DE102011018947A1 - Firearm aiming device and firearm, and method for aligning a firearm - Google Patents

Abstract

A firearm aiming device is provided with an image capturing device (10), a distance measuring device (12), an inertial measuring unit (14), a control computer (16) and an image reproducing device (18). In the case of a firearm provided with this firearm aiming device and having a barrel guiding the projectile, the control computer (16) is designed such that it displays an image of a target object (Z) recorded by the image capturing device (10) on the image reproducing device (18) in such a way that the image of the target object (Z) is then overlapped with a sighting mark (30) when the elevation angle of the barrel axis (22) is the slope angle of the distance to the target object as a function of the direction to the target object and the distance to the target object determined by the distance measuring device (12) (Z) and taking into account weapon and projectile parameters from the control computer (16) calculated projectile trajectory to the target object (Z) corresponds.

Description

TECHNICAL AREA

The present invention relates to a firearm aiming device. It further relates to a firearm with a projectile leading barrel and such a target device. Finally, the patent application also relates to a method for aligning a firearm equipped with the firearm aiming device.

BACKGROUND OF THE INVENTION

Conventional firearms require the shooter to aim the firearm at the target, either via the sight and sight, or by means of an optical sighting device, such as a riflescope. In particular, for projectiles with large mass and relatively low projectile velocity, as is the case for example with rifle grenades or bazooka, when sighting the curvature of the ballistic missile trajectory must be considered. For this purpose, in the state of the art, mechanical guide sights are used for adjusting the height in conjunction with sighting computers. However, these means are generally heavy and bulky, so they can be carried by a mobile shooter only under unnecessarily high march load.

PRESENTATION OF THE INVENTION

The object of the present invention is therefore to specify a firearm targeting device and a firearm having this target device, by means of which the aiming process is facilitated and accelerated for the shooter of a ballistic projectile.

The aiming device of the object is achieved by a firearm aiming device with the features of claim 1. This firearm aiming device according to the invention is provided with an image detecting device, a distance measuring device, an inertial measuring unit, a control computer and an image display device.

ADVANTAGES

Such a trained firearm target device according to the invention makes it possible to assist the shooter in the form of a target assistant in reliable sighting of a target object to find the optimal launching angle for a given ammunition, so for a given projectile, and for a determined distance. By providing an image capture device designed, for example, as a high-resolution digital camera and an image display device connected thereto, the shooter can keep the target in the field of view from the start of the target process until the shot is fired. If the camera is equipped with a zoom device, the shooter can even aim the target object precisely and thereby precisely determine the impact point of the projectile.

An advantage of this firearms targeting device also that it has no mechanically movable elements and thus reacts almost instantaneously to movements of the shooter. By using electronic assemblies, the firearm aiming device can be made small and lightweight. It is therefore particularly suitable for mobile use with ground troops.

The directed to the firearm part of the object is achieved by the firearm specified in claim 2.

In this firearm having a projectile barrel and a firearm aiming apparatus according to the present invention, the control computer is configured to display an image of a target object picked up by the image capturing means on the image reproducing apparatus such that the image of the target object is then coincident with a sighting mark, when the elevation angle of the barrel axis corresponds to the pitch angle of the projectile trajectory to the target object calculated by the control computer in accordance with the direction to the target object and the distance to the target object determined by the rangefinder and taking into account weapon and projectile parameters. The projectile trajectory is calculated by the control computer after the distance to the targeted target object has been determined by means of the distance measuring device and the direction to the target object has been determined.

This firearm according to the invention, which is provided with a target device according to the invention, allows a fast and precise sighting of a target object and an alignment of the barrel of the firearm, taking into account the expected ballistic trajectory of the projectile. But not only this substantially vertical orientation of the firearm, but also a tracking of a moving target in the horizontal direction by means of this firearm according to the invention quickly and easily possible, without thereby diminishing the target precision.

The optical axis of the distance measuring device preferably runs parallel to the running axis. This makes it possible to align the barrel of the firearm already in the distance measurement directly to the target, so that if no ballistic correction is required, can be fired immediately to the target.

In a further preferred embodiment, the optical axis of the image capture device is inclined downwards with respect to the barrel axis. This ensures that when aligning the barrel of the firearm upwards, ie when the projectile flies on a clearly curved ballistic trajectory, the image capture device, so for example the digital video camera, always located on a large section of between the shooter and the target object Ground area is directed so that the shooter can observe this floor area on the image display device even when the firearm is tilted upwards.

• Visiermarkierung auf der Bildwiedergabeeina) Anzeigen einer richtung derart, dass die Visiermarkierung einen Bereich des von der Bilderfassungseinrichtung erfassten Bildes markiert, der in linearer tfernungsmesseinVerlängerung der optischen Achse der Enrichtung liegt, so dass die Visierlinie und die optische Achse der Entfernungsmesseinrichtung parallel verlaufen;
• b) Anvisieren eines Zielobjekts derart, dass sich das auf der Bildwiedergabeeinrichtung angezeigte Bild des Zielobjekts mit der arkierung überVisiermdeckt;
• c) Ermitteln der Entfernung zum anvisierten Zielobjekt mittels der tfernungsmesseinEnrichtung;
• d) Bestimmen des dem Ziel-Höhenwinkel entsprechenden Neigungswinkels der Zielvorrichtung mittels der Inertialmesseinheit im Augenblick der Entfernungsermittlung nach Schritt c);
• e) Berechnen des erforderlichen Schusswinkels im Steuerungscomputer auf der Grundlage der im Schritt c) ermittelten Entfernung und des im Schritt d) ermittelten Ziel-Höhenwinkels sowie in einer Speichereinrichtung des Steuerungscomputers abgespeicherten Waffen- und Geschossparametern;
• f) Veränderung der Darstellung auf der Bildwiedergabeeinrichtung derart, dass die Visiermarkierung verlagert wird und mit einem Bildausschnitt in Überdeckung gerät, der einem in der ermittelten Entfernung und der Zielrichtung liegenden Punkt der berechneten Geschossflugbahn entspricht; und
• g) Nachführen der Schusswaffe bis die im Schritt f) verlagert dargestellte Visiermarkierung in Überdeckung mit dem angezeigten Bild des Zielobjekts gerät.

The invention is further directed to a method for aligning a firearm equipped with the firearm aiming device according to the invention, the method being characterized by the following steps:

• Sighting mark on the image display panel) indicating a direction such that the sighting mark marks a portion of the image captured by the image sensing device that is in linear distance measurement in extension of the optical axis of the device so that the sighting line and the optical axis of the distance measuring device are parallel;
• b) targeting a target object such that the image of the target object displayed on the image display device overlays the array via the mask;
• c) determining the distance to the targeted object by means of the distance measuring device;
• d) determining the inclination angle of the target device corresponding to the target elevation angle by means of the inertial measurement unit at the moment of the distance determination after step c);
• e) calculating the required firing angle in the control computer on the basis of the distance determined in step c) and the target elevation angle determined in step d) as well as weapon and projectile parameters stored in a memory device of the control computer;
• f) changing the representation on the image display device in such a way that the sighting mark is displaced and overlapped with an image detail which corresponds to a point of the calculated projectile trajectory lying in the determined distance and the target direction; and
• g) tracking the firearm until the sighting mark shown displaced in step f) overlaps the displayed image of the target object.

By this method according to the invention, the shooter is guided through the sighting process, the control computer of the firearm aiming device according to the invention, with a process program running thereon, forming a target assistant for the shooter. By means of these procedural steps, the shooter is intuitively guided through the entire aiming process until he has precisely targeted the target and can fire the weapon.

Preferably, the displacement of the overlap of the sighting mark with the image separation in step f) takes place in such a way that the image detail recorded by the image capture device and reproduced on the image reproduction device is displaced. After the distance from the shooter to the target object has been determined and the ballistic trajectory of the projectile has been determined from this distance and the weapon and bullet parameters as well as the directional position of the target object, the shooter is intuitively stimulated by moving the image section to align the firearm in this way to incline upward, for example, that the originally targeted target object remains in the sighting mark fixed on the image display device.

Alternatively or additionally, the displacement of the overlap of the sighting mark with the image detail in step f) can also take place in such a way that the sighting mark displayed on the image reproduction device is displaced. In this variant, the shooter is intuitively stimulated by the automatic shifting of the sighting mark, to change the orientation of the weapon in such a way that the sighting mark remains in registration with the image of the target object displayed on the image display device or recovers in overlap.

Also possible is a combination of the displacement of the reproduced image detail and a shift of the sighting mark on the image display device.

It is particularly advantageous if the control computer displays at least one directional symbol in the image displayed on the image display device, which indicates to the shooter in which direction he has to move the firearm in order to bring back the originally targeted target object after the displacement in step d) to overlap the visor mark. This display of a directional symbol accelerates the reaction of the shooter and may be particularly advantageous if due to a very dark image or strong sunlight on the image display device, the recognizability of the target object on the image display device is difficult.

It is also advantageous if at least one symbol is displayed by the control computer in the image displayed on the image display device, which gives the shooter an indication of how he has to rotate the firearm around the barrel axis so that the calculated projectile trajectory hits the targeted target object. This twist indicator is useful if the shooter does not keep the firearm precisely aligned in the vertical direction. He is prompted by this twist display to bring about the optimal vertical alignment of the firearm before triggering the firearm.

Finally, it is also advantageous if the control computer displays at least one optical signal in the image displayed on the image display device and / or emits an acoustic signal when the projectile trajectory calculated by the control computer strikes the target object. If such an optical or acoustic signal is perceived by the shooter, he knows that he can press the trigger of the firearm at this moment to hit the target precisely.

Preferred embodiments of the invention with additional design details and other advantages are described and explained in more detail below with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

It shows:

1 a side view of a firearm according to the invention;

2 the schematic structure of the target device according to the invention;

3A a first positioning of the target device for distance measurement according to the invention;

3B a second positioning of the target device according to the invention after elevation angle correction;

4 a schematic representation of an image sensor of an image capture device;

5 a representation of the visor window in positioning after 3A ;

6 a representation of the visor window in the positioning according to 3B ; and

7 a flow chart of a method according to the invention for aligning the in 1 shown firearm.

PRESENTATION OF PREFERRED EMBODIMENTS

In 1 is a firearm aiming device according to the invention 1 shown on the run 20 a firearm 2 is appropriate. The firearm 2 is formed in the example shown by a grenade gun whose barrel 20 a launcher for a ballistic projectile, such as a rifle grenade (not shown). The run 20 has a barrel axis 22 hereinafter also referred to as the thrower axis.

The components of the firearm aiming device 1 are schematic in 2 shown. The firearm target device 1 is provided with an image capture device 10 , which is shown in the example shown as a high-resolution video camera, a distance measuring device 12 , which in the example shown is formed by a laser rangefinder, an inertial measurement unit (IMU) 14 , a control computer 16 and a picture display device 18 , The image capture device 10 , the distance measuring device 12 , the inertial measuring unit 14 and the image display device 18 are via appropriate data lines 11 . 13 . 15 . 17 with the control computer 16 connected to the data transmission. Also the trigger 24 the firearm 2 is via a data line 19 with the control computer 16 connected.

The above components of the firearm aiming device 1 are - except for the image display device 18 - in a housing 1' taken on the frame of the firearm 2 can be mounted. The orientation of the distance measuring device 12 is such that the axis 12 ' the distance measuring device 12 parallel to the barrel axis 22 runs. The optical axis 10 ' the image capture device 10 On the other hand, it is oriented so that it faces the optical axis 12 ' the distance measuring device 12 and the barrel axis 22 inclined downwards, as in 1 can be seen.

The image display device 18 can from one to the case 1' attachable or to the housing 1' attachable display, such as a transflexive display, be formed, or the image display device 18 may be a display attached to the helmet of the shooter, which is connected via cable or wirelessly with the firearm aiming device.

3A shows a first position of the firearm 2 attached firearms target device 1 , here only by the image capture device shown as a camera 10 is symbolized. The firearm target device 1 is with its sight line V, that of the axis 12 ' the distance measuring device 12 is directed to a target object Z, which is shown in the example as a vehicle. In 3A can also be seen that the image angle α of the image capture device 10 halving optical axis 10 ' the image capture device 10 opposite the sighting line 12 ' is inclined downwards.

In the illustrated embodiment, the image capture device 10 formed by a high-resolution camera with for example 4000 × 2250 pixels (= 9 megapixels). For optimal use of the camera resolution, the image capture device 10 or whose sensor is installed slightly inclined downwards. For example, if the camera has an opening angle of ± 20 °, it will be installed at a slope of about 15 ° downwards.

In the illustration in 3A is also a visor window 3 shown in the middle a crosshair 30 having. The sighting window 3 also has horizontal arrows 32 on, which point in opposite directions and which form an indicator for an azimuth deviation. The worthier are vertical arrows in the sighting window 34 represented, which form an indicator for an elevation deviation.

The sighting window 3 The shooter is in the of the image capture device 10 recorded and on the image display device 18 displayed image of the target object Z. The sighting window 3 may be part of the on the image display device 18 frame or can the entire screen of the image display device 18 correspond.

In the in 3A illustrated position of the firearm aiming device 1 is the axis 12 ' the distance measuring device 12 aimed at the target object Z, so that the distance between the firearm aiming device 1 , ie the position of the shooter, and the target object Z can be determined. This distance determination takes place after lightly touching the trigger 24 the firearm 2 that has the data power 19 a start signal for the distance measurement to the control computer 16 sends.

At the same time as the distance measurement, the position and position of the firearm target device are determined 1 by means of the inertial measuring unit 14 determined.

The operation of the target process will be described below with reference to the flowchart in FIG 7 described.

As already in connection with 3A has been described, the shooter is initially lying in the extension of the thrower tube axis image detail together with a crosshair as a sighting 30 in the visor window 3 on the image display device 18 shown. By slightly pressing the trigger (Trigger) 24 The distance measurement starts and that of the laser rangefinder 12 determined distance is read out and stored in a data memory. At the same time, that of the inertial measurement unit (IMU) 14 Determined angle of the firearms target device 1 and thus the firearm 2 read out and also in a memory of the control computer 16 stored.

Because the laser rangefinder 12 collinear, ie parallel, to the thrower axis 22 is mounted, by means of the inertial measuring unit 14 at the same time determines the height of the target Z in relation to the position of the shooter.

In the control computer is determined from the determined distance to the target object Z and the altitude of the target Z against the position of the shooter, so the target elevation angle and in a memory of the control computer 16 stored weapon and Geschosparametern the shot angle, ie the elevation angle β calculated, which is required to guide the projectile on its ballistic orbit in the target Z. This shooting angle β is in 3B as the angle β between the horizontal H and the thrower axis 22 shown.

Based on this calculation, the sensor of the image capture device becomes 10 read out image section shifted by a shot angle β corresponding number of lines, as in 3B symbolically represented by the arrow P.

In the case of the sensor resolution mentioned at the beginning, a pixel line corresponds to a weft angle difference of 0.01 °. The in 4 As a row and column grid represented cutout, which includes, for example, 800 × 600 pixels, must be moved at a shooting angle of β = 20 ° by 2000 lines ( 5 and 6 ). In the presentation of the 4 this means that the upper left corner of the sensor segment to be read from the line j = 1 shifts to j = 2001.

In 3B is the original image detail with the target object Z as the sighting window 3 shown in dashed lines, as in the in 3A illustrated positioning of the firearm aiming device 1 relative to the angle of view α of the image capture device 10 has been positioned. After moving the image section, this image section takes the position 3 ' The shooter must use the firearm targeting device 1 provided firearm 2 to the in 3B bring shown inclination position, so that the target object Z back in the crosshairs 30 located.

In the on the image display device 18 shown image section (visor window 3 respectively 3 ' ) is the shooter also via horizontal arrow symbols 32 indicated, in which azimuth direction he the firearm 2 must swing laterally to the crosshair 30 in the in 3A targeted target Z to bring. If the target object Z moves, it may be the shooter with the help of the horizontal arrows displayed to him 32 to keep the crosshairs in the original location of the target.

The visual control and tracking of the azimuth (horizontal tracking) also has the advantage of being independent of gyro drift or magnetic field disturbances.

Via vertical arrow symbols 34 The shooter will see if he has the firearm 2 steeper or flatter. Furthermore, he is about curved or circular arrow representations 36 indicating whether he is the roll of the firearm 2 change, so the firearm 2 around the barrel axis or Werfachse 22 must twist.

If the optimum shooting angle β is reached, this is the shooter by an optical signal on the display of the image display device 18 and / or an audible signal. This optimum shooting angle is achieved when the displayed crosshair is again in the same place on the target Z as in 3A ,

This shooting angle is determined by means of the inertial measuring unit IMU 14 exactly measured and the shooter is on reaching the optimum shooting angle by an indicator in the display of the image display device 18 , for example, by a green field, informed that the optimum shooting angle has been achieved. The contactor can thus always check whether the crosshair position calculated on the basis of the line shift and that of the inertial measurement unit IMU 14 calculated shot angle position (green light in the display) provide matching data, so that the shooter has a redundant system, which provides safety advantages.

The invention is not limited to the above embodiment, which merely serves to generally explain the essence of the invention. Within the scope of protection, the device according to the invention may also assume other than the above-described embodiments. In this case, the device may in particular have features that represent a combination of the respective individual features of the claims.

Reference signs in the claims, the description and the drawings are only for the better understanding of the invention and are not intended to limit the scope.

They denote:

LIST OF REFERENCE NUMBERS

1

Firearms aimer

1'

casing

2

firearm

3

Visor window (picture detail)

3 '

Visor window (picture detail)

10

Image capture device

10 '

optical axis

11

data line

12

Distance measuring device

12 '

Axis of the distance measuring device 12

13

data line

14

Inertial measuring unit IMU

15

data line

16

control computer

17

data line

18

Image reproduction device

19

data line

20

run

22

Wheel shaft

24

sear

30

crosshairs

32

horizontal arrow

34

vertical arrow

36

curved arrow symbols

P

shift direction

V

line of sight

Z

target

Claims (10)

Firearm aiming device with - an image capture device ( 10 ); - a distance measuring device ( 12 ); An inertial measurement unit ( 14 ); A control computer ( 16 ) and - a picture display device ( 18 ). Firearm with one barrel leading barrel ( 20 ) and a target device ( 1 ) according to claim 1, wherein the control computer ( 16 ) is adapted to receive a signal from the image capture device ( 10 ) recorded image of a target object (Z) in such a way on the image display device ( 18 ) indicates that the image of the target object (Z) is then marked with a sighting marker ( 30 ) is in overlap when the elevation angle of the barrel axis ( 22 ) the slope angle of the depending on the direction to the target object and that of the distance measuring device ( 12 ) determined distance to the target object (Z) and taking into account weapon and Geschosparameter from the control computer ( 16 ) calculated projectile trajectory to the target object (Z). Firearm according to claim 2, characterized in that the optical axis ( 12 ' ) of the distance measuring device ( 12 ) parallel to the barrel axis ( 22 ) drunk. Firearm according to claim 2 or 3, characterized in that the optical axis ( 10 ' ) of the image capture device ( 10 ) with respect to the barrel axis ( 22 ) is inclined downwards. A method of aligning a firearm equipped with the firearm aiming apparatus according to claim 1, characterized by the steps of: a) displaying a sighting mark ( 30 ) on the image display device ( 18 ) such that the sighting mark ( 30 ) an area of the image capture device ( 10 ) recorded image, which in linear extension of the optical axis ( 12 ' ) of the distance measuring device ( 12 ), so that the sight line (V) and the optical axis ( 12 ' ) of the distance measuring device ( 12 ) run parallel; b) sighting of a target object (Z) in such a way that the image of the target object (Z) displayed on the image display device coincides with the sighting mark ( 30 ) covered; c) determining the distance to the targeted target object (Z) by means of the distance measuring device ( 12 ); d) determining the inclination angle of the target device corresponding to the target elevation angle ( 1 ) by means of the inertial measuring unit ( 14 ) at the moment of the distance determination after step c); e) calculating the required shooting angle (β) in the control computer ( 16 ) based on the distance determined in step c) and the target elevation angle determined in step d) and on weapon and bullet parameters stored in a memory device of the control computer; f) changing the representation on the image display device ( 18 ) such that the sighting mark ( 30 ) and overlapped with an image section that corresponds to a point of the calculated projectile trajectory that lies at the determined distance and the target direction; and g) tracking the firearm until the sighting mark shown displaced in step f) ( 30 ) in registration with the displayed image of the target object (Z). A method according to claim 5, characterized in that the displacement of the overlap of the visor mark ( 30 ) with the image detail in step f) such that the image acquisition device ( 10 ) and on the image display device ( 18 ) shifted image section is moved. A method according to claim 5 or 6, characterized in that the displacement of the overlap of the visor mark ( 30 ) with the image detail in step f) is performed in such a way that the images displayed on the image display device ( 18 ) displayed visor mark ( 30 ) is moved. Method according to claim 5, 6 or 7, characterized in that the control computer ( 16 ) into the image display device ( 18 ) displayed image at least one direction symbol ( 32 . 34 ), which shows the shooter in which direction he 2 ), in order to move the originally aimed target object (Z) again with the sighting marker (c) after the displacement which takes place in step f) ( 30 ) to overlap. Method according to one of claims 5 to 8, characterized in that the control computer ( 16 ) into the image display device ( 18 ) displayed image at least one icon ( 36 ), which gives the marksman an indication of how he ( 2 ) around the barrel axis ( 22 ) so that the calculated projectile trajectory hits the targeted target object (Z). Method according to one of claims 5 to 9, characterized in that the control computer ( 16 ) into the image display device ( 18 ) displayed image fades in at least one optical signal and / or emits an acoustic signal when the control computer ( 16 ) calculated projectile trajectory hits the target object (Z).

Images