CN113465449A - Machine gun vehicle-mounted servo aiming system and servo aiming striking method using same - Google Patents
Machine gun vehicle-mounted servo aiming system and servo aiming striking method using same Download PDFInfo
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- CN113465449A CN113465449A CN202010241712.8A CN202010241712A CN113465449A CN 113465449 A CN113465449 A CN 113465449A CN 202010241712 A CN202010241712 A CN 202010241712A CN 113465449 A CN113465449 A CN 113465449A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G11/00—Details of sighting or aiming apparatus; Accessories
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/06—Elevating or traversing control systems for guns using electric means for remote control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
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- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention provides a vehicle-mounted servo aiming system of a machine gun and a servo aiming striking method using the same, wherein the system comprises bulletproof glass, a ammunition-free machine gun, a posture acquisition platform, a posture calculation computer, a live ammunition machine gun assembly and a posture and signal control computer, the ammunition-free machine gun is arranged in a vehicle body, the posture acquisition platform is used for measuring the posture information of the ammunition-free machine gun, the posture calculation computer is used for acquiring the posture information of the ammunition-free machine gun and acquiring a firing signal, the live ammunition machine gun assembly is arranged outside the vehicle body, and the posture and signal control computer is used for controlling and adjusting the posture of the live ammunition machine gun assembly according to the posture information of the ammunition-free machine gun and controlling the live ammunition machine gun assembly to fire a real bullet according to strike a firing signal so as to strike a target. The technical scheme of the invention is applied to solve the technical problem that the aiming system in the prior art can not ensure accurate aiming of the target and protect the personal safety of shooting personnel.
Description
Technical Field
The invention relates to the technical field of armed strength confrontation, in particular to a vehicle-mounted servo aiming system of a machine gun and a servo aiming striking method using the same.
Background
Gun-powered vehicles play an important role in armed force fight, generally requiring two people to operate simultaneously. Because the heavy machine gun is arranged on the quick and flexible automobile, one person needs to control the speed and the displacement of the automobile, and the other person observes the external environment to quickly detect, identify and track dangerous static or moving targets, thereby achieving the effects of quickly propelling a battle line forward and eliminating the survival power of enemies.
In actual terrorism or armed weight, the road is rugged, the surrounding real and false targets are difficult to distinguish, and shooting personnel can fly over all directions to hit the head. The machine gun vehicle can move quickly, aiming at enemies is difficult, and therefore the machine gun vehicle plays a role in protecting the machine gun vehicle. However, the gun shooter has to be exposed to the environment where the enemy can shoot to observe the surrounding environment and aim at the shooting target, and thus the gun shooter is easily hit by the enemy target, and casualties are caused.
In a more complex confrontation environment, enemy personnel, my personnel, camouflage personnel and the quality of people may exist at the same time, the methods of image positioning, saturated shooting and the like are not suitable any more, and shooting personnel need to accurately judge and aim at shooting through vision at this time. However, the aiming systems commonly used in the prior art cannot ensure accurate aiming of the target and protect the personal safety of the shooter.
Disclosure of Invention
The invention provides a machine gun vehicle-mounted servo aiming system and a servo aiming striking method using the same, which can solve the technical problem that an aiming system in the prior art cannot ensure accurate aiming at a target and protect the personal safety of shooting personnel.
According to an aspect of the present invention, there is provided a machine gun onboard servo targeting system, comprising: the bulletproof glass is arranged on the vehicle body and used for protecting shooting personnel and providing the shooting personnel with the functions of observing the external environment and searching for a shooting target; the ammunition-free machine gun is arranged in the vehicle body and is used for a shooting person to operate; the attitude acquisition platform is connected with the ammunition-free machine gun and is used for measuring attitude information of the ammunition-free machine gun; the attitude resolving computer is connected with the attitude acquisition platform and is used for acquiring attitude information of the ammunition-free machine gun and acquiring firing signals; the live ammunition machine gun assembly is arranged outside the vehicle body and is used for launching a real bullet to strike a target; and the attitude and signal control computer is respectively connected with the attitude calculation computer and the live-action machine gun assembly and is used for controlling and adjusting the attitude of the live-action machine gun assembly according to the attitude information of the ammunition-free machine gun transmitted by the attitude calculation computer and controlling the live-action machine gun assembly to launch a real bullet according to a firing signal transmitted by the attitude calculation computer so as to strike a target.
Further, the machine gun vehicle-mounted servo aiming system further comprises a machine gun aiming camera and a target amplification display, the machine gun aiming camera is respectively connected with the live ammunition machine gun assembly and the target amplification display, the machine gun aiming camera is used for collecting target lens information aimed by the live ammunition machine gun assembly and transmitting the target lens information to the target amplification display, the target amplification display is arranged inside the vehicle body, and a shooter can adjust the posture of the ammunition-free machine gun according to the target lens information displayed by the target amplification display.
Further, the machine gun vehicle-mounted servo aiming system further comprises a space alignment deviator, the space alignment deviator is respectively connected with the attitude calculation computer and the attitude and signal control computer, and the space alignment deviator is used for compensating the space deviation between the ammunition-free machine gun and the live ammunition machine gun assembly.
Furthermore, the machine gun vehicle-mounted servo aiming system also comprises a firing touch switch, and the firing touch switch is respectively connected with the ammunition-free machine gun and the attitude calculation computer; when the target lens information shows that the live ammunition machine gun assembly aims at the target, shooting personnel can trigger the firing touch switch to send a firing signal to the attitude resolving computer.
Further, the live-action machine gun assembly comprises a cradle head and a live-action machine gun unit, the cradle head is respectively connected with the attitude and signal control computer and the live-action machine gun unit, and the attitude and signal control computer adjusts the attitude of the live-action machine gun unit by adjusting the position of the cradle head.
Furthermore, the live ammunition machine gun unit comprises a machine gun seat frame, a live ammunition machine gun and a machine gun launching device, the machine gun seat frame is fixedly arranged on the cradle head, the live ammunition machine gun and the machine gun launching device are both arranged on the machine gun seat frame, the machine gun launching device is connected with the posture and signal control computer, and the posture and signal control computer controls the machine gun launching device to act according to the firing signal so that the live ammunition machine gun launches a real bullet to strike a target.
Further, the attitude acquisition platform comprises a triaxial acceleration gyro platform, and the triaxial acceleration gyro platform is used for detecting a movement angle signal, an angular velocity signal and an angular acceleration signal of the ammunition-free machine gun.
According to another aspect of the invention, a machine gun vehicle-mounted servo aiming striking method is provided, and the machine gun vehicle-mounted servo aiming striking method uses the machine gun vehicle-mounted servo aiming system.
Further, the machine gun vehicle-mounted servo aiming striking method comprises the following steps: calibrating and initially aligning the ammunition-free machine gun and the live-action machine gun so that the ammunition-free machine gun and the live-action machine gun aim at the target in the range to be consistent; a shooter observes a target in an external environment through the bulletproof glass, moves the ammunition-free machine gun, and observes target lens information displayed on the target magnification display to confirm the target; the attitude acquisition platform detects attitude information of the ammunition-free machine gun in real time and transmits the attitude information of the ammunition-free machine gun to the attitude calculation computer; the attitude resolving computer transmits attitude information of the ammunition-free machine gun to the attitude and signal control computer and controls the angle, the angular velocity and the angular velocity of the cradle head through the attitude and signal control computer so as to keep the attitude of the live ammunition machine gun consistent with that of the ammunition-free machine gun; when the target lens information shows that the live ammunition machine gun aims at the target, the shooting personnel trigger the firing touch switch to send a firing signal to the attitude calculation computer, and the attitude and signal control computer controls the machine gun launching device to act according to the firing signal so that the live ammunition machine gun launches a real bullet to strike the target.
By applying the technical scheme of the invention, the invention provides a vehicle-mounted servo aiming system of a machine gun, and the system configures the observation window of a shooter to be protected by bulletproof glass, so that the bulletproof glass does not influence the observation and judgment of the shooter on the external environment, and can be used for blocking bullets shot by enemies; through dispose no ammunition machine gun in the car and dispose the live-action ammunition machine gun subassembly outside the car, gesture and signal control computer control the gesture of adjusting the live-action ammunition machine gun subassembly and launch real bullet according to firing signal according to the gesture information control of no ammunition machine gun, this kind of mode makes the shooting personnel can adjust the gesture of car outer live-action ammunition machine gun subassembly in real time through controlling no ammunition machine gun in the car, drives the outside live-action ammunition machine gun subassembly of automobile body and aims and shoots in step. Therefore, compared with the prior art, the machine gun vehicle-mounted servo aiming system provided by the invention not only can accurately aim a static or moving target, but also can play a role in personal safety protection for shooting personnel, and does not need to change the shooting operation habit of the shooting personnel.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a block diagram illustrating the structural components of a machine gun onboard servo targeting system provided in accordance with a specific embodiment of the present invention;
FIG. 2 illustrates a functional diagram of a servo-targeting system on-board a machine gun provided in accordance with a specific embodiment of the present invention;
fig. 3 is a schematic structural diagram of a machine gun onboard servo sighting system provided according to an embodiment of the invention.
Wherein the figures include the following reference numerals:
10. bullet-proof glass; 20. ammunition-free machine guns; 30. a posture collection platform; 40. an attitude calculation computer; 50. a live action machine gun assembly; 51. a holder; 52. a live action machine gun unit; 521. a machine gun mount; 522. a live action machine gun; 523. a machine gun launching device; 60. an attitude and signal control computer; 70. a machine gun alignment camera; 80. a target magnification display; 90. a spatial alignment deviator; 100. and triggering the touch switch.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1 to 3, according to an embodiment of the present invention, there is provided a gun onboard servo sight system, which includes a bullet-proof glass 10, a ammunition-less gun 20, an attitude acquisition platform 30, an attitude calculation computer 40, a live ammunition gun assembly 50, and an attitude and signal control computer 60, the bullet-proof glass 10 being disposed on a vehicle body, the bullet-proof glass 10 being used to protect and provide the shooter with observation of an external environment and search for a shooting target, the ammunition-less gun 20 being disposed in the vehicle body, the ammunition-less gun 20 being used for operation by the shooter, the attitude acquisition platform 30 being connected to the ammunition-less gun 20, the attitude acquisition platform 30 being used to measure attitude information of the ammunition-less gun 20, the attitude calculation computer 40 being connected to the attitude acquisition platform 30, the attitude calculation computer 40 being used to acquire attitude information of the ammunition-less gun 20 and acquire a firing signal, the live ammunition machine gun assembly 50 is arranged outside the vehicle body, the live ammunition machine gun assembly 50 is used for shooting a real bullet to strike a target, the attitude and signal control computer 60 is respectively connected with the attitude calculation computer 40 and the live ammunition machine gun assembly 50, and the attitude and signal control computer 60 is used for controlling and adjusting the attitude of the live ammunition machine gun assembly 50 according to the attitude information of the ammunition-less machine gun 20 transmitted by the attitude calculation computer 40 and controlling the live ammunition machine gun assembly 50 to shoot the real bullet to strike the target according to the firing signal transmitted by the attitude calculation computer 40.
By applying the configuration mode, the onboard servo sighting system for the machine gun is provided, and the system configures the observation window of a shooter to be protected by the bulletproof glass, so that the bulletproof glass does not influence the observation and judgment of the shooter on the external environment and can be used for blocking bullets shot by enemies; through dispose no ammunition machine gun in the car and dispose the live-action ammunition machine gun subassembly outside the car, gesture and signal control computer control the gesture of adjusting the live-action ammunition machine gun subassembly and launch real bullet according to firing signal according to the gesture information control of no ammunition machine gun, this kind of mode makes the shooting personnel can adjust the gesture of car outer live-action ammunition machine gun subassembly in real time through controlling no ammunition machine gun in the car, drives the outside live-action ammunition machine gun subassembly of automobile body and aims and shoots in step. Therefore, compared with the prior art, the machine gun vehicle-mounted servo aiming system provided by the invention not only can accurately aim a static or moving target, but also can play a role in personal safety protection for shooting personnel, and does not need to change the shooting operation habit of the shooting personnel.
Further, in the present invention, in order to improve the accuracy of aiming shooting, the gun onboard servo aiming system may be configured to further include a gun alignment camera 70 and a target magnifying display 80, the gun alignment camera 70 is connected to the live ammunition gun assembly 50 and the target magnifying display 80, respectively, the gun alignment camera 70 is configured to collect target lens information aimed by the live ammunition gun assembly 50 and transmit the target lens information to the target magnifying display 80, the target magnifying display 80 is disposed inside the vehicle body, and a shooter may adjust the attitude of the ammunition-less gun 20 according to the target lens information displayed by the target magnifying display 80.
By applying the configuration mode, the gun alignment camera and the target amplification display are arranged, the gun alignment camera follows the live ammunition gun assembly, the target lens information aimed by the live ammunition gun assembly can be collected in real time and transmitted to the target amplification display, a shooter can observe the external environment and the target lens information displayed on the target amplification display through the bulletproof glass in the vehicle body, and the gun can be aimed and shot by operating the ammunition-free gun in the vehicle. The ammunition-free machine gun in the vehicle transmits the attitude information of the ammunition-free machine gun to the attitude resolving computer through the attitude acquisition platform, and the attitude resolving computer transmits the attitude information to the attitude and signal control computer, so that the attitude of the live ammunition machine gun assembly is controlled and adjusted to synchronously aim and shoot targets.
Further, in the present invention, in order to improve the accuracy of the attitude information transmission and thus the striking accuracy, the machine gun onboard servo sight system may be configured to further include a spatial alignment deviator 90, the spatial alignment deviator 90 being connected to the attitude calculation computer 40 and the attitude and signal control computer 60, respectively, the spatial alignment deviator 90 being used to compensate for the spatial deviation between the ammunition-less machine gun 20 and the live ammunition machine gun assembly 50.
In addition, in the present invention, after the live ammunition machine gun assembly has been aimed at the target, in order to enable striking of the target, the machine gun onboard servo aiming system may be configured to further include a firing touch switch 100, the firing touch switch 100 being connected to the ammunition-less machine gun 20 and the attitude calculation computer 40, respectively; wherein, when the target lens information indicates that the live action gun assembly 50 has aimed at the target, the shooter can trigger the firing touch switch 100 to send a firing signal to the attitude calculation computer 40. Specifically, in the present invention, when the target lens information indicates that the live ammunition gun assembly 50 has aimed at the target, the shooting staff only needs to pull the trigger of the ammunition-less gun, and the triggering touch switch fixedly connected with the trigger can be triggered to generate the triggering signal.
Further, in the present invention, in order to be able to adjust the attitude of the live-action gun assembly in real time according to the attitude information of the ammunition-less gun while shielding noise disturbance due to the movement of the gun carriage, the live-action gun assembly 50 may be configured to include a cradle head 51 and a live-action gun unit 52, the cradle head 51 being connected to the attitude and signal control computer 60 and the live-action gun unit 52, respectively, and the attitude and signal control computer 60 adjusting the attitude of the live-action gun unit 52 by adjusting the position of the cradle head 51.
Under this kind of configuration, the cloud platform can carry out the gesture and the instruction that signal control computer sent in order to drive live-action gun unit motion, and then makes the gesture of live-action gun unit keep unanimous with no ammunition machine gun, simultaneously, through setting up live-action gun unit on the cloud platform, can greatly shield the noise disturbance that causes because the machine gun car motion.
Further, in the present invention, in order to accurately aim and strike a target, the live action machine gun unit 52 may be configured to include a machine gun mount 521, a live action machine gun 522 and a machine gun launching device 523, the machine gun mount 521 is fixedly disposed on the cradle head 51, the live action machine gun 522 and the machine gun launching device 523 are both disposed on the machine gun mount 521, the machine gun launching device 523 is connected to the attitude and signal control computer 60, and the attitude and signal control computer 60 controls the action of the machine gun launching device 523 according to a firing signal so that the live action machine gun 522 launches a real bullet to strike the target.
In the configuration mode, the live ammunition machine gun is fixedly arranged on the cradle head, the angle of the live ammunition machine gun aiming at shooting can be adjusted through the rotation of the cradle head, the machine gun launching device is fixedly connected with the machine gun cradle, the firing signal of the ammunition-free machine gun is transmitted to the attitude and signal control computer through the attitude calculation computer, and the action of the machine gun launching device is controlled through the attitude and signal control computer so that the live ammunition machine gun launches a real bullet to strike a target.
Further, in the present invention, in order to acquire the attitude information of the ammunition-less machine gun, the attitude acquisition platform 30 may be configured to include a three-axis acceleration gyro platform for detecting the movement angle signal, the angular velocity signal, and the angular acceleration signal of the ammunition-less machine gun 20. As an embodiment of the invention, a three-axis acceleration gyroscope platform may detect the angle of travel from a ammunition-less machine gun
Angular velocity (omega)x,ωy,ωz) And angular acceleration (alpha)x,αy,αz) And transmitting the nine signals to an attitude calculation computer.
According to still another aspect of the present invention, there is provided a machine gun onboard servo aiming striking method using the machine gun onboard servo aiming system as described above. Specifically, in the invention, the machine gun vehicle-mounted servo aiming striking method comprises the following steps: calibrating and initially aligning the ammunition-less machine gun 20 and the live action machine gun 522 to target the ammunition-less machine gun 20 and the live action machine gun 522 consistently at range; the shooter observes the target in the external environment through the bulletproof glass 10 and moves the ammunition-less machine gun 20, and observes the target lens information displayed on the target magnification display 80 to confirm the target; the attitude acquisition platform 30 detects the attitude information of the ammunition-less machine gun 20 in real time and transmits the attitude information of the ammunition-less machine gun 20 to the attitude calculation computer 40; the attitude calculation computer 40 transmits the attitude information of the ammunition-less machine gun 20 to the attitude and signal control computer 60 and controls the angle, the angular velocity, and the angular velocity of the pan-tilt 51 through the attitude and signal control computer 60 so that the attitude of the live ammunition machine gun 522 and the ammunition-less machine gun 20 is kept consistent; when the target lens information indicates that the live action gun 522 has aimed at the target, the shooter sends a firing signal to the attitude calculation computer 40 by triggering the firing touch switch 100, and the attitude and signal control computer 60 controls the action of the gun launcher 523 according to the firing signal to cause the live action gun 522 to fire a real bullet to strike the target.
By applying the configuration mode, the machine gun vehicle-mounted servo aiming striking method is provided, the aiming striking method takes the machine gun vehicle as a mobile carrier, and plays a role in protecting shooting personnel in charge of the machine gun vehicle in the process of executing tasks in a dangerous environment. Shooting personnel can see through shellproof glass and scout external environment, also can aim at the shooting to dangerous target simultaneously. As the observation window is provided with the bulletproof glass, the shooting from enemies can be blocked, and the protection effect on shooting personnel on the machine gun vehicle is achieved. The shooter looks for the shooting target through the bulletproof glass, and can aim at the ammunition-free gun in the bullet-proof glass operation vehicle to shoot when finding the target. The real live ammunition machine gun is installed at the top of the vehicle, and the real live ammunition machine gun synchronously moves with the ammunition-free machine gun in the vehicle through the cradle head, the attitude and signal control computer and the attitude calculation computer, so that the aim and the strike of a target are realized. Compared with the prior art, the method has the advantages that the shooting personnel can shoot the enemy target in the vehicle, so that personal threat of the enemy target to the shooting personnel is avoided, and the task execution capacity of the machine gun vehicle is greatly improved.
In order to further understand the present invention, the following describes the servo aiming system and the aiming striking method of the machine gun in a vehicle with reference to fig. 1 to 3.
As shown in fig. 1 to 3, according to an embodiment of the present invention, there is provided a gun onboard servo sight system, which includes a bullet-proof glass 10, a ammunition-less gun 20, a three-axis acceleration gyro platform, an attitude calculation computer 40, a cradle head 51, a gun mount 521, a live ammunition gun 522, a gun launching device 523, an attitude and signal control computer 60, a gun alignment camera 70, a target magnification display 80, a spatial alignment deviator 90, and a firing touch switch 100, wherein the ammunition-less gun 20, the attitude collection platform 30, the attitude calculation computer 40 are onboard attitude detection devices, and the cradle head 51, the gun mount 521, the live ammunition gun, the gun launching device 523, the attitude and signal control computer 60, and the gun alignment camera 70 are outboard attitude servo devices.
The inside safe environment that is of machine gun car utilizes vehicle structure can block the bullet that comes from the external environment. When the object in the external environment needs to be detected, the object can be observed through the bulletproof glass embedded on the window of the vehicle body. When it is desired that the shooter aim the fire at a target in the external environment, ammunition-less gun 20 attached to the three-axis accelerometer-gyroscope platform can be operated to aim the fire at the target against the bullet-proof glass 10. The attitude angle of the ammunition-less machine gun 20 is measured by a three-axis acceleration gyro platform and the information is then transmitted to the attitude calculation computer 40. The attitude calculation computer 40 transmits the attitude information and firing signals to the attitude and signal control computer 60, and the attitude and signal control computer 60 controls the attitude of the pan-tilt 51 on the machine gun carriage to adjust the attitude of the live ammunition machine gun 522 before shooting. The gun alignment camera 70 can transmit the target lens information aimed by the live ammunition gun 522 to the target magnifying display 80 inside the gun carriage in real time, and the shooting personnel inside the gun carriage can adjust the posture of the ammunition-less gun 20 according to the target magnifying display 80 and the real external environment, so that the live ammunition gun 522 can aim at the target more accurately. When a target needs to be shot, a firing signal can be generated only by pulling a trigger of the ammunition-free machine gun 20 and the firing touch switch 100 fixedly connected with the trigger, and the firing signal sent by the firing touch switch 100 is transmitted to the live ammunition machine gun 20 by the attitude and signal control computer 60.
In this embodiment, the bullet-proof glass 10 is a part of the protection of the vehicle body structure, and can block bullets from enemy targets, so as to protect and provide the shooter with a view to the outside environment, which is the view that the shooter in the machine gun vehicle can see through the bullet-proof glass, and to find the shooting targets. Ammunition-less gun 20 means that the shooter faces bullet-proof glass and can operate like a real live action gun. The three-axis acceleration gyroscope platform is capable of measuring the angles, angular velocities and angular accelerations of the ammunition-free machine gun 20 in three directions and transmitting the information to the attitude calculation computer. Spatial alignment deviation 90 is used to compensate for spatial deviations in the aiming of the ammunition-less machine gun 20 and the live action gun 522. The attitude and signal control computer 60 can servo-control the angles, angular velocities and angular accelerations of the pan-tilt 51 in three directions, thereby quickly tracking the angular movement of the ammunition-free gun and controlling the gun launching device 523 according to the firing signal sent by the firing touch switch. Pan head 51 is capable of executing the commands of attitude and signal control calculations 60 while also shielding noise disturbances due to the movement of the machine gun carriage. The gun launching device 523 is fixedly connected to the gun mount 521, and the firing signal of the ammunition-less gun 20 can be transmitted to the gun launching device 523 of the live action gun 522 through the attitude and signal control computer 60. The gun alignment camera 70 may transmit the sighting target lens information of the shotgun 522 to the target magnifying display 80 in real time, and the target magnifying display 80 displays the sighting target lens information of the shotgun 522 in real time for a shooter in the gun carriage to recognize a target with limited visual ability.
The process of aiming and striking by using the machine gun vehicle-mounted servo aiming system provided by the invention is specifically as follows.
Calibration and initial alignment of the ammunition-less machine gun 20 and the live-action machine gun 522 to target the ammunition-less machine gun 20 and the live-action machine gun 522 in rangeThus, the method can be used for the treatment of the tumor. Without changing the shooting habits of the original gun-shooter, the shooter views the static or moving target in the external environment through the bulletproof glass 10 and moves the ammunition-less gun 20 while viewing the target lens information displayed on the target magnification display 80 to further confirm the target. Because the ammunition-free machine gun 20 is fixedly connected to the three-axis acceleration gyro platform, when a shooter moves the ammunition-free machine gun 20, the three-axis acceleration gyro platform detects the moving angle from the ammunition-free machine gun 20 in real time
Angular velocity (omega)x,ωy,ωz) And angular acceleration (alpha)x,αy,αz) And transmits nine paths of attitude information of the ammunition-less machine gun 20 to the attitude calculation computer 40.
The attitude calculation computer 40 transmits nine paths of attitude information of the ammunition-less machine gun 20 to the attitude and signal control computer 60 and controls the angle, angular velocity, and angular velocity of the pan head 51 through the attitude and signal control computer 60 to keep the attitude of the live-action machine gun 522 consistent with that of the ammunition-less machine gun 20. Through the compensation of the spatial alignment deviator 90, the vertical distance, longitudinal and lateral deviations of the ammunition-less machine gun 20 and the live-action machine gun 522 are corrected so that the target aimed by the ammunition-less machine gun 20 in the bullet-proof glass 10 is consistent with the target aimed by the live-action machine gun 522 on the machine gun vehicle. Meanwhile, the cradle head 51 also enables the gun vehicle to have stronger adaptability, and the gun vehicle can still be accurately aimed and tracked even in a bumpy environment. The gun alignment camera 70 may magnify the display of the firing gun 522 target, determine and adjust the aiming attitude of the ammunition-less gun 20 by the shooter in the vehicle, and further confirm the target to be fired.
When the target-aiming lens information shows that the live ammunition machine gun 522 aims at the target, the shooting personnel only need to pull the trigger of the non-ammunition machine gun, the firing touch switch 100 fixedly connected with the trigger generates a firing signal and sends the firing signal to the attitude calculation computer 40, the attitude calculation computer 40 sends the firing signal to the attitude and signal control computer 60, and the attitude and signal control computer 60 controls the machine gun launching device 523 to act according to the firing signal so that the live ammunition machine gun 522 launches a real bullet to accurately strike the target.
In summary, the invention provides a vehicle-mounted servo aiming system of a machine gun, which is characterized in that an observation window of a shooter is protected by bulletproof glass, and the bulletproof glass does not influence the observation and judgment of the shooter on the external environment and can be used for blocking bullets shot by an enemy; the shooter on the machine gun vehicle can observe the external environment and the target amplified image from the live ammunition machine gun through the bulletproof glass, and only needs to operate the ammunition-free machine gun in the vehicle to aim and shoot. The ammunition-free machine gun in the machine gun vehicle transmits signals to the attitude resolving computer through the triaxial acceleration gyroscope platform, and the attitude resolving computer transmits attitude information to the cradle head and the attitude control computer, so that servo motion of the cradle head is controlled, and a live ammunition machine gun on the machine gun vehicle is driven to aim and shoot synchronously. Therefore, compared with the prior art, the machine gun vehicle-mounted servo aiming system provided by the invention not only can accurately aim a static or moving target, but also can play a role in personal safety protection for shooting personnel, and does not need to change the shooting operation habit of the shooting personnel.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a vehicle-mounted servo sighting system of machine gun which characterized in that, vehicle-mounted servo sighting system of machine gun includes:
the bulletproof glass (10) is arranged on the vehicle body, and the bulletproof glass (10) is used for protecting shooting personnel, enabling the shooting personnel to observe the external environment and search a shooting target;
a ammunition-less machine gun (20), the ammunition-less machine gun (20) being disposed within a vehicle body, the ammunition-less machine gun (20) being for operation by a firing person;
a pose acquisition platform (30), the pose acquisition platform (30) being connected to the ammunition-less machine gun (20), the pose acquisition platform (30) being configured to measure pose information of the ammunition-less machine gun (20);
the attitude calculation computer (40), the attitude calculation computer (40) is connected with the attitude acquisition platform (30), and the attitude calculation computer (40) is used for acquiring attitude information of the ammunition-free machine gun (20) and acquiring firing signals;
a live-action machine gun assembly (50), the live-action machine gun assembly (50) being disposed outside a vehicle body, the live-action machine gun assembly (50) being for firing a real bullet to strike a target;
the posture and signal control computer (60) is connected with the posture resolving computer (40) and the live-action machine gun assembly (50) respectively, and the posture and signal control computer (60) is used for controlling and adjusting the posture of the live-action machine gun assembly (50) according to the posture information of the ammunition-less machine gun (20) transmitted by the posture resolving computer (40) and controlling the live-action machine gun assembly (50) to launch a real bullet to strike a target according to the firing signal transmitted by the posture resolving computer (40).
2. The servo sight system of claim 1, further comprising a gun alignment camera (70) and a target magnifying display (80), the gun alignment camera (70) being connected to the shotgun assembly (50) and the target magnifying display (80), respectively, the gun alignment camera (70) being configured to collect target shot information aimed at by the shotgun assembly (50) and transmit the target shot information to the target magnifying display (80), the target magnifying display (80) being disposed inside a vehicle body, a shooter being able to adjust the pose of the ammunition-less gun (20) according to the target shot information displayed by the target magnifying display (80).
3. The servo sight system of claim 2, further comprising a spatial alignment deviator (90), the spatial alignment deviator (90) being connected to the attitude calculation computer (40) and the attitude and signal control computer (60), respectively, the spatial alignment deviator (90) being used to compensate for spatial deviations between the ammunition-less machine gun (20) and the live-action machine gun assembly (50).
4. The machine gun onboard servo sight system of claim 3, further comprising a firing touch switch (100), the firing touch switch (100) being connected to the ammunition-less machine gun (20) and the attitude calculation computer (40), respectively; wherein a shooter can send a firing signal to the attitude calculation computer (40) by triggering the firing touch switch (100) when the target lens information indicates that the live action gun assembly (50) has been aimed at a target.
5. The machine-gun onboard servo sighting system according to any one of claims 1 to 4, characterized in that the live-action machine gun assembly (50) comprises a pan head (51) and a live-action machine gun unit (52), the pan head (51) being connected with the attitude and signal control computer (60) and the live-action machine gun unit (52), respectively, the attitude and signal control computer (60) adjusting the attitude of the live-action machine gun unit (52) by adjusting the position of the pan head (51).
6. The machine gun on-board servo sighting system of claim 5, wherein the live-action machine gun unit (52) comprises a machine gun seat frame (521), a live-action machine gun (522) and a machine gun launching device (523), the machine gun seat frame (521) is fixedly arranged on the cradle head (51), the live-action machine gun (522) and the machine gun launching device (523) are both arranged on the machine gun seat frame (521), the machine gun launching device (523) is connected with the attitude and signal control computer (60), and the attitude and signal control computer (60) controls the action of the machine gun launching device (523) according to the firing signal so that the live-action machine gun (522) launches a real bullet to hit a target.
7. The machine-gun onboard servo sight system according to claim 1, characterized in that the attitude acquisition platform (30) comprises a three-axis acceleration gyro platform for detecting the movement angle signal, the angular velocity signal and the angular acceleration signal of the ammunition-less machine gun (20).
8. A machine gun vehicle-mounted servo aiming striking method, characterized in that the machine gun vehicle-mounted servo aiming striking method uses the machine gun vehicle-mounted servo aiming system according to any one of claims 1 to 7.
9. The machine-gun vehicle-mounted servo aiming striking method according to claim 8, characterized by comprising the following steps:
calibrating and initially aligning a ammunition-less machine gun (20) and a live action machine gun (522) to target the ammunition-less machine gun (20) and the live action machine gun (522) consistently at range;
a shooter observes a target in an external environment through a bulletproof glass (10) and moves the ammunition-less machine gun (20), and observes target lens information displayed on a target magnifying display (80) to confirm the target;
the attitude acquisition platform (30) detects attitude information of the ammunition-free machine gun (20) in real time and transmits the attitude information of the ammunition-free machine gun (20) to the attitude calculation computer (40);
the attitude calculation computer (40) transmits attitude information of the ammunition-less machine gun (20) to an attitude and signal control computer (60) and controls the angle, the angular velocity and the angular velocity of a cradle head (51) through the attitude and signal control computer (60) so as to keep the attitude of the live ammunition machine gun (522) and the ammunition-less machine gun (20) consistent;
when the target lens information shows that the live-action machine gun (522) aims at a target, a shooting person triggers a firing touch switch (100) to send a firing signal to the attitude calculation computer (40), and the attitude and signal control computer (60) controls a machine gun launching device (523) to act according to the firing signal so that the live-action machine gun (522) launches a real bullet to strike the target.
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