Remote weapon system and control method thereof

1. A remote weapon device comprising:

a firing arm configured to fire a bullet at a target in response to a firing signal;

a driver coupled to the firing arm and configured to move the firing arm to aim the firing arm at the target;

a detector configured to detect shaking of the firing arm with respect to a zero position, the shaking caused by a plurality of bullets being fired from the firing arm, the zero position corresponding to a position at which the firing arm points at the target and fires the bullet at the target, each bullet generating a partial shaking pattern after each bullet being fired; and

a controller configured to obtain a shaking pattern based on the detected shaking overlapping the partial shaking pattern of each bullet and configured to generate the firing signal controlling a firing time when the firing arm fires the bullet according to the shaking pattern to control the firing arm to fire the bullet,

wherein the shaking of the firing arm is generated from firing of bullet by the firing arm, and

wherein the controller is configured to obtain the shaking pattern of the firing arm over a predetermined time while the firing arm fires the plurality of bullets.

2. The remote weapon device of claim 1 , wherein the controller is configured to control the driver to position the firing arm at the zero position according to the shaking pattern.

3. The remote weapon device of claim 1 , wherein the controller is configured to analyze the shaking pattern of the firing arm, configured to determine a time when the firing arm returns to the zero position after firing the bullet as the firing time and configured to generate the firing signal according to the time when the firing arm returns to the zero position.

4. The remote weapon device of claim 1 , wherein the driver comprises:

a motor configured to move the firing arm; and

a motor driver configured to apply a driving signal to the motor.

5. The remote weapon device of claim 4 , wherein the motor is configured to rotate the firing arm.

6. The remote weapon device of claim 1 , wherein the controller comprises:

a determination processor configured to analyze the shaking pattern and configured to determine a control torque controlling the position of the firing arm to be positioned at the zero position at the firing time when the bullet is fired; and

a signal converter configured to convert the control torque to an electric signal and configured to transmit the electric signal to the motor driver.

7. The remote weapon device of claim 6 , wherein the motor driver is configured to generate the driving signal based on the control torque, configured to transmit the driving signal to the motor and configured to correct the shaking of the firing arm.

8. The remote weapon device of claim 1 , wherein the controller is connected to the firing arm, the driver, and the detector.

9. The remote weapon device of claim 1 , wherein the controller is configured to generate the firing signal using an open-loop control method.

10. The remote weapon device of claim 9 , wherein the controller is configured to identify intrinsic physical properties of the remote weapon device based on a plurality of preliminary firings of the firing arm and the shaking of the firing arm.

11. The remote weapon device of claim 1 , wherein the shaking pattern corresponds to an angular movement pattern of the firing arm oscillating through the zero position.

12. A method of controlling a remote weapon, the method comprising:

detecting shaking of from a firing arm with respect to a zero position, the shaking caused by a plurality of bullets being fired from the firing arm, the zero position corresponding to a position at which the firing arm points at a target and fires the plurality of bullets at the target, each bullet generating a partial shaking pattern after each bullet being fired;

obtaining a shaking pattern of the firing arm based on the shaking of the firing arm by overlapping the partial shaking pattern of each bullet;

generating a firing signal controlling the firing arm to fire a bullet according to the shaking pattern; and

firing, by the firing arm, the bullet in response to the firing signal,

wherein the shaking of the firing arm is generated from firing of the plurality of bullets by the firing arm, and

wherein the shaking pattern of the firing arm is obtained over a predetermined time while the firing arm fires the plurality of bullets.

13. The method of claim 12 , wherein the generating the firing signal comprises:

analyzing the shaking pattern of the firing arm; and

generating the firing signal by determining a time when the firing arm returns to the zero position after firing the bullet as a firing time.

14. The method of claim 12 , wherein, in the generating the firing signal, the firing signal is generated by determining a time when the firing arm is located at a position within a predetermined position to the zero position, as a firing time, and

the method further comprises:

determining a control torque to control the position of the firing arm to be located at the zero position at the firing time; and

driving a driver configured to move the firing arm according to the control torque to control the position of the firing arm to be located at the zero position at the firing time.

15. The method of claim 12 , wherein the generating the firing signal comprises generating the firing signal using an open-loop control method.

16. The method of claim 12 , wherein the generating the firing signal further comprises identifying intrinsic physical properties of the remote weapon based on a plurality of preliminary firings of the firing arm and the shaking of the firing arm.

17. The method of claim 12 , wherein the shaking pattern corresponds to an angular movement pattern of the firing arm oscillating through the zero position.