-shot projectile-firing device, the recoil system comprising: a fixed rail structure comprising a ramp surface, the fixed rail structure slidably coupled to a chassis portion of the multi-shot projectile-firing device such that the chassis portion translates along the fixed rail structure responsive to firing of the multi-shot projectile-firing device; at least one sliding wedge block structure operable to interface with the ramp surface as the chassis portion translates along the fixed rail structure; and one or more dissipator devices coupled to the at least one sliding wedge block structure such that the one or more dissipator devices absorb recoil energy as the chassis portion translates along the fixed rail structure, wherein the at least one sliding wedge block structure adjusts a position of the one or more dissipator devices as the at least one sliding wedge block structure slides along the ramp surface.

[0128] Clause 18. The multi-shot projectile-firing device of clause 17, wherein the one or more dissipator devices comprises a pair of hydraulic absorbers.

[0129] Clause 19. The multi-shot projectile-firing device of clause 17, wherein the ramp surface comprises a constant slope.

[0130] Clause 20. The multi-shot projectile-firing device of clause 17, wherein the ramp surface comprises a non-constant slope.

[0131] Clause 21. A recoil system of a remotely operated disrupter tool for mitigating a recoil response associated with firing of the remotely operated disrupter tool, the recoil system comprising: a fixed rail structure comprising a ramp surface, the fixed rail structure slidably coupled to a chassis portion of the disrupter tool such that the chassis portion translates along the fixed rail structure responsive to firing of the disrupter tool; at least one sliding wedge block structure operable to interface with the ramp surface as the chassis portion translates along the fixed rail structure; and one or more dissipator devices coupled to the at least one sliding wedge block structure such that the one or more dissipator devices absorb recoil energy as the chassis portion translates along the fixed rail structure, wherein the at least one sliding wedge block structure adjusts a position of the one or more dissipator devices as the at least one sliding wedge block structure slides along the ramp surface.

[0132] Although the present disclosure has been described with reference to the embodiments illustrated in the attached drawing figures, it is noted that equivalents may be employed and substitutions made herein without departing from the scope of the present disclosure as recited in the claims.

[0133] Having thus described various embodiments of the present disclosure, what is claimed as new and desired to be protected by Letters Patent includes the following:

Claims

1. A multi-shot projectile-firing device comprising:at least one barrel, the at least one barrel comprising a rearward end, a forward end, and a bore;a plurality of distinct firing chambers, each firing chamber of the plurality of distinct firing chambers comprising a forward end, a rearward end, and a cavity operable to receive an ammunition cartridge of a plurality of ammunition cartridges disposed respectively in the plurality of distinct firing chambers,wherein each firing chamber of the plurality of distinct firing chambers is operable to move into a position of alignment with respect to the bore of the at least one barrel;a firing apparatus adapted to optionally initiate an ammunition cartridge of the plurality of ammunition cartridges in a respective firing chamber of the plurality of distinct firing chambers when the respective firing chamber is in a position of alignment with the bore of the at least one barrel;a control system configured to remotely or automatically control movement of the plurality of distinct firing chambers into positions of alignment with the bore of the at least one barrel, and to remotely or automatically control the firing apparatus, to allow firing of the plurality of ammunition cartridges according to a selected order; anda gas seal apparatus, operable to at least partially limit propellant gas flow at a joint formed between the forward end of a respective firing chamber of the plurality of distinct firing chambers and the rearward end of the at least one barrel.

2. The multi-shot projectile-firing device of claim 1, further comprising:a fluid fill sensing system for monitoring a fluid filling process of the multi-shot projectile-firing device, the fluid fill sensing system comprising:a front seal plug comprising at least one magnet, the front seal plug configured to be disposed within an internal bore of the at least one barrel,wherein the front seal plug is pushed along the internal bore toward a distal end of the at least one barrel as a volume of fluid is pumped into the at least one barrel such that the position of the front seal plug within the at least one barrel is indicative of a fill progression of the at least one barrel with the volume of fluid;one or more fluid fill sensors disposed on or adjacent to the at least one barrel, the one or more fluid fill sensors operable to monitor the fill progression of the at least one barrel based at least in part on the position of the front seal plug within the at least one barrel.

3. (canceled)4. The multi-shot projectile-firing device of claim 1, wherein the plurality of distinct firing chambers comprises eight independent firing chambers.

5. The multi-shot projectile-firing device of claim 1, further comprising:a manual loading port for manual loading and removal of ammunition cartridges from the plurality of distinct firing chambers.

6. The multi-shot projectile-firing device of claim 1, further comprising:a recoil system for mitigating a recoil response associated with firing of the multi-shot projectile-firing device, the recoil system comprising:a fixed rail structure comprising a ramp surface, the fixed rail structure slidably coupled to a chassis portion of the multi-shot projectile-firing device such that the chassis portion translates along the fixed rail structure responsive to firing of the multi-shot projectile-firing device;at least one sliding wedge block structure operable to interface with the ramp surface as the chassis portion translates along the fixed rail structure; andone or more dissipator devices coupled to the at least one sliding wedge block structure such that the one or more dissipator devices absorb recoil energy as the chassis portion translates along the fixed rail structure,wherein the at least one sliding wedge block structure adjusts a position of the one or more dissipator devices as the at least one sliding wedge block structure slides along the ramp surface.

7. The multi-shot projectile-firing device of claim 6, wherein the fixed rail structure is configured to be mounted onto a robot arm of a robotic system.8-14. (canceled)15. A multi-shot projectile-firing device comprising:a barrel comprising a rearward end, a forward end, and a bore;a revolver cylinder including a plurality of distinct firing chambers disposed therein, each firing chamber of the plurality of distinct firing chambers comprising a forward end, a rearward end, and a cavity operable to receive an ammunition cartridge of a plurality of ammunition cartridges disposed respectively in the plurality of distinct firing chambers,wherein each firing chamber of the plurality of distinct firing chambers is operable to move into a position of alignment with respect to the bore of the barrel by rotation of the revolver cylinder;a firing apparatus adapted to optionally initiate an ammunition cartridge of the plurality of ammunition cartridges in a respective firing chamber of the plurality of distinct firing chambers when the respective firing chamber is in a position of alignment with the bore of the barrel;a control system configured to remotely or automatically control rotation of the revolver cylinder to move the plurality of distinct firing chambers into positions of alignment with the bore of the barrel, and to remotely or automatically control the firing apparatus, to allow firing of an ammunition cartridge of the plurality of ammunition cartridges; anda recoil system for mitigating a recoil response associated with firing of the multi-shot projectile-firing device, the recoil system comprising:a fixed rail structure comprising a ramp surface, the fixed rail structure slidably coupled to a chassis portion of the multi-shot projectile-firing device such that the chassis portion translates along the fixed rail structure responsive to firing of the multi-shot projectile-firing device;at least one sliding wedge block structure operable to interface with the ramp surface as the chassis portion translates along the fixed rail structure; andone or more dissipator devices coupled to the at least one sliding wedge block structure such that the one or more dissipator devices absorb recoil energy as the chassis portion translates along the fixed rail structure,wherein the at least one sliding wedge block structure adjusts a position of the one or more dissipator devices as the at least one sliding wedge block structure slides along the ramp surface.

16. The multi-shot projectile-firing device of claim 15, further comprising:a gas seal apparatus, operable to at least partially limit propellant gas flow at a joint formed between the forward end of a respective firing chamber of the plurality of distinct firing chambers and the rearward end of the barrel.

17. (canceled)18. The multi-shot projectile-firing device of claim 15, wherein the one or more dissipator devices comprises a pair of hydraulic absorbers.

19. The multi-shot projectile-firing device of claim 15, wherein the ramp surface comprises a constant slope.

19. The multi-shot projectile-firing device of claim 15, further comprising:a fluid fill sensing system for monitoring a fluid filling process of the multi-shot projectile-firing device, the fluid fill sensing system comprising:a front seal plug comprising at least one sensor stimulus, the front seal plug configured to be disposed within an internal bore of the barrel,wherein the front seal plug is pushed along the internal bore toward a distal end of the barrel as a volume of fluid is pumped into the barrel such that the position of the front seal plug within the barrel is indicative of a fill progression of the barrel with the volume of fluid;one or more fluid fill sensors disposed on or adjacent to the barrel, the one or more fluid fill sensors operable to monitor the fill progression of the barrel based at least in part on the position of the at least one sensor stimulus of the front seal plug within the barrel.

21. A multi-shot projectile-firing device comprising:a barrel, the barrel comprising a rearward end, a forward end, and a bore;a plurality of distinct firing chambers, each firing chamber of the plurality of distinct firing chambers comprising a forward end, a rearward end, and a cavity operable to receive an ammunition cartridge of a plurality of ammunition cartridges disposed respectively in the plurality of distinct firing chambers,wherein each firing chamber of the plurality of distinct firing chambers is operable to move into a position of alignment with respect to the bore of the barrel;a firing apparatus adapted to optionally initiate an ammunition cartridge of the plurality of ammunition cartridges in a respective firing chamber of the plurality of distinct firing chambers when the respective firing chamber is in a position of alignment with the bore of the barrel;a control system configured to remotely or automatically control movement of the plurality of distinct firing chambers into positions of alignment with the bore of the barrel, and to remotely or automatically control the firing apparatus, to allow firing of the plurality of ammunition cartridges according to a selected order; anda fluid fill sensing system for monitoring a fluid filling process of the multi-shot projectile-firing device, the fluid fill sensing system comprising:a front seal plug comprising at least one magnet, the front seal plug configured to be disposed within an internal bore of the barrel,wherein the front seal plug is pushed along the internal bore toward a distal end of the barrel as a volume of fluid is pumped into the barrel such that a position of the front seal plug within the barrel is indicative of a fill progression of the barrel with the volume of fluid; andone or more fluid fill sensors disposed on or adjacent to the barrel, the one or more fluid fill sensors operable to monitor the fill progression of the barrel based at least in part on the position of the front seal plug within the barrel.

22. The multi-shot projectile-firing device of claim 21, further comprising:at least one fluid manifold fluidly coupled to the internal bore of the barrel operable to route the volume of fluid to the internal bore; andone or more pumps operable to pump the volume of fluid into the internal bore.

23. The multi-shot projectile-firing device of claim 22, wherein operation of the one or more pumps is automatically adjusted responsive to the fill progression of the barrel.

24. The multi-shot projectile-firing device of claim 21, wherein the one or more fluid fill sensors comprise at least one Hall-effect sensor operable to detect the at least one magnet of the front seal plug through the barrel.

25. The multi-shot projectile-firing device of claim 24, wherein the at least one Hall-effect sensor is battery powered and wirelessly coupled to the control system.

26. The multi-shot projectile-firing device of claim 25, wherein a signal indicative of the fill progression of the barrel is wirelessly transmitted to the control system.

27. The multi-shot projectile-firing device of claim 21, wherein a signal indicative of the fill progression of the barrel is transmitted to a user.

28. The multi-shot projectile-firing device of claim 21, further comprising:a manual loading port for manual loading and removal of ammunition cartridges from the plurality of distinct firing chambers.

29. The multi-shot projectile-firing device of claim 15, further comprising:a manual loading port for manual loading and removal of ammunition cartridges from the plurality of distinct firing chambers.

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