EP1793195B1 - Improved device for remote control of a weapon. - Google Patents

Improved device for remote control of a weapon. Download PDF

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Publication number
EP1793195B1
EP1793195B1 EP06077146A EP06077146A EP1793195B1 EP 1793195 B1 EP1793195 B1 EP 1793195B1 EP 06077146 A EP06077146 A EP 06077146A EP 06077146 A EP06077146 A EP 06077146A EP 1793195 B1 EP1793195 B1 EP 1793195B1
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EP
European Patent Office
Prior art keywords
elevation
frame
camera
motor
super
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EP06077146A
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German (de)
French (fr)
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EP1793195A2 (en
EP1793195A3 (en
Inventor
Philippe Plumier
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FN Herstal SA
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FN Herstal SA
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Publication of EP1793195A3 publication Critical patent/EP1793195A3/en
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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/24—Turret gun mountings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/14—Indirect aiming means
    • F41G3/16—Sighting devices adapted for indirect laying of fire
    • F41G3/165—Sighting devices adapted for indirect laying of fire using a TV-monitor
    • 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

Definitions

  • the invention relates to an improved device for the remote control of a weapon.
  • a device for the remote control of a firearm is generally composed of an orientable turret in azimuth intended to be mounted for example on a vehicle or on a fixed or mobile carriage and which comprises a fork carrying a cradle which serves as a mounting bracket for the weapon and is suspended in a tilting manner in elevation in the aforesaid fork of the turret.
  • the pivoting of the turret is controlled by an azimuth motor and the inclination of the cradle and thus the weapon is controlled by an elevation motor.
  • the device is equipped with a camera whose axis of sight is oriented in the direction of the barrel of the weapon.
  • This camera is mounted on the device so as to follow the movements of the weapon controlled by the operator, allowing the operator, by these commands, to locate the target on a screen and target the target through a visible reticle on the screen.
  • the screen and the remote control of the operator can be located at a distance from the turret thus allowing the control of the weapon at a distance.
  • Ballistic compensation as a function of firing distance is necessary to ensure good shooting accuracy. This ballistic compensation is also known as super-elevation.
  • a disadvantage of these devices is that, when the firing angle is high, for example when the firing distance is high, the ballistic compensation may cause the target to exit the screen and the operator loses the visibility of the target, which means that shooting becomes very imprecise, if not impossible.
  • a device of this type has the disadvantage that it is relatively complex, heavy and expensive and that its maintenance cost is relatively high.
  • the invention aims to avoid one or more of the aforementioned disadvantages and to provide a device for the remote control of a weapon that allows a good shooting accuracy and is relatively simple construction.
  • an improved device for the remote control of a firearm which comprises an azimuth turret controlled by an azimuth motor; a cradle for attaching the weapon which is suspended in a reclining manner in elevation in a fork which forms part of the aforesaid turret; a sighting camera connected to a screen displaying a targeting reticle; a single elevation motor to control the elevation of the cradle and the camera; a remote control for controlling the azimuth motor and the elevation motor; one or more sensors for determining the orientation of the cradle and / or the camera and a ballistic computer connected to these sensors for calculating and controlling the super-elevation of the cradle according to the information of the sensors and the distance from the target, characterized in that the camera is driven by the aforesaid elevation motor and that the cradle is reclining in elevation relative to the camera, the cradle being driven by the elevation motor through a super-elevation cylinder placed
  • the camera and the cradle are thus driven simultaneously by the same elevation motor, while the super-elevation of the cradle is obtained by an elongation of the super-elevation jack which is interposed between the elevation motor and the cradle and therefore also between the camera and the cradle, to obtain a shift between the elevation of the camera and the elevation of the cradle.
  • the elevation position of the camera and the elevation of the cradle are, so to speak, decoupled, which has the advantage that the operator can keep the target always in view on the screen, while leaving the possibility the ballistic calculator to introduce the necessary super-elevation of the cradle according to the distance of the target.
  • Another advantage of a device according to the invention is the relative simplicity of the construction of the device and the components, which is advantageous as regards the price and the cost of maintenance without, however, the precision of firing being compromised. .
  • the elevation motor is on one side of the cradle, while the camera is on the other side of the cradle, the camera being coupled directly to the elevation motor by a coupling mechanically in the form of a bridge between the elevation motor and the camera, thus avoiding disturbing the supply and the ejection of the munition.
  • this mechanical bridge is mounted below the cradle to facilitate the mounting of the weapon on the cradle and its disassembly.
  • the figure 1 represents an improved device 1 according to the invention for the remote control of a weapon 2, which in the case shown is a machine gun.
  • the device 1 comprises a turret 3 orientable in azimuth, provided with a bearing 4 for mounting the turret 3 on a vehicle or any other base and allowing the rotation of the turret 3 about an axis XX 'controlled by an engine azimuth 5.
  • the turret 3 comprises a fork 6 in which a cradle 7 is suspended in an inclinable manner in elevation about a Y-Y 'axis by means of two hinge points 8.
  • the cradle 7 serves as support for the attachment of the weapon 2 on the device 1 and contains in this case a rock bar 9 allowing in a known manner to damp and guide the movement of the weapon 2 in the axial direction , knowing that the weapon 2 tends to move back under the effect of the reaction forces of the propulsion gases of the ammunition fired.
  • the weapon 2 is mounted with its carcass 10 on the cradle 7 and is protected by two protective covers 11 and 12.
  • An elevation motor 13 is mounted on the turret 3, preferably in a shielded chassis 14 located on a lateral side of the cradle 7.
  • a sighting camera 15 is provided in a shielded chassis 16 on the other side of the cradle 7, allowing the operator to view the target, the camera 15 or the frame 16 being connected directly to the output shaft of the elevating motor 13 through a mechanical coupling 17, for example in the form of a mechanical bridge which, in the case of the figures, passes below the cradle 7.
  • the elevation position of the camera 15 is therefore directly controlled by the elevation motor 13.
  • the cradle 7 on its side is also controlled by the same elevation motor 13 above, but indirectly via an electric super-elevation jack 18 located in a plane perpendicular to the axis of the elevation motor. 13 which coincides with the axis of elevation YY 'above and located at a distance from this axis Y-Y'.
  • the aiming camera 15 is connected by a wiring 19 or by a wireless connection of the RF or other type on a screen 20 displaying the target 21 and a reticle 22.
  • the camera 15 may be at or away from the turret 3.
  • a remote control 23 is provided to allow the operator to control the movement of the azimuth motor 5 and the elevation motor 13 to orient the camera 15 and the cradle 7 on the target 21.
  • the remote control 23 is for example in the form of a bi-directional control lever 24 which is provided with a trigger 25 in order to control the shot.
  • This remote control 23 is connected directly or indirectly via a controller or a ballistic computer 26 with the motors 5 and 13 and with the weapon 2, either by an electrical wiring 27 or by a wireless connection.
  • the ballistic computer 26 is connected to one or more sensors for determining the orientation of the cradle 7 and / or the camera 15, including for example a sensor 28 for determining the azimuth of the turret 3, a sensor 29. for determining the elevation of the camera 15, a sensor 30 for determining the roll angle R of the turret 3 and an encoder 31 for determining the elongation L of the super-elevation jack 18, and than a rangefinder 32 for measuring the distance between the device 1 and the target 21.
  • sensors for determining the orientation of the cradle 7 and / or the camera 15, including for example a sensor 28 for determining the azimuth of the turret 3, a sensor 29. for determining the elevation of the camera 15, a sensor 30 for determining the roll angle R of the turret 3 and an encoder 31 for determining the elongation L of the super-elevation jack 18, and than a rangefinder 32 for measuring the distance between the device 1 and the target 21.
  • the ballistic computer 26 includes software for calculating the super-elevation to be given to the cradle 7 by means of the super-elevation jack 18 as a function of the information obtained from the sensors 28, 29 and 30, the rangefinder 32 and the encoder servo information 31.
  • the operation of the device 1 is as follows.
  • the camera 15 and the weapon 2 are initially oriented in the same direction, the super-elevation jack being in a neutral position.
  • the operator controls the movement of the azimuth motor 5 and the elevation motor 13 in order to position the aiming camera 15 so as to capture the target 21 on the screen 20 and to position the reticle 22 of the screen 20 on the target 21 as represented in the figure 5 , in which the reference * represents the position of the axis of the barrel 33 of the weapon 2 and whose position A is the position at the time of the sighting.
  • the operator When targeting the target 21, the operator acquires the distance from the target 21 by actuating the rangefinder 32.
  • the distance information is transmitted to the ballistic calculator 26 which calculates the super-elevation to be given to the cradle 7 in order to be able to touch the target 21 and which corrects the position of the weapon 2 by the corresponding elongation of the super-jack cylinder. elevation 18 to obtain a position of the axis of the barrel 33 corresponding to the position B in the figure 5 .
  • figure 5 corresponds to a situation in which the axis of rotation XX 'of the turret is vertical, which corresponds to a roll angle which is zero.
  • the ballistic computer 26 is provided with azimuth correction means making it possible to correct the azimuth of the turret 3 in the opposite direction to compensate the azimuth deviation and to align the axis of the gun 33 with the position E in the vertical plane ZZ 'of the target 21 taking into account the value of the roll angle R measured by the sensor 30.
  • the image of the target 21 moves on the screen 20 and thus deviates by a distance F from the position of the reticle 22 on which target 21 was aligned before the azimuth correction.
  • the device 1 preferably comprises azimuth correction means of the reticle 21 on the screen 20 in the opposite direction to the azimuth correction of the turret 3 in order to reduce the position of the reticle on the target 21 as illustrated in FIG. figure 8 .

Abstract

The device has an aiming camera (15) provided on a screen (20). An elevation motor (13) controls the elevation of a cradle (7) and the camera. A ballistic calculator (26) calculates and controls a super-elevation of the cradle based on information of sensors and distance of a target (21). The camera is driven by the motor. The cradle is inclined in elevation by the motor via a super-elevation hoist (18) which is placed between the cradle and the motor. The super-elevation of the cradle is controlled by an extension of the hoist, where the extension is calculated by the calculator.

Description

L'invention concerne un dispositif amélioré pour la télécommande d'une arme.The invention relates to an improved device for the remote control of a weapon.

Un dispositif pour la télécommande d'une arme à feu se compose d'une manière générale d'une tourelle orientable en azimut prévue pour être montée par exemple sur un véhicule ou sur un affût fixe ou mobile et qui comporte une fourche portant un berceau qui sert de support de fixation pour l'arme et qui est suspendu d'une manière inclinable en élévation dans la susdite fourche de la tourelle.A device for the remote control of a firearm is generally composed of an orientable turret in azimuth intended to be mounted for example on a vehicle or on a fixed or mobile carriage and which comprises a fork carrying a cradle which serves as a mounting bracket for the weapon and is suspended in a tilting manner in elevation in the aforesaid fork of the turret.

Pour orienter l'arme en direction d'une cible, le pivotement de la tourelle est commandé par un moteur d'azimut et l'inclinaison du berceau et donc de l'arme est commandée par un moteur d'élévation.To orient the weapon towards a target, the pivoting of the turret is controlled by an azimuth motor and the inclination of the cradle and thus the weapon is controlled by an elevation motor.

Pour la télécommande de l'arme, le dispositif est équipé d'une caméra dont l'axe de visée est orienté dans la direction du canon de l'arme.For the remote control of the weapon, the device is equipped with a camera whose axis of sight is oriented in the direction of the barrel of the weapon.

Cette caméra est montée sur le dispositif de façon à suivre les mouvements de l'arme commandés par l'opérateur, permettant à l'opérateur, par ces commandes, de localiser la cible sur un écran et de viser la cible à travers d'un réticule visible sur l'écran.This camera is mounted on the device so as to follow the movements of the weapon controlled by the operator, allowing the operator, by these commands, to locate the target on a screen and target the target through a visible reticle on the screen.

L'écran et la télécommande de l'opérateur peuvent se situer à distance de la tourelle permettant ainsi la commande de l'arme à distance.The screen and the remote control of the operator can be located at a distance from the turret thus allowing the control of the weapon at a distance.

L'effet de la gravité sur un projectile tiré fait que le projectile suit une trajectoire balistique courbe, ce qui exige que l'axe de l'arme soit élevé par rapport à l'axe de visée.The effect of gravity on a fired projectile causes the projectile to follow a curved ballistic trajectory, which requires that the axis of the weapon be elevated relative to the line of sight.

La compensation balistique en fonction de la distance de tir est nécessaire pour assurer une bonne précision de tir. Cette compensation balistique est connue aussi sous le terme de super-élévation.Ballistic compensation as a function of firing distance is necessary to ensure good shooting accuracy. This ballistic compensation is also known as super-elevation.

On connaît déjà des dispositifs dont la caméra est solidaire du berceau, ce qui fait que les mouvements de la caméra sont totalement synchronisés avec les mouvements de l'arme supportée par le berceau. L'élévation de la caméra et de l'arme s'effectue donc au moyen d'un seul et même moteur.Devices are already known whose camera is integral with the cradle, so that the movements of the camera are fully synchronized with the movements of the weapon supported by the cradle. The elevation of the camera and the weapon is therefore done by means of a single motor.

Un inconvénient de ces dispositifs est que, lorsque l'angle de tir est élevé, par exemple lorsque la distance de tir est élevée, la compensation balistique peut entraîner que la cible sort de l'écran et que l'opérateur perd la visibilité de la cible, ce qui a comme conséquence que le tir devient très imprécis, voire même impossible.A disadvantage of these devices is that, when the firing angle is high, for example when the firing distance is high, the ballistic compensation may cause the target to exit the screen and the operator loses the visibility of the target, which means that shooting becomes very imprecise, if not impossible.

On connaît aussi déjà des dispositifs dont l'élévation du berceau et donc de l'arme se font par un premier moteur alors que l'orientation de la caméra est réalisée par un second moteur indépendant.There are also already known devices whose elevation of the cradle and therefore of the weapon are made by a first motor while the orientation of the camera is performed by a second independent motor.

De tels dispositifs, conformément à ce qui est mentionné au sein du préambule de la première revendication indépendante de cette présente demande sont déjà connus et décrits par le document de demande de brevet: US 2004/0050240 , déposé au nom de Ben Greene en date du 25 Septembre 2003 (2003-09-25) et publié en date du 18 Mars 2004 (2004-03-18), à titre d'exemple.Such devices, in accordance with what is mentioned in the preamble of the first independent claim of this present application are already known and described by the patent application document: US 2004/0050240 , filed in the name of Ben Greene on September 25, 2003 (2003-09-25) and published on March 18, 2004 (2004-03-18), as an example.

Un dispositif de ce type a l'inconvénient qu'il est relativement complexe, lourd et coûteux et que son coût d'entretien est relativement élevé.A device of this type has the disadvantage that it is relatively complex, heavy and expensive and that its maintenance cost is relatively high.

L'invention a pour but d'éviter un ou plusieurs des inconvénients susdits et de procurer un dispositif pour la télécommande d'une arme qui permet une bonne précision de tir et qui est relativement simple de construction.The invention aims to avoid one or more of the aforementioned disadvantages and to provide a device for the remote control of a weapon that allows a good shooting accuracy and is relatively simple construction.

Selon l'invention ce but est atteint par un dispositif amélioré pour la télécommande d'une arme à feu, qui comprend une tourelle orientable en azimut commandée par un moteur d'azimut; un berceau pour la fixation de l'arme qui est suspendu d'une manière inclinable en élévation dans une fourche qui fait partie de la susdite tourelle; une caméra de visée branchée sur un écran visualisant un réticule de visée; un seul moteur d'élévation pour commander l'élévation du berceau et de la caméra; une télécommande pour commander le moteur d'azimut et le moteur d'élévation; un ou plusieurs capteurs pour la détermination de l'orientation du berceau et/ou de la caméra et un calculateur balistique connecté à ces capteurs pour le calcul et la commande de la super-élévation du berceau en fonction de l'information des capteurs et de la distance de la cible, caractérisé en ce que la caméra est entraînée par le moteur d'élévation susdit et que le berceau est inclinable en élévation par rapport à la caméra, le berceau étant entraîné par le moteur d'élévation à travers d'un vérin de super-élévation placé entre le berceau et le moteur, la super-élévation du berceau étant commandée par l'élongation dudit vérin calculée par le calculateur balistique.According to the invention this object is achieved by an improved device for the remote control of a firearm, which comprises an azimuth turret controlled by an azimuth motor; a cradle for attaching the weapon which is suspended in a reclining manner in elevation in a fork which forms part of the aforesaid turret; a sighting camera connected to a screen displaying a targeting reticle; a single elevation motor to control the elevation of the cradle and the camera; a remote control for controlling the azimuth motor and the elevation motor; one or more sensors for determining the orientation of the cradle and / or the camera and a ballistic computer connected to these sensors for calculating and controlling the super-elevation of the cradle according to the information of the sensors and the distance from the target, characterized in that the camera is driven by the aforesaid elevation motor and that the cradle is reclining in elevation relative to the camera, the cradle being driven by the elevation motor through a super-elevation cylinder placed between the cradle and the engine, the super-elevation of the cradle being controlled by the elongation of said cylinder calculated by the computer ballistic.

La caméra et le berceau sont donc entraînés simultanément par le même moteur d'élévation, tandis que la super-élévation du berceau est obtenue par une élongation du vérin de super-élévation qui est intercalé entre le moteur d'élévation et le berceau et donc aussi entre la caméra et le berceau, pour obtenir un décalage entre l'élévation de la caméra et l'élévation du berceau.The camera and the cradle are thus driven simultaneously by the same elevation motor, while the super-elevation of the cradle is obtained by an elongation of the super-elevation jack which is interposed between the elevation motor and the cradle and therefore also between the camera and the cradle, to obtain a shift between the elevation of the camera and the elevation of the cradle.

De cette façon le positionnement en élévation de la caméra et le positionnement en élévation du berceau sont pour ainsi dire découplés, ce qui a l'avantage que l'opérateur peut maintenir la cible toujours en vue sur l'écran, tout en laissant la possibilité au calculateur balistique d'instaurer la super-élévation nécessaire du berceau en fonction de la distance de la cible.In this way the elevation position of the camera and the elevation of the cradle are, so to speak, decoupled, which has the advantage that the operator can keep the target always in view on the screen, while leaving the possibility the ballistic calculator to introduce the necessary super-elevation of the cradle according to the distance of the target.

Un autre avantage d'un dispositif selon l'invention est la simplicité relative de la construction du dispositif et des composants, ce qui est avantageux en ce qui concerne le prix et le coût d'entretien sans que pour autant la précision de tir soit compromise.Another advantage of a device according to the invention is the relative simplicity of the construction of the device and the components, which is advantageous as regards the price and the cost of maintenance without, however, the precision of firing being compromised. .

Selon une réalisation préférentielle de l'invention, le moteur d'élévation se trouve d'un côté du berceau, tandis que la caméra se situe de l'autre côté du berceau, la caméra étant couplée directement au moteur d'élévation par un accouplement mécanique sous forme d'un pont entre le moteur d'élévation et la caméra, évitant ainsi de perturber l'alimentation et l'éjection de la munition.According to a preferred embodiment of the invention, the elevation motor is on one side of the cradle, while the camera is on the other side of the cradle, the camera being coupled directly to the elevation motor by a coupling mechanically in the form of a bridge between the elevation motor and the camera, thus avoiding disturbing the supply and the ejection of the munition.

De préférence ce pont mécanique est monté en dessous du berceau pour faciliter le montage de l'arme sur le berceau ainsi que son démontage.Preferably this mechanical bridge is mounted below the cradle to facilitate the mounting of the weapon on the cradle and its disassembly.

Pour plus de clarté, quelques exemples de réalisation d'un dispositif amélioré selon l'invention pour la télécommande d'une arme sont décrits ci-après à titre illustratif et non restrictif, référence étant faite aux dessins annexés dans lesquels:

  • La figure 1 est une vue en perspective d'un dispositif selon l'invention pour la télécommande d'une arme montée dans le dispositif;
  • la figure 2 est une vue éclatée de la partie indiquée par F2 dans la figure 1;
  • la figure 3 est une vue semblable à celle de la figure 1, mais avec omission de quelques parties;
  • la figure 4 représente la partie indiquée par F4 dans la figure 3;
  • la figure 5 est une vue de l'image sur l'écran de visée;
  • la figure 6 est une vue semblable à celle de la figure 5, mais pour une position inclinée du dispositif selon l'invention ;
  • les figures 7 et 8 sont des vues similaires à celle de la figure 6, mais pendant différents stades de la visée.
For the sake of clarity, some exemplary embodiments of an improved device according to the invention for the remote control of a weapon are described below by way of illustration and not restrictive, reference being made to the appended drawings in which:
  • The figure 1 is a perspective view of a device according to the invention for the remote control of a weapon mounted in the device;
  • the figure 2 is an exploded view of the part indicated by F2 in the figure 1 ;
  • the figure 3 is a view similar to that of the figure 1 but with omission of some parts;
  • the figure 4 represents the part indicated by F4 in the figure 3 ;
  • the figure 5 is a view of the image on the sighting screen;
  • the figure 6 is a view similar to that of the figure 5 but for an inclined position of the device according to the invention;
  • the Figures 7 and 8 are views similar to that of the figure 6 , but during different stages of sighting.

La figure 1 représente un dispositif 1 amélioré selon l'invention pour la télécommande d'une arme 2, qui dans le cas représenté est une mitrailleuse.The figure 1 represents an improved device 1 according to the invention for the remote control of a weapon 2, which in the case shown is a machine gun.

Le dispositif 1 comprend une tourelle 3 orientable en azimut, pourvue d'un roulement 4 pour le montage de la tourelle 3 sur un véhicule ou toute autre base et permettant la rotation de la tourelle 3 autour d'un axe X-X' commandée par un moteur d'azimut 5.The device 1 comprises a turret 3 orientable in azimuth, provided with a bearing 4 for mounting the turret 3 on a vehicle or any other base and allowing the rotation of the turret 3 about an axis XX 'controlled by an engine azimuth 5.

La tourelle 3 comporte une fourche 6 dans laquelle un berceau 7 est suspendu d'une manière inclinable en élévation autour d'un axe Y-Y' au moyen de deux points d'articulation 8.The turret 3 comprises a fork 6 in which a cradle 7 is suspended in an inclinable manner in elevation about a Y-Y 'axis by means of two hinge points 8.

Comme représenté dans la figure 2, le berceau 7 sert de support pour la fixation de l'arme 2 sur le dispositif 1 et contient dans le cas présent une berce 9 permettant d'une manière connue d'amortir et de guider le mouvement de l'arme 2 en sens axial, sachant que l'arme 2 a tendance à reculer sous l'effet des forces de réaction des gaz de propulsion des munitions tirées.As represented in the figure 2 , the cradle 7 serves as support for the attachment of the weapon 2 on the device 1 and contains in this case a rock bar 9 allowing in a known manner to damp and guide the movement of the weapon 2 in the axial direction , knowing that the weapon 2 tends to move back under the effect of the reaction forces of the propulsion gases of the ammunition fired.

L'arme 2 est montée avec sa carcasse 10 sur le berceau 7 et est protégée par deux capots de protection 11 et 12.The weapon 2 is mounted with its carcass 10 on the cradle 7 and is protected by two protective covers 11 and 12.

Un moteur d'élévation 13 est monté sur la tourelle 3, de préférence dans un châssis blindé 14 située d'un côté latéral du berceau 7.An elevation motor 13 is mounted on the turret 3, preferably in a shielded chassis 14 located on a lateral side of the cradle 7.

Une caméra de visée 15 est prévue dans un châssis blindé 16 de l'autre côté du berceau 7, permettant à l'opérateur de visualiser la cible, la caméra 15 ou le châssis 16 étant connectée directement à l'arbre de sortie du moteur d'élévation 13 au travers d'un accouplement mécanique 17, par exemple sous forme d'un pont mécanique qui, dans le cas des figures, passe en dessous du berceau 7.A sighting camera 15 is provided in a shielded chassis 16 on the other side of the cradle 7, allowing the operator to view the target, the camera 15 or the frame 16 being connected directly to the output shaft of the elevating motor 13 through a mechanical coupling 17, for example in the form of a mechanical bridge which, in the case of the figures, passes below the cradle 7.

La position d'élévation de la caméra 15 est donc directement commandée par le moteur d'élévation 13.The elevation position of the camera 15 is therefore directly controlled by the elevation motor 13.

Le berceau 7 de son côté est lui aussi commandé par le même moteur d'élévation 13 susdit, mais indirectement par l'intermédiaire d'un vérin de super-élévation 18 électrique situé dans un plan perpendiculaire à l'axe du moteur d'élévation 13 qui coïncide avec l'axe d'élévation Y-Y' susdit et situé à une distance de cet axe Y-Y'.The cradle 7 on its side is also controlled by the same elevation motor 13 above, but indirectly via an electric super-elevation jack 18 located in a plane perpendicular to the axis of the elevation motor. 13 which coincides with the axis of elevation YY 'above and located at a distance from this axis Y-Y'.

La caméra de visée 15 est branchée par un câblage 19 ou par une connexion sans fil du genre RF ou autre sur un écran 20 visualisant la cible 21 ainsi qu'un réticule de visée 22.The aiming camera 15 is connected by a wiring 19 or by a wireless connection of the RF or other type on a screen 20 displaying the target 21 and a reticle 22.

La caméra 15 peut se situer au niveau de la tourelle 3 ou à distance de celle-ci.The camera 15 may be at or away from the turret 3.

Une télécommande 23 est pourvue afin de permettre à l'opérateur de commander le mouvement du moteur d'azimut 5 et du moteur d'élévation 13 pour orienter la caméra 15 et le berceau 7 sur la cible 21.A remote control 23 is provided to allow the operator to control the movement of the azimuth motor 5 and the elevation motor 13 to orient the camera 15 and the cradle 7 on the target 21.

La télécommande 23 se présente par exemple sous la forme d'une manette à commande bi-directionnelle 24 qui est prévue d'une détente 25 afin de pouvoir commander le tir.The remote control 23 is for example in the form of a bi-directional control lever 24 which is provided with a trigger 25 in order to control the shot.

Cette télécommande 23 est connectée directement ou indirectement par le biais d'un contrôleur ou d'un calculateur balistique 26 avec les moteurs 5 et 13 et avec l'arme 2, soit par un câblage électrique 27, soit par une connexion sans fil.This remote control 23 is connected directly or indirectly via a controller or a ballistic computer 26 with the motors 5 and 13 and with the weapon 2, either by an electrical wiring 27 or by a wireless connection.

Le calculateur balistique 26 est relié à un ou plusieurs capteurs pour la détermination de l'orientation du berceau 7 et/ou de la caméra 15, dont par exemple un capteur 28 pour la détermination de l'azimut de la tourelle 3, un capteur 29 pour la détermination de l'élévation de la caméra 15, un capteur 30 pour la détermination de l'angle de roulis R de la tourelle 3 et un encodeur 31 pour la détermination de l'élongation L du vérin de super-élévation 18, ainsi que d'un télémètre 32 permettant de mesurer la distance entre le dispositif 1 et la cible 21.The ballistic computer 26 is connected to one or more sensors for determining the orientation of the cradle 7 and / or the camera 15, including for example a sensor 28 for determining the azimuth of the turret 3, a sensor 29. for determining the elevation of the camera 15, a sensor 30 for determining the roll angle R of the turret 3 and an encoder 31 for determining the elongation L of the super-elevation jack 18, and than a rangefinder 32 for measuring the distance between the device 1 and the target 21.

Le calculateur balistique 26 comprend un logiciel permettant de calculer la super-élévation à donner au berceau 7 par le biais du vérin de super-élévation 18 en fonction de l'information obtenue des capteurs 28, 29 et 30, du télémètre 32 et de l'information d'asservissement de l'encodeur 31.The ballistic computer 26 includes software for calculating the super-elevation to be given to the cradle 7 by means of the super-elevation jack 18 as a function of the information obtained from the sensors 28, 29 and 30, the rangefinder 32 and the encoder servo information 31.

Le fonctionnement du dispositif 1 est comme suit.The operation of the device 1 is as follows.

Lors de la visée, la caméra 15 et l'arme 2 sont initialement orientées dans la même direction, le vérin de super-élévation se trouvant dans une position neutre.When aiming, the camera 15 and the weapon 2 are initially oriented in the same direction, the super-elevation jack being in a neutral position.

Au moyen de la télécommande 23 l'opérateur commande le mouvement du moteur d'azimut 5 et du moteur d'élévation 13 afin de positionner la caméra de visée 15 de façon à capturer la cible 21 sur l'écran 20 et de positionner le réticule 22 de l'écran 20 sur la cible 21 comme représenté dans la figure 5, dans laquelle le repère * représente la position de l'axe du canon 33 de l'arme 2 et dont la position A est la position au moment de la visée.By means of the remote control 23 the operator controls the movement of the azimuth motor 5 and the elevation motor 13 in order to position the aiming camera 15 so as to capture the target 21 on the screen 20 and to position the reticle 22 of the screen 20 on the target 21 as represented in the figure 5 , in which the reference * represents the position of the axis of the barrel 33 of the weapon 2 and whose position A is the position at the time of the sighting.

Lors de la visée de la cible 21, l'opérateur acquiert la distance de la cible 21 en actionnant le télémètre 32.When targeting the target 21, the operator acquires the distance from the target 21 by actuating the rangefinder 32.

L'information de distance est transmise vers le calculateur balistique 26 qui calcule la super-élévation à donner au berceau 7 afin de pouvoir toucher la cible 21 et qui corrige la position de l'arme 2 par l'élongation correspondante du vérin de super-élévation 18 pour obtenir une position de l'axe du canon 33 correspondante à la position B dans la figure 5.The distance information is transmitted to the ballistic calculator 26 which calculates the super-elevation to be given to the cradle 7 in order to be able to touch the target 21 and which corrects the position of the weapon 2 by the corresponding elongation of the super-jack cylinder. elevation 18 to obtain a position of the axis of the barrel 33 corresponding to the position B in the figure 5 .

Le cas de la figure 5 correspond à une situation dans laquelle l'axe de rotation X-X' de la tourelle est à la verticale, ce qui correspond à un angle de roulis qui est zéro.The case of figure 5 corresponds to a situation in which the axis of rotation XX 'of the turret is vertical, which corresponds to a roll angle which is zero.

En réalité le roulement 4 de la tourelle n'est pas toujours horizontal, l'axe X-X' formant un angle de roulis R avec la verticale Z-Z'.In reality the bearing 4 of the turret is not always horizontal, the axis X-X 'forming a roll angle R with the vertical Z-Z'.

Dans ce cas la correction de l'élévation du berceau 7 par la super-élévation se traduit par un mouvement de l'axe du canon 33 dans un plan non-vertical, aboutissant dans une position C comme représentée dans la figure 6, ce qui entraîne une erreur de déviation latérale d'azimut D par rapport à la position réelle de la cible 21.In this case the correction of the elevation of the cradle 7 by the super-elevation results in a movement of the axis of the barrel 33 in a non-vertical plane, resulting in a position C as shown in the figure 6 , resulting in a lateral deflection error of azimuth D with respect to the actual position of the target 21.

Pour cette raison le calculateur balistique 26 est pourvu de moyens de correction d'azimut permettant de corriger l'azimut de la tourelle 3 en sens opposé pour compenser la déviation d'azimut et d'aligner l'axe du canon 33 sur la position E dans le plan vertical Z-Z' de la cible 21 en tenant compte de la valeur de l'angle de roulis R mesurée par le capteur 30.For this reason, the ballistic computer 26 is provided with azimuth correction means making it possible to correct the azimuth of the turret 3 in the opposite direction to compensate the azimuth deviation and to align the axis of the gun 33 with the position E in the vertical plane ZZ 'of the target 21 taking into account the value of the roll angle R measured by the sensor 30.

Puisque la caméra 15 suit le mouvement de correction de l'azimut de la tourelle 3, l'image de la cible 21 se déplace sur l'écran 20 et s'écarte donc d'une distance F de la position du réticule 22 sur laquelle la cible 21 était alignée avant la correction d'azimut.Since the camera 15 follows the azimuth correction movement of the turret 3, the image of the target 21 moves on the screen 20 and thus deviates by a distance F from the position of the reticle 22 on which target 21 was aligned before the azimuth correction.

L'opérateur observe alors une image comme illustrée à la figure 7.The operator then observes an image as illustrated in figure 7 .

Afin de pouvoir corriger l'écart F entre l'image de la cible 21 et la position du réticule 22, le dispositif 1 comprend de préférence des moyens de correction d'azimut du réticule 21 sur l'écran 20 dans le sens opposé à la correction d'azimut de la tourelle 3 afin de ramener la position du réticule sur la cible 21 comme illustré à la figure 8.In order to be able to correct the gap F between the image of the target 21 and the position of the reticle 22, the device 1 preferably comprises azimuth correction means of the reticle 21 on the screen 20 in the opposite direction to the azimuth correction of the turret 3 in order to reduce the position of the reticle on the target 21 as illustrated in FIG. figure 8 .

Il est clair que la correction d'azimut de la tourelle 3 et la correction de la position du réticule 22 peuvent être synchronisées de façon à toujours conserver la position du réticule 22 sur la cible 21 .It is clear that the azimuth correction of the turret 3 and the correction of the position of the reticle 22 can be synchronized so as to always maintain the position of the reticle 22 on the target 21.

Il est clair aussi que le vérin de super-élévation 18 peut être remplacé par d'autres moyens permettant un écart de pivotement en élévation du berceau 7 par rapport à la caméra 15.It is also clear that the super-elevation jack 18 can be replaced by other means allowing an elevation swing of the cradle 7 relative to the camera 15.

L'invention n'est nullement limitée aux exemples décrits ci-avant, mais de nombreuses modifications peuvent être apportées au dispositif amélioré pour la télécommande d'une arme à feu sans sortir du cadre de l'invention telle que définie dans les revendications suivantes.The invention is not limited to the examples described above, but many modifications can be made to the improved device for the remote control of a firearm without departing from the scope of the invention as defined in the following claims.

Claims (11)

  1. Improved device for the remote control of a fire arm, which comprises a turret head (3) which can be steered in all directions, controlled by an azimuth motor (5); a frame (7) for fixing the fire arm (2) which is suspended in an upward tilting manner in a fork (6) which is part of said turret head (3); a sighting camera (15) connected to a screen (20) displaying a sighting reticle (22); a single elevation motor (13) to control the elevation of the frame (7) and the camera (15); a remote control (23) to control the azimuth motor (5) and the elevation motor (13); one or several sensors (28,29,30) to determine the orientation of the frame (7) and/or of the camera (15) and a ballistic calculator (26) connected to said sensors (28,29,30) to calculate and control the super elevation of the frame (7) as a function of the information from the sensors and the distance of the target (21), characterized in that the camera (15) is driven by the above-mentioned elevation motor (13) and in that the frame (7) can be inclined in height in relation to the camera (15), whereby said frame (7) is driven by the elevation motor (13) via a super elevation jack (18) placed between the frame (7) and the elevation motor (13), whereby the super elevation of the frame (7) is controlled by the elongation of said jack (18), calculated by the ballistic calculator (26).
  2. Device according to claim 1, characterized in that the super elevation jack (18) is situated at right angles to the axis (Y-Y') of the elevation motor (13) and at a distance from said axis (Y-Y').
  3. Device according to claim 1 or 2, characterized in that the elevation motor (13) is directly coupled to the camera (15) by means of a mechanical coupling (17).
  4. Device according to claim 3, characterized in that the elevation motor (13) is situated on one side of the frame (7), whereas the camera (15) is situated on the other side of the frame (7) and in that the mechanical coupling (17) is formed by a bridge between the elevation motor (13) and the camera (15).
  5. Device according to claim 4, characterized in that the super elevation jack (18) is mounted between the mechanical bridge (17) and the frame (7).
  6. Device according to claim 4 or 5, characterized in that the mechanical bridge (17) goes under the frame (7).
  7. Device according to any one of the preceding claims, characterized in that it is provided with a sensor to determine the roll angle (R) of the turret head (3) and with azimuth adjusting means making it possible to adjust the azimuth of the turret head (3) so as to compensate for the azimuth deviation (D) of the frame (7) resulting from the super elevation of the frame (7) when the roll angle (R) of the turret head (3) is not zero.
  8. Device according to claim 7, characterized in that it comprises azimuth adjusting means for the reticle (22) on the screen (20) in opposite direction of the azimuth adjustment of the turret head (3) so as to compensate for the azimuth adjusting movement of the turret head (3) in order to maintain the position of the reticle (22) on the target (21).
  9. Device according to any one of the preceding claims, characterized in that it is provided with a range finder (32) to measure the distance at which the target (21) is located and which is connected to the ballistic calculator (26) to calculate the super elevation.
  10. Device according to any one of the preceding claims, characterized in that the super elevation jack (18) is provided with an encoder (31) which is connected to the ballistic calculator (26) to transmit the information regarding the elongation of the jack (18).
  11. Device according to any one of the preceding claims, characterized in that the super elevation jack (18) is part of a stabilization system of the fire arm (2).
EP06077146A 2005-12-05 2006-12-01 Improved device for remote control of a weapon. Active EP1793195B1 (en)

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BE2005/0587A BE1016871A3 (en) 2005-12-05 2005-12-05 IMPROVED DEVICE FOR REMOTE CONTROL OF A WEAPON.

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EP1793195A3 EP1793195A3 (en) 2008-05-28
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EP (1) EP1793195B1 (en)
JP (1) JP4707647B2 (en)
KR (1) KR100999014B1 (en)
AT (1) ATE441830T1 (en)
AU (1) AU2006249203B2 (en)
BE (1) BE1016871A3 (en)
CA (1) CA2569940C (en)
DE (1) DE602006008880D1 (en)
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IL (1) IL179807A (en)
NO (1) NO337941B1 (en)
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NO20065600L (en) 2007-06-06
DE602006008880D1 (en) 2009-10-15
IL179807A0 (en) 2007-05-15
KR20070058987A (en) 2007-06-11
CA2569940C (en) 2010-08-10
AU2006249203B2 (en) 2011-11-10
IL179807A (en) 2010-05-17
CA2569940A1 (en) 2007-06-05
EP1793195A2 (en) 2007-06-06
ES2330777T3 (en) 2009-12-15
JP4707647B2 (en) 2011-06-22
BE1016871A3 (en) 2007-08-07
US7509904B2 (en) 2009-03-31
ATE441830T1 (en) 2009-09-15
EP1793195A3 (en) 2008-05-28
US20070261544A1 (en) 2007-11-15
SG132664A1 (en) 2007-06-28
JP2007163123A (en) 2007-06-28
NO337941B1 (en) 2016-07-11
KR100999014B1 (en) 2010-12-09
AU2006249203A1 (en) 2007-06-21

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