KR101375181B1 - Armament system - Google Patents

Abstract

The present invention relates to an arming system in which an imaging unit can track a target even during ballistic correction by allowing the imaging unit and the arming unit to be driven separately mechanically. The present invention, the image unit for receiving an input image including a target; An armed portion that fires against the target; And a control unit for detecting a target from the input image and sending a firing instruction for the target to the armed unit, wherein the image unit can be driven independently of the armed unit.

Description

Arming system

The present invention relates to an armed system, and more particularly, to an armed system capable of detecting a target by an imaging module and firing on the target by an armed module.

The arming system may include interconnected video and arming modules. The target module can detect the target by receiving the video module. The arming module is capable of foaming the target detected in the imaging module.

To this end, the armed module may be equipped with a gun that can fire. At this time, ballistic correction is necessary to increase the accuracy of the shooting by the armed module. In the conventional weapon module, the user can manually perform ballistic correction as needed.

At this time, there is a problem that a separate operation of the user due to manual ballistic correction is required. In addition, there is a problem that it is difficult to actively respond to the need for ballistic correction due to the movement of the target.

An object of the present invention is to provide an arming system in which an imaging unit can track a target even when ballistics are corrected by enabling the imaging unit and the arming unit to be mechanically separated and driven.

The present invention, the image unit for receiving an input image including a target; An armed portion that fires against the target; And a control unit for detecting a target from the input image and sending a firing instruction for the target to the armed unit, wherein the image unit can be driven independently of the armed unit.

The controller may control the armed portion such that the armed portion is trajectory corrected according to a target distance from the armed portion to the target.

The apparatus may further include a storage configured to store ballistic correction data of a shooting angle of the armed portion corrected according to the target distance, and wherein the controller may control the armed portion to adjust the trajectory according to the target distance with reference to the ballistic correction data. have.

The armed portion may include a fired portion that foams toward the target, and an armed drive that rotates the fired portion at least about one axis.

The image unit may include an image assembly configured to receive the input image and measure the target distance, and an image driver to rotate the image assembly about at least one axis.

The image assembly may include a daytime camera that receives the input image during the day, a nighttime camera that receives the input image at night, and a distance meter to measure the target distance.

The armed drive unit is provided with an armed drive motor for providing a driving force for rotating the shooting unit in at least one direction, an encoder for detecting the rotation amount of the shooting unit, and a reducer for changing the rotational amount of the armed drive motor to transmit to the shooting unit. can do.

The image driving unit may include an image driving motor providing a driving force for rotating the image assembly in at least one direction, an encoder detecting the rotation amount of the image assembly, and changing the rotation amount of the image driving motor to transfer the image assembly to the image assembly. It may be provided with a speed reducer.

The image portion may be decoupled with respect to the armed portion at the time of ballistic correction of the armed portion.

The imaging unit and the armament may be installed on the same vehicle body, and may further include a sensor unit for detecting a shake of the vehicle body.

The sensor unit may include a gyro sensor for measuring the displacement of the shake of the vehicle body.

The sensor unit may be installed in the image unit.

The control unit may control the image unit and the arming unit to operate to compensate for shaking of the vehicle body.

It may further include an operation control unit installed outside or inside the vehicle body and connected to at least one or more control units in a wired or wireless manner to operate and control the control unit.

According to the arming system according to the present invention, by allowing the image portion and the armed portion to be driven separately mechanically, the image portion can track the target even during ballistic correction.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 shows a perspective view of an arming system 10, which is a preferred embodiment according to the present invention. 2 schematically shows a block diagram of the arming system 10 of FIG. 1.

Referring to the drawings, the arming system 10 includes an imaging unit 100; Armed parts 200; And a control unit 300. The imaging unit 100 receives an input image including a target. The arm 200 fires against the target. The controller 300 detects a target from the input image and sends a firing instruction for the target to the arm 200. In this case, the imaging unit 100 may be driven independently of the arming unit 200.

The controller 300 may control the arming unit 200 to correct the trajectory of the arming unit 200 according to the target distance from the arming unit 200 to the target. In this case, the controller 300 may control the arming unit 200 to correct the trajectory according to the target distance with reference to the trajectory correction data.

To this end, the arming system 10 may further include a storage unit 400 in which ballistic correction data of the shooting angle of the arming unit 200 corrected according to the target distance is stored. In this case, the ballistic correction data according to the target distance may be stored in the form of a database for convenient management such as storing, retrieving, and updating.

The imaging unit 100 may include an imaging assembly 110 and an image driver 120. The image assembly 110 may receive an input image and measure a target distance corresponding to a distance from the arm 200 to the target. The image driver 120 may rotate the image assembly 110 about at least one axis.

The imaging assembly 110 may include a daytime camera, a night camera, and a range finder. The weekly camera may receive an input image during the day. The night camera may receive an input image at night. The range finder can measure the target distance.

In this case, the target distance may correspond to a distance from the arm 200 to the target. Therefore, first, the range finder included in the image assembly 110 may measure the measurement distance from the range finder to the target.

The target distance may be converted from the measurement distance in consideration of the mechanical structure and the size of the image part 100 and the armed part 200. As the range finder, a commonly used range finder may be used.

The image driver 120 may include an image driving motor 121, an encoder 122, and a reducer 123. The image driving motor 121 provides a driving force to rotate the image assembly 110 in at least one direction. The encoder 122 detects the amount of rotation of the image assembly 110. The reducer 123 changes the amount of rotation of the image driving motor 121 and transmits the amount of rotation to the image assembly 110.

The arming unit 200 may include a shooting unit 210 and an arming drive unit 220. Shooting unit 210 is fired toward the target. Shooting unit 210 may be a gun or artillery that can shoot toward the target.

The armed driving unit 220 may rotate the shooting unit 210 about at least one axis. To this end, the armed drive unit 220 may include an armed drive motor 221, an encoder 222, and a reducer 223.

The armed drive motor 221 provides a driving force for rotating the shooting unit 210 in at least one direction. The encoder 222 detects the rotation amount of the shooting section 210. The reducer 223 changes the rotational amount of the armed drive motor 221 and transmits the shot amount to the firing part 210.

When shooting by the shooting unit 210, in order to accurately hit the ballistics should be corrected. Ballistic correction is to correct the rotation angle of the shooting unit 210 by the armed drive motor 221 according to the target distance between the optical axis of the image assembly 110 and the target target of the central axis of the shooting unit 210.

In this case, as the target distance increases, the trajectory trajectory may be compensated upward when the trajectory is biased below the target. That is, as the target distance increases, the angle of the central axis of the shooting unit 210 may be higher than the optical axis of the image assembly 110.

When the image assembly 110 and the shooting unit 210 are not driven independently but driven to move together, a problem may occur in which the image assembly 110 misses a target during ballistic correction. That is, when the image assembly 110 and the shooting unit 210 are mechanically aligned and trajectory corrected, the target is moved by the driving operation lifting the central axis of the shooting unit 210 to correct the trajectory. You can miss a target off the screen. Therefore, after the shooting by the shooting unit 210, the image assembly 110 may need to find the target again.

In the arming system 10 according to the present invention, the imaging unit 100 may be decoupled with respect to the arming unit 200 at the time of ballistic correction of the arming unit 200. That is, when the ballistic correction is performed, the image assembly 110 is decoupled with respect to the shooting portion 210 to be driven independently, so that the image assembly 110 can continuously track the target even when the shooting portion 210 is trajectory corrected. At this time, even in the ballistic correction, even if the high saving of the shooting unit 210 is lifted up, the image assembly 110 has no change in the current position of the target.

On the other hand, when the ballistic correction is not performed, the image assembly 110 may be driven integrally instead of independently driven with respect to the shooting unit 210. To this end, the image driving motor 121 is not operated when the ballistic correction is not performed, and serves only as a simple instrument axis and may be driven by the armed driving motor 221.

In another embodiment, the target distance is measured by the imaging assembly 110 in a shooting mode of a combat situation, and the image driving motor 121 is moved in a direction opposite to the ballistic correction angle so that the optical axis of the imaging assembly 110 is targeted. You can keep sorting on.

The firing unit 210 and the image assembly 110 may be configured as a mechanically separated driveable structure. In addition, the armed drive motor 221 and the image drive motor 121 may be configured to be aligned at the initial zero position. The encoders 122 and 222 included in each of the imaging unit 100 and the arming unit 200 may be an absolute position encoder that can be easily controlled.

Meanwhile, the imaging unit 100 and the arming unit 200 may be installed in the same vehicle body 700 by forming one arming system 10. The arming system 10 may include a separate rotation driver 710 to rotate about one axis in a vertical direction with respect to the vehicle body 700.

Arming system 10 according to the present invention may be provided with a sensor unit 500 for detecting the shaking transmitted by the shaking of the vehicle body 700. The sensor unit 500 may include a gyro sensor capable of measuring the displacement of the shake of the vehicle body 700. Shaking of the vehicle body 700 can result in an instantaneous rapid change in displacement of the armed system 10. Therefore, the gyro sensor is preferably applied as a sensor for measuring this.

The controller 300 may control the image unit 100 and the arming unit 200 to be operated to compensate for shaking of the vehicle body 700. At this time, it is preferable that the reference of the stabilization of the arming system 10 against the shaking of the vehicle body 700 is the imaging unit 100. To this end, the sensor unit 500 is preferably installed in the image unit 100, preferably the image assembly 110.

Stabilization criteria of the imaging assembly 110 and the firing unit 210 is required for the accuracy of the shooting. In this case, the optical axis of the image assembly 110 does not change as a reference, and the trajectory is corrected according to the distance so that only the central axis of the shooting unit 210 may be changed. This is because the target can be detected by the imaging assembly 110.

On the other hand, the arming system 10 is provided in the outside or inside of the vehicle body 700 is connected to at least one or more control unit 300 in a wired or wireless manner is provided with an operation control unit 600 for operating and controlling the control unit 300. Can be.

When the zero position command is applied to the driving shaft of the image assembly 110 by the operation control unit 600 and the driving shaft of the shooting unit 210, the zero position driving is possible. In addition, the operation control unit 600 is such that the image assembly 110 is independently driven in a direction opposite to the ballast correction angle in which the shooting unit 210 is trajectory corrected with respect to the target distance measured by the image assembly 110 in a shooting mode of a combat situation. Can be controlled.

In this case, the displacement of the vehicle body 700 is measured by the gyro sensor of the sensor unit 500 mounted below the image assembly 110, and the armed drive motor 221 receives the displacement signal to perform stabilization control. can do. Accordingly, the angle of the shooting unit 210 is increased, and the image assembly 110 connected to the driving shaft of the shooting unit 210 may be controlled to maintain the initial position.

Therefore, according to the arming system 10 according to the present invention, by allowing the imaging assembly 110 and the shooting unit 210 to be mechanically driven to drive, the imaging assembly 110 can track the target even during ballistic correction. have.

3 is a flowchart of an arming system control method (S300) for controlling the arming system 10 of FIG. 1.

Referring to the drawings, the arming system control method (S300) is for controlling the arming system 10 according to the present invention, the same as in the description of Figures 1 and 2, refer to this, the detailed description Omit.

Arming system control method (S300) may first perform the preparation work (S310 to S330) for the operation of the arming system.

To this end, the optical axis of the image assembly 110 and the central axis of the shooting unit 210 is mechanically aligned (S310), and the encoders 122 and 222 are reset to the zero position (S320), and then the image driving motor 121 And the driving of the armed drive motor 221 can be stopped.

Next, it is determined whether the current mode is a shooting mode in which ballistic correction is performed (S340). When the current mode is a shooting mode in which ballistic correction is performed, an arming stabilization process according to the present invention is performed (S350 to S390).

In the armed stabilization process (S350 to S390), first measure a target distance corresponding to the distance to the target to be targeted (S350). Next, the ballistic correction for the shooting unit 210 is performed according to the target distance.

In this case, the ballistic correction may be performed by referring to ballistic correction data according to a target distance which is preset and stored in the storage 400. By the ballistic correction, the angles of the image assembly 110 and the shooting unit 210 may be integrally adjusted by the arming driver 220.

Next, the image assembly 110 may be driven to correct the adjustment of the image assembly 110 driven by the ballistic correction. In this case, the image assembly 110 may be decoupled with respect to the shooting unit 210 to be driven independently.

Therefore, even if the image assembly 110 and the shooting unit 210 which can be integrally driven by the ballistic correction for the shooting unit 210 are ballistic corrected, the image assembly 110 is independently driven and adjusted with respect to the shooting unit 210. In this way, the imaging assembly 110 can continue to track the target.

Next, the shaking of the vehicle body can be measured (S380). At this time, the shaking of the vehicle body may be measured by the gyro sensor. Next, armed stabilization drive for vehicle body shaking by the gyro sensor may be performed (S390).

 By the armed stabilization drive, the image assembly 110 may track the target without missing the target even when the vehicle body is shaken. In addition, by the armed stabilization drive the firing unit 210 can be performed to perform accurate firing against the target.

Therefore, according to the arming system control method (S300) according to the present invention, by allowing the image assembly 110 and the shooting unit 210 to be driven separately mechanically, the image assembly 110 tracks the target even during ballistic correction. You can do that.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, You will understand. Accordingly, the true scope of protection of the present invention should be determined only by the appended claims.

1 is a perspective view schematically showing an arming system according to a preferred embodiment of the present invention.

FIG. 2 is a block diagram schematically illustrating the arming system of FIG. 1.

3 is a flowchart schematically illustrating an arming system control method for controlling the arming system of FIG. 1.

<Explanation of symbols for the main parts of the drawings>

10: armed system, 100: imaging unit,

200: weapon, 300: control unit,

400: storage unit, 500: sensor unit.

Claims (14)

An imaging unit configured to receive an input image including a target and to measure a distance to the target, and an image driver to rotate the image assembly about at least one axis; An arming unit including a shooting unit for firing toward the target and an arming drive unit for rotating the shooting unit about at least one axis; A control unit which detects a target from the input image, sends a firing instruction for the target to the armed arm, and controls the armed portion to correct the trajectory of the armed arm; And And a storage unit for storing trajectory correction data of the shooting angle of the weapon. The controller controls the armed unit to correct the trajectory with reference to the trajectory correction data, And the imaging unit may be independently driven with respect to the arming unit, and the imaging unit is decoupled with respect to the arming unit at the time of ballistic correction of the arming unit. delete delete delete delete The method of claim 1, The image assembly, A weekly camera that receives the input image during the daytime, A night camera which receives the input image at night, and An arming system having a range finder for measuring a distance to the target. The method of claim 1, The armed drive unit, An armed drive motor for providing a driving force to rotate the shooting portion in at least one direction; An encoder for detecting an amount of rotation of the shooting section, and Arming system having a reducer for changing the amount of rotation of the armed drive motor to transfer to the shooting. The method of claim 1, The image driver, An image driving motor providing a driving force to rotate the image assembly in at least one direction; An encoder for detecting an amount of rotation of the image assembly, and And a reduction gear configured to change the amount of rotation of the image driving motor and transfer the amount of rotation of the image driving motor to the image assembly. delete Claim 10 has been abandoned due to the setting registration fee. The method of claim 1, And the imaging unit and the arming unit are installed on the same vehicle body, and further comprising a sensor unit detecting the shaking of the vehicle body. Claim 11 was abandoned when the registration fee was paid. And a gyro sensor configured to measure displacement of the shake of the vehicle body. Claim 12 is abandoned in setting registration fee. 11. The method of claim 10, And the sensor unit is installed in the imaging unit. Claim 13 has been abandoned due to the set registration fee. 11. The method of claim 10, And the control unit controls the imaging unit and the arming unit to operate to compensate for shaking of the vehicle body. Claim 14 has been abandoned due to the setting registration fee. 11. The method of claim 10, And an operation control unit installed outside or inside the vehicle body and connected to at least one control unit in a wired or wireless manner to operate and control the control unit.

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