EP3034986A1 - Automatic gun - Google Patents

Abstract

Machine weapon with associated control computer for installation on a vehicle, and with a communicating with the control computer, the shot field receiving image recording device whose image can be displayed on a display device and based on which image operator side by means of a marker the weapon can be placed on a target shown in the image, where by the control computer (5) after delivery of at least a first shot by the armed weapon (2) recorded when striking or firing the missile shot image (10) for determining the filing (A) of the impact or Zündorts (13) relative to the marker (11) defined target evaluated and the weapon (2) by the control computer (5) in response to the determined filing (A) for the delivery of at least one additional shot is automatically be notified.

Description

The invention relates to a machine gun with associated control computer for installation on a vehicle, and with a communicating with the control computer, the shot field receiving image pickup device whose image is displayed on a display device and based on which image operator side by means of a marker the weapon on a target shown in the picture can be arranged.

Such machine guns are used to shoot ammunition of smaller to medium caliber. They are usually installed on a vehicle, be it a wheeled or tracked vehicle. By means of an image recording device, the potential field of fire is recorded. The image is displayed on a display device, usually a suitable display or monitor, so that the operator, ie usually the gunner, can view the potential field of fire. If the gunner makes a target in the potential firing range, he can use the image to aim the weapon at the target. For this purpose, the gunner has a manual control element, for example in the form of a joystick, over which he can move a marker in the displayed image. The marker is for example a crosshair. The positioning of the marking, ultimately the movement of the joystick, leads to a corresponding positioning movement of the machine gun, after the control computer, with which the joystick communicates, also controls the adjusting mechanism, via which the machine gun is moved and thus arranged. Once the marker is set to the potential target, so this is, for example, in the crosshairs, controlled via the control computer weapon is done on the target. Although pipe weapons have a remarkably high degree of precision, there is often a certain stochastic hit error, which means that a shot does not hit the targeted target exactly, but hits something next to it. this Error is called filing. It can be a weapon immanent error, the filing can also z. B. result from a crosswind influence. This filing is now to be corrected by the gunner, since he actually wants to hit the target directly. However, this correction is problematic, especially under conditions of use. Because the gunner is then subject to a general stress situation. In addition, general factors such as the difficult assignment of individual events on the battlefield, the short duration of the blast of the striking or firing projectile, which indicates the hit position to the gunner, and possibly limited visibility conditions lead to the said correction problems.

The invention is therefore based on the problem of specifying a contrast improved machine gun for installation on a vehicle.

To solve this problem is provided according to the invention in a machine gun of the type mentioned that captured by the control computer after delivery of at least a first shot by the served weapon a captured or fired the fired projectile image to determine the filing of the impact or ignition relative to evaluated by the mark defined target and the weapon by the control computer in response to the determined filing for dispensing at least one additional shot automatically be notified.

The operator respectively gunner is no longer required in the operation of the machine gun according to the invention, at least as far as the news of the previously presented weapon, that is, that no more manual messages is provided. Rather, the control computer automatically determines any given filing and corrects the weapon device depending on the filing automatically, without the gunner must act for this. For this purpose, the control computer analyzes an image or an image sequence which shows the field of fire at the time of impact, ie the ignition of the first missile fired. The picture shows exactly the point of impact or ignition. Since the marking of the target is also given in the image, the control computer can now calculate from the data for the marking as well as the data for the detected point of incidence or ignition precisely the file that the first shot has shot to the actual destination.

If the filing is determined, then the control computer can determine exact correction control data that corresponds to the now pending automatic motion control of the Machine gun to correct the detected filing, so readjust them. This means that the weapon is now automatically adjusted. Upon completion of the message, the control computer automatically causes one or more further shots to be fired at the target, which now, since the weapon is rectified, are in the target.

Since the gunner is not involved in this message process, neither as regards the detection of the point of incidence or ignition, nor the Nachrichtung, so the control of the machine gun itself, the problems mentioned in the machine gun according to the invention are not given. In particular, even under difficult operating conditions, a secure impact or target detection by the electronic image data analysis, on the part of the control computer possible. For the control computer or the corresponding image analysis algorithms are able to analyze the recorded image data much more detailed and accurate than the gunner can by merely viewing the image. This is especially true when ammunition is fired with a specific signature, ie ammunition which, for example, has a defined emission spectrum, which is also reflected in the recorded image, and with respect to which the image analysis algorithm is purposefully analyzed.

The control computer is according to a development of the invention for determining the shelf in response to at least one parameter, which is a measure of the distance of the weapon or the vehicle to the target formed. In order to determine the exact position of the potential, marked target and thus also of the impact or ignition location relative to the vehicle, it is expedient if a distance specification is taken into account. Such a parameter may be a distance value detected by a distance measurement, for example a laser range finding. It is also conceivable, however, to determine this distance parameter from the recorded image itself. This can for example be done in a simple manner by using a stereo camera for image acquisition, so that a three-dimensional image representation is possible or the like. As a further alternative, the parameter used may be a tempier value defining the ignition timing of the ammunition to be fired. The Tempier value indicates the time after which the projectile ignites. Since the projectile speed is known, from the set Tempierwert, especially if the bullet is impressed only when leaving the gun, so that the Tempierwert necessarily exists on the control computer, the potential distance to the target and thus ultimately the Distance to the point of incidence or ignition are determined and this parameter be taken into account in the calculation of the setup parameters.

If the vehicle is during the target acquisition, during the setup process as well as the message process, ultimately no further action or corrections must be made because the relative position of the weapon does not change to the defined target. Different, however, when the vehicle is moving. For then usually changes the relative position of the weapon to the target already in the context of the target acquisition and the subsequent operations continuously. In order to enable automated storage detection and correction in such a case, a development of the invention that the weapon operator side in a change in the relative position of the weapon to the defined destination is trackable, the mark operator side continuously shown on the continuously recorded image Target remains focused. The gunner therefore continuously marks the target in the displayed image, even though the continuous image display changes continuously due to the vehicle movement. As a result of this manual target tracking in the picture results in a running, manually controlled tracking of the weapon. Nevertheless, the control computer still automatically determines the resulting filing after dispensing the at least one first shot and corrects the weapon alignment after filing. This means that the control data, which indicate the manual target tracking by holding the mark on the target shown in the image by the gunner, are virtually superimposed on the deposit correction control data determined by the control computer, respectively, and these data are additionally taken into account. On the one hand there is thus a manual weapon tracking, on the other hand an automatic filing correction.

An alternative to this provides that a target on the marker is permanently markable and the control computer is designed to automatically detect a change in the relative position of the weapon to the target and the automatic tracking of the weapon in a change in the relative position of the weapon to the defined target. In this case, an "auto tracking" is used. The mark set in the image by the gunner defining the target permanently defines the target, that is to say that the information is transmitted to the control computer about it that he should subsequently maintain and record this target. Based on this information and the information about the location of the marker, the control computer can now automatically detect a corresponding change in the relative position of the weapon to the defined target, in turn, solely by image analysis. Because when the vehicle is moving, The image representation inevitably changes, so that the control computer can determine when a change in position of the target shown in the image results in the marking. This change in position is now recorded continuously, which means that the target is automatically tracked. From the continuously recorded change in position, which of course requires a current image acquisition, the control computer can now automatically track the weapon and the tracking at the same time superimpose the offset correction.

Conveniently, in such a case, ie when an "auto-tracking" is provided, an input device comprising a touch screen is provided, on which the image can be displayed and on the operator in the image on the mark the target is markable. The gunner can thus set, for example, by simply tapping the marker on the target, the marker is displayed, for example in the form of a crosshair or as another cursor. Of course, regardless of whether auto-tracking is provided or not, the input device may basically include a touch screen that allows easy marking.

As described, at least a first shot is fired. It is also conceivable, however, "to deliver at least a first shot" as a short, two or more shots comprehensive first burst of fire, based on the then the filing detection takes place. For the time of flight of the first projectile or the projectiles of the first burst up to the target or until reaching the air strike point, the fire is then automatically interrupted. In addition, furthermore, the number of further shots which can be issued after the first shot can be selectable on the operator side, that is to say that the gunner can define the maximum number of shots, depending on the type of target he has set, which in turn can be achieved, for example, by corresponding actuation of the input device can be done. Alternatively, the control computer for automatically determining the number of further shots to be issued after detection of the target may be formed. This applies in particular if the control computer also carries out a target analysis within the scope of the image analysis, ie it can thus automatically determine whether the detected target is, for example, one or more shooters, another vehicle or a building or the like.

Finally, on the operator side via a corresponding input device, in particular the input device comprising the touch screen, an abort signal be entered, at the input of the control computer stops delivering more shots. This is particularly useful if no shot number definition is given, be it by the operator, be it with automatic number of shots by the control computer. This means that the machine gun could register an indefinite number of shots after detection of the delivery, which the gunner however can interrupt by entering a corresponding abort signal.

In addition to the machine gun itself, the invention further relates to a method for operating a machine gun mounted on a vehicle with associated control computer and with the control computer communicating, the shot field receiving image pickup device whose image is displayed on a display device and based on which image operator side by means of a marker the Weapon is served on a target shown in the picture. This method is characterized in that after marking a target at least a first shot is delivered to the target, after which the control computer automatically determined in a subsequently recorded image the point of incidence or ignition of the missile missile and its storage to the marked target and in dependence determined filing the weapon nachrichten, after which automatically at least one more shot is delivered.

In this case, the weapon can be tracked in a change in the relative position of the weapon to the defined destination, ie when the vehicle is in motion, the marker operator side is continuously directed to the target shown in the picture continuously recorded. The gunner therefore manages the weapon manually while at the same time the control computer corrects the tracked weapon with respect to the determined filing.

Alternatively, a target may be permanently marked over the marker and the control computer may automatically detect a change in the relative position of the weapon to the defined target and automatically track the weapon at a change in the relative position of the weapon to the defined target. In this case, so an "auto tracking" is provided.

Fig. 1

eine Prinzipdarstellung eines Fahrzeugs umfassend eine erfindungsgemäße Maschinenwaffe,

Fig. 2

eine Prinzipdarstellung der erfindungsgemäßen Maschinenwaffe samt Steuerrechner, Anzeigeeinrichtung und Bildaufnahmeeinrichtung,

Fig. 3

eine Prinzipdarstellung eines ein potentielles Schussfeld zeigenden Bildes,

Fig. 4

die Bilddarstellung aus Fig. 3 mit auf ein Ziel bewegter Markierung,

Fig.5

ein im Zeitpunkt des Zündens eines verschossenen Geschosses aufgenommenes Bild, und

Fig. 6

eine Bilddarstellung, aufgenommen nach Durchführung eines Nachrichtvorgangs der Maschinenwaffe und Abgabe eines weiteren Schusses.

Further advantages and details of the invention will become apparent from the embodiments described below and with reference to the drawings. Showing:

Fig. 1

a schematic diagram of a vehicle comprising a machine gun according to the invention,

Fig. 2

a schematic diagram of the machine gun according to the invention including control computer, display device and image recording device,

Fig. 3

a schematic representation of a potential shot field showing image,

Fig. 4

the image representation Fig. 3 with a mark moved on a target,

Figure 5

a picture taken at the time of firing a missile, and

Fig. 6

an image taken after performing a message process the machine gun and release another shot.

Fig. 1 shows a motor vehicle 1 here in the form of an armored wheeled vehicle, on which a machine gun 2 according to the invention is installed. The machine gun with the associated peripheral devices in the form of a schematic representation in Fig. 2 shown. The machine gun 2 is rotatable about a corresponding positioning motor 3 about a vertical axis, the gun barrel 4 is vertically pivotable, as shown in each case by the double arrows. The adjusting operation, that is, the serving of the weapon is controlled by a control computer 5, which controls the servomotor 3 accordingly. At least one image recording device 6, which may be a daylight camera or a thermal imaging camera, communicates with the control computer 5. The image recording device 6 records images of the vehicle surroundings or the potential field of fire, which are given directly to the control computer 5. Of course, it is conceivable that the control computer 5 communicates with a plurality of such image recording devices, possibly also of different types, which record environmental images from different directions or from different vehicle sides.

Associated with the control computer 5 is also a display device 7, which can also be, for example, a touchscreen 8, via which commands corresponding to the touch can be entered. The display device 7 can be permanently installed in the vehicle, but it can also over a corresponding Schnitfstelle be releasably coupled to the control computer 5, for example, a cable connection. It is also conceivable, however, a wireless connection, such as a Bluetooth connection or the like. The display device 7 is a control means 9, here in the form of a joystick, assigned, via which a mark on the display device 7 respectively in an image shown there can be moved. This marker can be, for example, a crosshair. If the display device 7 is a touchscreen 8, such a control device, that is to say such a joystick 9, is not absolutely necessary.

The control computer 5 is now able to transmit images taken by the image recording device 6 to the display device 7, where the images are displayed. It would also be conceivable, in particular in the case of a permanently mounted display device 7, that the images of the image recording device 6 are also given directly to the display device 7, so that the image data are directly present both on the part of the control computer 5 and the display device 7.

The gunner is thus shown on the display device 7 environmental images that show him the situation outside the vehicle 1. Within these images, he can now capture any threat situation, such as individual shooters, vehicles or the like. He can now highlight specific targets via the display device 7 in conjunction with the adjusting means 9 by a marked on the display device 7 marker is moved accordingly. If it is a touch screen 8, the marking movement can also be done manually by touching the touch screen surface.

Fig. 3 shows a schematic view of an image displayed on the display device 7 10. In the image, a marker 11 is shown here in the form of a crosshair. The gunner can now locate 10 different targets when viewing the image, such as a vehicle 12 that is to be fought.

In the next step, see Fig. 4 , the gunner now moves z. B. via the joystick 9, the mark 11 on the vehicle 12, ie on the target. Accompanying this movement of the marking is immediately also the corresponding control of the machine gun 2. For the control computer 5 receives all information concerning the marking movement respectively the target detection and controls the servomotor 3 accordingly.

As soon as the marker 11 is placed on the target, here the vehicle 12, an automatic process is started, optionally after the release of a release signal by the gunner, starting with the delivery of at least one first shot or at least one first, few shots Firing burst on the defined target. The image acquisition preferably takes place continuously, but in any case images are taken when the projectile hits or ignites. In Fig. 5 is exemplified by the impact or Zündort 13. This is evident just outside the defined target, ie here the vehicle 12. Between the crossing point of the crosshairs and the point of impact or ignition 13 is given an offset, the tray A is called, which is shown here with the double arrow.

The control computer 5 is now automatically able to analyze the image data and to precisely define the point of impact or ignition 13. In it, appropriate image analysis algorithms are deposited, which make this possible. Will an ammo with you. Air blasting point used, as used for example for fighting shooter groups, so a clear signature that defines the impact point of ignition 13 is given. If an ammunition without an air-blast point is used, as is usually used against vehicles or infrastructure targets, it must be ensured that a clear signature is created when hitting the target or the ground. This can be supported by the introduction of reactive substances with good emission behavior in all types of ammunition used, the image analysis algorithms are designed in relation to this defined emission behavior, which is also reflected in the image.

As soon as the control computer 5 has detected the point of incidence or ignition 13, it can determine the deposit A. For this purpose, he processes at least one parameter which is a measure of the distance of the vehicle 1 or the machine gun 2 to the destination or to the point of impact or ignition 13. Preferably, the distance value to the destination, which is very concretely detectable as such, is used. This parameter is preferably determined via a laser distance measurement, suitably already when the marker 11 is aimed at the target. If a fired ammunition is fired, then the distance can be determined from the control computer side stored Tempierwert in conjunction with the known projectile airspeed.

Irrespective of this, the control computer 5 now determines, based on the detected point of incidence or ignition 13 and the distance parameter, for example the measured value, the file A. As soon as this automatic position determination has taken place, associated file correction control data are determined by the control computer 5. This immediately corrects the weapon setup to correct the misalignment. Fig. 6 shows the picture Fig. 5 after the filing correction is done. Obviously, the marker 11 has moved, and exactly to the tray A. Immediately with the news of the weapon is initiated via the control computer 5 at least one more shot, possibly also delivered several more shots. These are then, see Fig. 6 , exactly at the finish, so here meet the vehicle 12, after the tray A shown in Figure 5 is corrected.

The gunner can pre-set a defined maximum number of further shots to be issued. Alternatively, however, the control computer 5 can determine the number of shots appropriate in relation to the detected target. Since this is a vehicle that can be detected by the control computer 5 as such from the image data, it can determine the appropriate number. Finally, it is conceivable that the control computer 5 basically controls an unlimited number of shots, wherein the gunner can enter via the adjusting means 9 or, if provided, the touch screen 8 an abort signal to terminate the shot sequence.

The FIGS. 3 to 6 basically show the procedure when the vehicle is stationary. If the vehicle 1 is running, the relative position of the vehicle 1 or the weapon 2 changes continuously to a potential destination. In this case, the gunner moves the marker 11 to the stated destination, but he must keep the marker 11 continuously on the target for subsequent operations on the adjusting means 9. As the vehicle moves, inevitably the image representation changes somewhat, that is, the potential target moves in the image. This movement must now compensate the gunner manually with the mark 11. Regardless of this, the automatic process for filing and news tracking expires, as previously described. Once the gunner has made the mark 11 on a target and he - this also applies to the above-described operation with stationary vehicle - has given a release signal to initiate the automatic mode, the control computer 5 starts to deliver at least a first shot, which automatically the filing is detected and the news is done. In the context of this news is thus a Overlay the current weapon tracking, as the gunner makes by holding the marker 11 in the target, with the file correction data.

Alternatively, it is possible to provide an "auto-tracking". The gunner can, after he has directed the marker 11 to the target, select an "auto tracking mode", either via the adjusting means 9, so the joystick with the appropriate button, be it via a touch screen 8. The control computer is signaled here that he To assign the marker to the target defined above and to track the selected target. This is easily possible since the control computer 5 can analyze the continuously incoming image data in this regard, so that it recognizes any change in the relative position from the vehicle to the destination. The control computer 5 then automatically holds the weapon aligned with the target, so it performs this. After submitting the first shot, he again takes the filing detection, whereupon he corrects the filing, but at the same time automatically tracks the weapon. The delivery of further shots is then also automatically, as these shots are due to the filing correction in the goal.

Overall, the machine gun according to the invention with the automatic tray detection and automatic tray correction relieves the gunner substantially, so that the potential of the high-precision machine gun can be used even better. Control times for small or distant destinations are significantly reduced, and the need for ammunition per destination can be significantly reduced.

LIST OF REFERENCE NUMBERS

1

motor vehicle

2

automatic weapon

3

adjusting motor

4

barrel

5

tax calculator

6

Image recording device

7

display

8th

touchscreen

9

joystick

10

image

11

mark

12

vehicle

13

Place of impact or ignition

A

filing

Claims (12)

Machine weapon with associated control computer for installation on a vehicle, as well as with the control computer communicating, the shot field receiving image pickup device whose image can be displayed on a display device and based on which image on the operator side by means of a marker the weapon can be placed on a target shown in the image,
characterized,
that by the control computer (5) to discharge at least a first shot by the dished weapon (2) an image picked up upon impact or ignition of the faded projectile image (10) for calculating the distance (A) of the impingement or Zündorts (13) relative to the the target defined by the marking (11) can be evaluated and the weapon (2) is automatically able to be detected by the control computer (5) as a function of the determined file (A) for dispensing at least one further shot. Machine weapon according to claim 1,
characterized,
in that the control computer (5) is designed to determine the deposit (A) as a function of at least one parameter which is a measure of the distance of the weapon (2) or the vehicle (1) to the target. Machine weapon according to claim 2,
characterized,
that the parameter is a measured value which is determined by means of a measuring device, in particular a laser distance measuring device, or a value determined from the image data distance value or a Tempierwert a floor provided on the side Tempiereinrichtung. Machine weapon according to one of the preceding claims,
characterized,
in that the weapon (2) can be tracked to the defined destination on the operator's side in the event of a change in the relative position of the weapon (2), the marker (11) being continuously directed to the target shown in the continuously recorded image (10) on the operator side. Machine weapon according to one of claims 1 to 3,
characterized,
in that a target can be permanently marked via the marking (11) and the control computer (5) automatically detects a change in the relative position of the weapon (2) to the defined target and for automatic tracking of the weapon (2) in the event of a change in the relative position of the weapon ( 2) is designed to the defined goal. Machine weapon according to one of the preceding claims,
characterized,
that an input device is provided comprising a touch screen (8), on which the image (10) (11) is the target markable displayed and the operator side on the screen (10) across the marking. Machine weapon according to one of the preceding claims,
characterized,
that the number of deliverable after the first shot further shots on the operator side is selectable. Machine weapon according to one of the preceding claims,
characterized,
in that the control computer (5) is designed to automatically determine the number of further shots to be issued after detection of the target. Machine weapon according to one of the preceding claims,
characterized,
that an operator input device, in particular the input device comprising the touchscreen (8), can be used to input an abort signal, at the input of which the control computer (5) terminates the dispensing of further shots. Method for operating a machine gun installed on a vehicle with associated control computer and with the control computer communicating, the shot field receiving image pickup device whose image is displayed on a display device and based on which image on the operator side by means of a marker the weapon is served on a target shown in the picture .
characterized,
that after marking a target at least a first shot is delivered to the target, after which the control computer (5) automatically in a subsequently recorded image (10) the point of incidence or ignition (13) of the missile missile and its filing (A) to the marked destination determines and depending on the determined filing (A) the gun (2) nachrichten, after which automatically at least one additional shot is delivered. Method according to claim 10,
characterized,
that the weapon is tracked to the defined destination when the relative position of the weapon (2) changes, with the marker (11) being continuously directed to the target shown in the continuously recorded image (10) on the operator side. Method according to claim 10,
characterized,
that a target on the label (11) is permanently marked and the control computer (5) automatically detected a change in the relative position of the weapon (2) to the defined target and the gun automatically (2) at a change of the relative position of the weapon (2) for tracking the defined destination.

Images