EP3123097B1 - Armed optoelectronic turret - Google Patents

Armed optoelectronic turret Download PDF

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Publication number
EP3123097B1
EP3123097B1 EP15712661.6A EP15712661A EP3123097B1 EP 3123097 B1 EP3123097 B1 EP 3123097B1 EP 15712661 A EP15712661 A EP 15712661A EP 3123097 B1 EP3123097 B1 EP 3123097B1
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EP
European Patent Office
Prior art keywords
opto
electronic
rws
optronic
weapon
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EP15712661.6A
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German (de)
French (fr)
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EP3123097A1 (en
Inventor
Bernard Boehm
Jean-Paul SICRE
Patrick Curlier
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Safran Electronics and Defense SAS
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Safran Electronics and Defense SAS
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    • 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
    • F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft

Definitions

  • the invention relates to an armed optronic cupola having a weapon mounted for pivoting about a bearing axis and a sight mounted for pivoting about the same bearing axis independently of the pivoting of the weapon.
  • An armed cupola fitted for example with a military ship or an armed land vehicle, is intended to protect the ship or the land vehicle during the day and at night against various external aggressions by means of projectile fire (missiles, weapons bullets, etc.). fire, etc.).
  • Such an optronic cupola is known from the document US2012 / 0024143A1 .
  • Such an armed optronic cupola generally comprises a weapon (gun, submachine gun, etc.) and an optronic viewfinder integrating, for example, an infrared camera, a thermal camera, a video camera, a laser range finder, and making it possible to carry out the aiming for the weapon. .
  • Such a cupola also often includes various complementary equipment such as means for detecting and locating projectile shots, a hemispherical vision device, etc.
  • such a cupola is frequently "remote", that is to say it can be controlled remotely.
  • the first problem concerns the orientation of the weapon, which, on some turrets, can not be used in all directions in the field and in the field because of possible physical interactions with other equipment mounted on the vehicle such as a Panoramic observation viewfinder whose field of vision is also also partially obstructed by the cupola.
  • the second problem concerns the turrets on which the weapon and the optronic sight are fixedly mounted in rotation about a bearing axis.
  • the rotation of the optronic viewfinder around the bearing axis to make observations is accompanied by a simultaneous rotation of the weapon, which can be misinterpreted as a threat by people present near the cupola.
  • the invention relates to a means for increasing the area beaten by the weapon of the cupola and the observable area by a neighboring viewfinder.
  • an armed optronic cupola according to claim 1 is proposed. Since the weapon is integral in rotation with the body around the bearing axis, the orientation of the weapon in the field can be realized. in all directions without risk of physical interaction with other equipments of the cupola also integral in rotation of the body around the bearing axis.
  • the optronic viewfinder is mounted to pivot about the same bearing axis independently of the pivoting of the body and thus of the weapon, the orientation of the sight can be achieved without rotating the weapon and is therefore not interpreted as a threat.
  • the armed optronic cupola 1 of the invention intended here to equip a light armored ground vehicle, comprises a base 2 fixed directly to the vehicle, a body 3 constituted by a rotating base 4 and a notched support 5, and an optronic viewfinder. 6 having a viewfinder body 6a and two active parts 6b, 6c.
  • the outer forms of the base 2 and the rotating base 4 of the armed optronic cupola 1 are cylinders of revolution having for axis the same vertical axis called in this description bearing axis Z.
  • the body 3 of the armed optronic cupola 1 is pivotally mounted around the bearing axis Z, and is rotated about the bearing axis Z by first drive means 7 positioned inside the base 2.
  • the first drive means 7 comprise a first electric motor 8 cooperating with a first bearing 9 comprising a fixed portion 11 integral in rotation with the base 2 and a rotating portion 12 integral in rotation with the rotating base 4 of the body 3 .
  • the notched support 5 is fixed on the rotating base 4 of the body 3 of the armed optronic cupola 1.
  • the notched support 5 comprises two arms extending vertically from the rotating base 4 to an upper portion 14 of the armed optronic cupola 1.
  • the light weapon 15 is thus integral in rotation with the body 3 along the bearing axis Z and is so it also mounted pivoting around the bearing axis Z.
  • the light weapon 15 is also mounted to pivot about a first X1 site axis, which allows the light weapon 15 to be directed in elevation to shoot targets at different elevation angles.
  • the orientation of the light weapon 15 in situ is achieved by means of second drive means 16 comprising a second electric motor and mounted on the notched support 5.
  • the viewfinder body 6a of the optronic viewfinder 6 is, for its part, mounted to pivot about the bearing axis Z independently of the pivoting of the body 3 of the armed optronic cupola 1 and therefore of the light weapon 15.
  • the orientation in the field of the optronic viewfinder 6, to achieve the aim for the light weapon 15 or to make observations at different bearing angles, is performed by third drive means 18 positioned, as the first drive means 7, inside the base 2 of the armed optronic cupola 1.
  • the third drive means 18 comprise a third electric motor 19 cooperating with a second bearing 21 comprising a fixed part 22 integral in rotation with the base 2 and a part rotating member 23 rotatably connected to the viewfinder body 6a of the optronic viewfinder 6.
  • the first bearing 9 and the second bearing 21 are thus mounted coaxially around the bearing axis Z.
  • the first motor 8 and the third electric motor 19 operate independently of each other, which allows to orient the weapon in traverse light 15 and the optronics viewfinder 6 independently of one another. Note, however, that the optronic viewfinder 6 can be used to point the weapon. In this phase, the optronic viewfinder 6 sends deposit position instructions which are copied by servocontrol copying to the position of the weapon, each of the two devices being provided with angular position sensors in precision bearing sufficient for this purpose.
  • the simbleautage is achieved by adjusting the angular offset between the indications of the sensors of the weapon and the viewfinder when they aim in the same direction (this is a conventional procedure of simbleautage of the viewfinder with the weapon made in the turrets where the weapon is slaved in position on the viewfinder).
  • the active parts 6b, 6c of the optronic viewfinder 6 are also mounted to pivot around a second axis of site X2, which allows to orient the optronic viewfinder 6 in site to achieve the aim for the light weapon 15 and to perform observations at different angles of elevation.
  • the orientation of the active parts 6a, 6b of the optronic viewfinder 6 in situ is achieved by means of fourth drive means 25 (shown schematically in the figure) comprising a fourth electric motor and located inside the viewfinder body 6a of the optronic viewfinder 6.
  • the light weapon 15 is situated above the optronic viewfinder 6, and that the indented support 5 on which the light weapon 15 is mounted releases a major peripheral zone around the optronic viewfinder 6.
  • the optronic viewfinder 6 can be oriented over a large extent of bearing angle without its field of vision being masked by obstacles located on the armed optronic cupola 1, said obstacles being here constituted in particular by the vertical arms of the notched support 5. This minimizes an angular zone in which the field of view of the optronic viewfinder 6 is masked.
  • the armed optronic cupola 1 of the invention has a very good quality of simbleautage.
  • the optronic viewfinder 6 and the light weapon 15 are very close to each other on the cupola, possible parallax problems are minimized.
  • the armed optronic cupola 1 further comprises means 31 for detecting a projectile firing and a hemispherical vision device 32 both located on the upper part 14 of the body 3 of the armed optronic cupola 1 and mounted on the indented support 5.
  • the detection means 31 comprise a semi-spherical sensing head 33 equipped with a plurality of acoustic sensors 34 distributed over the entire surface of the detection head 33, as well as processing means 35 located in the detection head. 33 (shown schematically in the figure).
  • the processing means 35 are adapted to acquire acoustic measurements made by the acoustic sensors 34 and to analyze these acoustic measurements.
  • the processing means 35 deduce from these acoustic measurements that a shot has been fired.
  • the processing means 35 are also adapted to locate the origin of the projectile, by analyzing the differences between the sound intensities associated with the acoustic measurements and perceived by the various acoustic sensors 34.
  • the hemispherical vision device 32 comprises in particular a camera 38 provided with a "fisheye” type of lens (or “fish eye”) allowing the camera 38 to provide panoramic images of 220 °.
  • the position of the hemispherical vision device, located on the upper part 14 of the body 3 of the armed optronic cupola 1 provides a completely unobstructed view of the surroundings and the top of the vehicle.
  • the armed optronic cupola 1 further comprises a two-part 41 grenade launcher device 41a, 41b adapted to launch smoke grenades.
  • the grenade launcher device 41 is mounted on the rotating base 4 of the body 3 of the armed optronic cupola 1 and is rotationally integral with the body 3. The orientation of the grenade launcher 41 in the bearing is thus achieved by the first drive means 7, as well as the orientation in the field of the light weapon 15.
  • the armed optronic cupola 1 finally comprises a centralized computer 42 (shown schematically in the figure) located in the base 2 of the armed optronic cupola 1.
  • the centralized computer 42 is here connected to a plurality of equipment of the cupola to control and / or to acquire data from these equipment.
  • the centralized computer 42 is in this case connected to the light weapon 15 and the grenade launcher device 41 to control their actuation.
  • the centralized computer 42 is further connected to the first drive means 7 for controlling the bearing orientation of the body 3 of the armed optronic cupola 1 and thus of the light weapon 15, the grenade launcher device. 41, detection means 31 and the atmospheric vision device 32.
  • the centralized computer 42 is also connected to the second drive means 16 for controlling the orientation of the light weapon 15 in its location, to the third drive means 18 and the fourth drive means 25 for respectively controlling the orientation of the optronic viewfinder 6.
  • the centralized computer 42 is finally connected to the processing means 35 of the detection means 31, to the hemispherical vision device 32 and to the optronic viewfinder 6 to acquire data (images, acoustic measurements, location of the origin of a projectile, etc.) from these devices.
  • the centralized computer 42 comprises means of communication symbolized at 43 (these communication means are for example a connection by electric cables or but could be a wireless link) which make it possible to remote control the armed optronic cupola 1.
  • these communication means are for example a connection by electric cables or but could be a wireless link
  • teleoperating one means that the control means (pointing stick, display screen, firing button ...) are deported inside the vehicle.
  • a centralized computer 42 located in the heart of the armed optronic cupola 1 makes it possible to facilitate the integration of the armed optronic cupola 1 in the vehicle, to reduce the number and the length of the cables connected to the different equipment of the armed optronic cupola. 1, decrease the response time associated with the control of these equipment, improve the monitoring functions of these equipment, etc.
  • the first drive means 7 and the third drive means 18 may be driven by the centralized computer 42 to implement a coordinated mode in which a coordinated rotation drive of the body 3 and the optronic viewfinder 6 around the Z bearing axis is controlled. Coordinated mode is used to reduce or totally eliminate the angular area in which the field of view of the optronic viewfinder 6 is masked.
  • the centralized computer 42 controls the first drive means 7 and the third drive means 18 by coordinating the first drive means 7 and the third drive means. drive means 18 so as to ensure that the angular position of the body 3 and the optronic viewfinder 6 remain such that the field of view of the optronic viewfinder 6 is never hidden by the vertical arms of the indented support 5.
  • the optronic viewfinder 6 can therefore be oriented over a 360 ° angle of view angle without its field of vision being masked.
  • the rotational drive of the optronic viewfinder 6 is accompanied by a coordinated rotation drive of the body 3 when the angular position in the bearing of the optronic viewfinder 6 is such that its field of vision is about to be masked by the arms 5.
  • means for estimating the rotary drive speed according to the bearing angle of the optronic viewfinder 6 and the body 3, as well as means for estimating the angular position in the bearing of the 6 optronic viewfinder and 3 body are used to implement the coordinated mode.
  • the centralized computer 42 controls the third drive means 18 to interrupt the rotation drive of the optronic viewfinder 6.
  • the centralized computer 42 is configured to deduce respective bearing angular positions of the optronic viewfinder 6 and the body 3 that the field of view of the optronic viewfinder 6 will be masked by one of the arms.
  • the centralized computer 42 controls the third drive means 18 to drive the optronic viewfinder 6 in a direction opposite to the direction of rotation controlled, so as to reposition the optronic viewfinder 6 in an angular position where its field of vision n is not hidden.
  • reference data of the angular position of the body 3 and the optronic viewfinder 6 and the rotational speed of the body 3 and the optronic viewfinder 6 are stored in a memory module associated with the centralized computer 42.
  • the centralized computer 42 uses these reference data to implement the coordinated mode, for example by stopping the rotational drive of the optronic viewfinder when its speed exceeds a predefined threshold included in the reference data or when its angular position exceeds a predefined position included in the data reference.
  • the base of the armed optronic cupola is fixed directly on the light armored ground vehicle, the armed optronic cupola can of course be mounted on a turret equipping such a vehicle.
  • turret includes any type of carriage carrying any weapon, which may or may not be mounted on a turret.
  • the cupola armed optronics equip a light armored land vehicle, it can of course be mounted on another type of support: military ship, aircraft or helicopter fighter, fixed military installation (antiaircraft turret), etc.
  • bearing axis is here a vertical axis, it may be any axis of orientation forming a non-zero angle with a vertical axis.
  • the body 3 can be fixed or driven in the same direction as the optronic viewfinder 6 (to avoid a masking of the field of view of the optronic viewfinder 6 by one of the arms) or in an opposite direction (for increase the speed of passage of the arm in front of the optronic viewfinder and reduce the duration of masking).

Description

L'invention concerne un tourelleau optronique armé comportant une arme montée pour pivoter autour d'un axe de gisement et un viseur monté pour pivoter autour du même axe de gisement indépendamment du pivotement de l'arme.The invention relates to an armed optronic cupola having a weapon mounted for pivoting about a bearing axis and a sight mounted for pivoting about the same bearing axis independently of the pivoting of the weapon.

ARRIERE PLAN DE L'INVENTIONBACKGROUND OF THE INVENTION

Un tourelleau armé, équipant par exemple un navire militaire ou un véhicule terrestre armé, est destiné à protéger le navire ou le véhicule terrestre de jour comme de nuit contre des agressions externes variées au moyen notamment de tirs de projectiles (missiles, balles d'armes à feu, etc.). Un tel tourelleau optronique est connu du document US2012/0024143 A1 . Un tel tourelleau optronique armé comporte généralement une arme (canon, mitraillette, etc.) et un viseur optronique intégrant par exemple une caméra infrarouge, une caméra thermique, une caméra vidéo, un télémètre laser, et permettant de réaliser la visée pour l'arme. Un tel tourelleau comporte aussi fréquemment des équipements complémentaires divers comme par exemple des moyens de détection et de localisation des tirs de projectiles, un dispositif de vision hémisphérique, etc. Enfin, un tel tourelleau est fréquemment « téléopérable », c'est-à-dire qu'il peut être commandé à distance.An armed cupola, fitted for example with a military ship or an armed land vehicle, is intended to protect the ship or the land vehicle during the day and at night against various external aggressions by means of projectile fire (missiles, weapons bullets, etc.). fire, etc.). Such an optronic cupola is known from the document US2012 / 0024143A1 . Such an armed optronic cupola generally comprises a weapon (gun, submachine gun, etc.) and an optronic viewfinder integrating, for example, an infrared camera, a thermal camera, a video camera, a laser range finder, and making it possible to carry out the aiming for the weapon. . Such a cupola also often includes various complementary equipment such as means for detecting and locating projectile shots, a hemispherical vision device, etc. Finally, such a cupola is frequently "remote", that is to say it can be controlled remotely.

Les concepteurs et les utilisateurs de tourelleaux optroniques armés sont classiquement confrontés aux problèmes suivants.Designers and users of armed optronic cupola are typically faced with the following problems.

Le premier problème concerne l'orientation de l'arme, qui, sur certains tourelleaux, ne peut être utilisée dans toutes les directions en gisement et en site à cause de possibles interactions physiques avec d'autres équipements montés sur le véhicule comme par exemple un viseur d'observation panoramique dont le champ de vision se trouve d'ailleurs lui aussi partiellement obstrué par le tourelleau.The first problem concerns the orientation of the weapon, which, on some turrets, can not be used in all directions in the field and in the field because of possible physical interactions with other equipment mounted on the vehicle such as a Panoramic observation viewfinder whose field of vision is also also partially obstructed by the cupola.

Le deuxième problème concerne les tourelleaux sur lesquels l'arme et le viseur optronique sont montés solidaires en rotation autour d'un axe de gisement. La rotation du viseur optronique autour de l'axe de gisement pour effectuer des observations est accompagnée d'une rotation simultanée de l'arme, ce qui peut être interprété à tort comme une menace par des personnes présentes à proximité du tourelleau.The second problem concerns the turrets on which the weapon and the optronic sight are fixedly mounted in rotation about a bearing axis. The rotation of the optronic viewfinder around the bearing axis to make observations is accompanied by a simultaneous rotation of the weapon, which can be misinterpreted as a threat by people present near the cupola.

OBJET DE L'INVENTIONOBJECT OF THE INVENTION

L'invention a pour objet un moyen pour augmenter la zone battue par l'arme du tourelleau et la zone observable par un viseur voisin.The invention relates to a means for increasing the area beaten by the weapon of the cupola and the observable area by a neighboring viewfinder.

RESUME DE L'INVENTIONSUMMARY OF THE INVENTION

En vue de la réalisation de ce but, on propose un tourelleau optronique armé suivant la revendication 1. Comme l'arme est solidaire en rotation du corps autour de l'axe de gisement, l'orientation de l'arme en gisement peut être réalisée dans toutes les directions sans risque d'interaction physique avec d'autres équipements du tourelleau eux aussi solidaires en rotation du corps autour de l'axe de gisement.In order to achieve this goal, an armed optronic cupola according to claim 1 is proposed. Since the weapon is integral in rotation with the body around the bearing axis, the orientation of the weapon in the field can be realized. in all directions without risk of physical interaction with other equipments of the cupola also integral in rotation of the body around the bearing axis.

Comme le viseur optronique est monté pour pivoter autour du même axe de gisement indépendamment du pivotement du corps et donc de l'arme, l'orientation du viseur en gisement peut être réalisée sans rotation de l'arme et n'est donc pas interprétée comme une menace.Since the optronic viewfinder is mounted to pivot about the same bearing axis independently of the pivoting of the body and thus of the weapon, the orientation of the sight can be achieved without rotating the weapon and is therefore not interpreted as a threat.

BREVE DESCRIPTION DES DESSINSBRIEF DESCRIPTION OF THE DRAWINGS

Il sera fait référence à la figure du dessin annexé qui représente une vue en perspective, avec écorché, du tourelleau optronique armé de l'invention.Reference will be made to the figure of the appended drawing which shows a perspective view, with skin, of the armed optronic cupola of the invention.

DESCRIPTION DETAILLEE DE L'INVENTIONDETAILED DESCRIPTION OF THE INVENTION

Le tourelleau optronique armé 1 de l'invention, destiné ici à équiper un véhicule terrestre blindé léger, comporte une embase 2 fixée directement sur le véhicule, un corps 3 constitué par une base tournante 4 et par un support échancré 5, et un viseur optronique 6 comportant un corps de viseur 6a et deux parties actives 6b, 6c. Les formes extérieures de l'embase 2 et de la base tournante 4 du tourelleau optronique armé 1 sont des cylindres de révolution ayant pour axe un même axe vertical appelé dans cette description axe de gisement Z.The armed optronic cupola 1 of the invention, intended here to equip a light armored ground vehicle, comprises a base 2 fixed directly to the vehicle, a body 3 constituted by a rotating base 4 and a notched support 5, and an optronic viewfinder. 6 having a viewfinder body 6a and two active parts 6b, 6c. The outer forms of the base 2 and the rotating base 4 of the armed optronic cupola 1 are cylinders of revolution having for axis the same vertical axis called in this description bearing axis Z.

Le corps 3 du tourelleau optronique armé 1 est monté pivotant autour de l'axe de gisement Z, et est entraîné en rotation autour de l'axe de gisement Z par des premiers moyens d'entraînement 7 positionnés à l'intérieur de l'embase 2. Les premiers moyens d'entraînement 7 comportent un premier moteur électrique 8 coopérant avec un premier palier 9 comprenant une partie fixe 11 solidaire en rotation de l'embase 2 et une partie tournante 12 solidaire en rotation de la base tournante 4 du corps 3.The body 3 of the armed optronic cupola 1 is pivotally mounted around the bearing axis Z, and is rotated about the bearing axis Z by first drive means 7 positioned inside the base 2. The first drive means 7 comprise a first electric motor 8 cooperating with a first bearing 9 comprising a fixed portion 11 integral in rotation with the base 2 and a rotating portion 12 integral in rotation with the rotating base 4 of the body 3 .

Le support échancré 5 est fixé sur la base tournante 4 du corps 3 du tourelleau optronique armé 1. Le support échancré 5 comprend deux bras s'étendant verticalement depuis la base tournante 4 jusqu'à une partie supérieure 14 du tourelleau optronique armé 1.The notched support 5 is fixed on the rotating base 4 of the body 3 of the armed optronic cupola 1. The notched support 5 comprises two arms extending vertically from the rotating base 4 to an upper portion 14 of the armed optronic cupola 1.

Une arme légère 15, située sur la partie supérieure 14 du corps 3 du tourelleau optronique armé 1, est montée sur le support échancré 5. L'arme légère 15 est donc solidaire en rotation du corps 3 selon l'axe de gisement Z et est donc elle aussi montée pivotante autour de l'axe de gisement Z. L'orientation de l'arme légère 15 en gisement, pour tirer sur des cibles selon des angles de gisement différents, est par conséquent réalisée au moyen des premiers moyens d'entraînement 7.A light weapon 15, located on the upper part 14 of the body 3 of the armed optronic cupola 1, is mounted on the notched support 5. The light weapon 15 is thus integral in rotation with the body 3 along the bearing axis Z and is so it also mounted pivoting around the bearing axis Z. The orientation of the light weapon 15 in the field, to shoot at targets at bearing angles different, is therefore achieved by means of the first drive means 7.

L'arme légère 15 est aussi montée pour pivoter autour d'un premier axe de site X1, ce qui permet d'orienter l'arme légère 15 en site (ou en élévation) pour tirer sur des cibles selon des angles de site différents. L'orientation de l'arme légère 15 en site est réalisée au moyen de deuxièmes moyens d'entraînement 16 comportant un deuxième moteur électrique et montés sur le support échancré 5.The light weapon 15 is also mounted to pivot about a first X1 site axis, which allows the light weapon 15 to be directed in elevation to shoot targets at different elevation angles. The orientation of the light weapon 15 in situ is achieved by means of second drive means 16 comprising a second electric motor and mounted on the notched support 5.

Le corps de viseur 6a du viseur optronique 6 est, quant à lui, monté pour pivoter autour de l'axe de gisement Z indépendamment du pivotement du corps 3 du tourelleau optronique armé 1 et donc de l'arme légère 15. L'orientation en gisement du viseur optronique 6, pour réaliser la visée pour l'arme légère 15 ou pour effectuer des observations selon des angles de gisement différents, est réalisée par des troisièmes moyens d'entraînement 18 positionnés, tout comme les premiers moyens d'entraînement 7, à l'intérieur de l'embase 2 du tourelleau optronique armé 1. Les troisièmes moyens d'entraînement 18 comportent un troisième moteur électrique 19 coopérant avec un deuxième palier 21 comprenant une partie fixe 22 solidaire en rotation de l'embase 2 et une partie tournante 23 solidaire en rotation du corps de viseur 6a du viseur optronique 6. Le premier palier 9 et le deuxième palier 21 sont donc montés coaxialement autour de l'axe de gisement Z. Le premier moteur électrique 8 et le troisième moteur électrique 19 fonctionnent indépendamment l'un de l'autre, ce qui permet d'orienter en gisement l'arme légère 15 et le viseur optronique 6 indépendamment l'un de l'autre. On notera toutefois que le viseur optronique 6 peut être utilisé pour pointer l'arme. Dans cette phase, le viseur optronique 6 envoie des consignes de position en gisement qui sont recopiées par l'asservissement de recopie en position de l'arme, chacun des deux dispositifs étant munis de capteurs de position angulaire en gisement de précision suffisante à cette fin. Le simbleautage est réalisé en réglant le décalage angulaire entre les indications des capteurs de l'arme et du viseur lorsque ceux-ci visent dans la même direction (il s'agit d'une procédure classique de simbleautage du viseur avec l'arme réalisée dans les tourelles où l'arme est asservie en position sur le viseur).The viewfinder body 6a of the optronic viewfinder 6 is, for its part, mounted to pivot about the bearing axis Z independently of the pivoting of the body 3 of the armed optronic cupola 1 and therefore of the light weapon 15. The orientation in the field of the optronic viewfinder 6, to achieve the aim for the light weapon 15 or to make observations at different bearing angles, is performed by third drive means 18 positioned, as the first drive means 7, inside the base 2 of the armed optronic cupola 1. The third drive means 18 comprise a third electric motor 19 cooperating with a second bearing 21 comprising a fixed part 22 integral in rotation with the base 2 and a part rotating member 23 rotatably connected to the viewfinder body 6a of the optronic viewfinder 6. The first bearing 9 and the second bearing 21 are thus mounted coaxially around the bearing axis Z. The first motor 8 and the third electric motor 19 operate independently of each other, which allows to orient the weapon in traverse light 15 and the optronics viewfinder 6 independently of one another. Note, however, that the optronic viewfinder 6 can be used to point the weapon. In this phase, the optronic viewfinder 6 sends deposit position instructions which are copied by servocontrol copying to the position of the weapon, each of the two devices being provided with angular position sensors in precision bearing sufficient for this purpose. The simbleautage is achieved by adjusting the angular offset between the indications of the sensors of the weapon and the viewfinder when they aim in the same direction (this is a conventional procedure of simbleautage of the viewfinder with the weapon made in the turrets where the weapon is slaved in position on the viewfinder).

Les parties actives 6b, 6c du viseur optronique 6 sont aussi montées pour pivoter autour d'un deuxième axe de site X2, ce qui permet d'orienter le viseur optronique 6 en site pour réaliser la visée pour l'arme légère 15 et pour effectuer des observations selon des angles de site différents. L'orientation des parties actives 6a, 6b du viseur optronique 6 en site est réalisée au moyen de quatrièmes moyens d'entraînement 25 (représentés schématiquement sur la figure) comportant un quatrième moteur électrique et situés à l'intérieur du corps de viseur 6a du viseur optronique 6.The active parts 6b, 6c of the optronic viewfinder 6 are also mounted to pivot around a second axis of site X2, which allows to orient the optronic viewfinder 6 in site to achieve the aim for the light weapon 15 and to perform observations at different angles of elevation. The orientation of the active parts 6a, 6b of the optronic viewfinder 6 in situ is achieved by means of fourth drive means 25 (shown schematically in the figure) comprising a fourth electric motor and located inside the viewfinder body 6a of the optronic viewfinder 6.

On note sur la figure que l'arme légère 15 est située au dessus du viseur optronique 6, et que le support échancré 5 sur lequel est montée l'arme légère 15 dégage une zone périphérique majoritaire autour du viseur optronique 6. Ainsi, pour une position en gisement donnée du corps 3 du tourelleau optronique armé 1, le viseur optronique 6 peut être orienté sur une étendue importante d'angle de gisement sans que son champ de vision ne soit masqué par des obstacles situés sur le tourelleau optronique armé 1, lesdits obstacles étant ici constitués notamment par les bras verticaux du support échancré 5. On minimise ainsi une zone angulaire dans laquelle le champ de vision du viseur optronique 6 est masqué.It should be noted in the figure that the light weapon 15 is situated above the optronic viewfinder 6, and that the indented support 5 on which the light weapon 15 is mounted releases a major peripheral zone around the optronic viewfinder 6. given position of the body 3 of the armed optronic cupola 1, the optronic viewfinder 6 can be oriented over a large extent of bearing angle without its field of vision being masked by obstacles located on the armed optronic cupola 1, said obstacles being here constituted in particular by the vertical arms of the notched support 5. This minimizes an angular zone in which the field of view of the optronic viewfinder 6 is masked.

Il n'est de plus pas nécessaire de faire pivoter le corps 3 du tourelleau optronique armé 1 et donc l'arme légère 15 pour effectuer des observations grâce au viseur optronique 6 sur une étendue importante d'angle de gisement.It is also not necessary to rotate the body 3 of the armed optronic cupola 1 and therefore the weapon light to make observations with the optronic viewfinder 6 over a wide range of bearing angle.

On note en outre que, comme l'axe de gisement autour duquel pivote le viseur optronique 6 et celui autour duquel pivote le corps 3 du tourelleau optronique armé 1 et donc l'arme légère 15 sont confondus, le tourelleau optronique armé 1 de l'invention présente une très bonne qualité de simbleautage. De plus, comme le viseur optronique 6 et l'arme légère 15 sont très proches l'un de l'autre sur le tourelleau, d'éventuels problèmes de parallaxe sont minimisés.It is further noted that, as the bearing axis around which pivots the optronic viewfinder 6 and the one around which pivots the body 3 of the armed optronic cupola 1 and therefore the light weapon 15 are merged, the armed optronic cupola 1 of the invention has a very good quality of simbleautage. In addition, since the optronic viewfinder 6 and the light weapon 15 are very close to each other on the cupola, possible parallax problems are minimized.

Le tourelleau optronique armé 1 comporte de plus des moyens de détection 31 d'un tir de projectile et un dispositif de vision hémisphérique 32 tous deux situés sur la partie supérieure 14 du corps 3 du tourelleau optronique armé 1 et montés sur le support échancré 5.The armed optronic cupola 1 further comprises means 31 for detecting a projectile firing and a hemispherical vision device 32 both located on the upper part 14 of the body 3 of the armed optronic cupola 1 and mounted on the indented support 5.

Les moyens de détection 31 comportent une tête de détection 33 de forme semi-sphérique équipée d'une pluralité de capteurs acoustiques 34 répartis sur toute la surface de la tête de détection 33, ainsi que des moyens de traitement 35 situés dans la tête de détection 33 (représentés schématiquement sur la figure). Les moyens de traitement 35 sont adaptés à acquérir des mesures acoustiques réalisés par les capteurs acoustiques 34 et à analyser ces mesures acoustiques. Les moyens de traitement 35 déduisent de ces mesures acoustiques qu'un tir de projectile a été effectué. Les moyens de traitement 35 sont aussi adaptés à localiser l'origine du projectile, en analysant les différences entre les intensités sonores associées aux mesures acoustiques et perçues par les différents capteurs acoustiques 34.The detection means 31 comprise a semi-spherical sensing head 33 equipped with a plurality of acoustic sensors 34 distributed over the entire surface of the detection head 33, as well as processing means 35 located in the detection head. 33 (shown schematically in the figure). The processing means 35 are adapted to acquire acoustic measurements made by the acoustic sensors 34 and to analyze these acoustic measurements. The processing means 35 deduce from these acoustic measurements that a shot has been fired. The processing means 35 are also adapted to locate the origin of the projectile, by analyzing the differences between the sound intensities associated with the acoustic measurements and perceived by the various acoustic sensors 34.

La position des moyens de détection 31, situés sur la partie supérieure 14 du corps 3 du tourelleau optronique armé 1, permet à ceux-ci de réaliser les mesures acoustiques sans que des réflexions parasites sur des obstacles situés sur le tourelleau optronique armé 1 ne perturbent ces mesures.The position of the detection means 31, located on the upper part 14 of the body 3 of the armed optronic cupola 1, enables them to carry out the measurements. acoustics without parasitic reflections on obstacles on the armed optronic cupola 1 disturb these measurements.

Le dispositif de vision hémisphérique 32 comporte notamment une caméra 38 munie d'un objectif de type « fisheye » (ou « oeil de poisson ») permettant à la caméra 38 de fournir des images panoramiques sur 220°.The hemispherical vision device 32 comprises in particular a camera 38 provided with a "fisheye" type of lens (or "fish eye") allowing the camera 38 to provide panoramic images of 220 °.

La position du dispositif de vision hémisphérique, situé sur la partie supérieure 14 du corps 3 du tourelleau optronique armé 1 permet d'offrir une vision complètement dégagée des alentours et du dessus du véhicule.The position of the hemispherical vision device, located on the upper part 14 of the body 3 of the armed optronic cupola 1 provides a completely unobstructed view of the surroundings and the top of the vehicle.

Le tourelleau optronique armé 1 comporte de plus un dispositif lance-grenades 41 en deux parties 41a, 41b adapté à lancer des grenades fumigènes. Le dispositif lance-grenades 41 est monté sur la base tournante 4 du corps 3 du tourelleau optronique armé 1 et est solidaire en rotation du corps 3. L'orientation du lance-grenades 41 en gisement est donc réalisée par les premiers moyens d'entraînement 7, tout comme l'orientation en gisement de l'arme légère 15.The armed optronic cupola 1 further comprises a two-part 41 grenade launcher device 41a, 41b adapted to launch smoke grenades. The grenade launcher device 41 is mounted on the rotating base 4 of the body 3 of the armed optronic cupola 1 and is rotationally integral with the body 3. The orientation of the grenade launcher 41 in the bearing is thus achieved by the first drive means 7, as well as the orientation in the field of the light weapon 15.

Le tourelleau optronique armé 1 comporte enfin un calculateur centralisé 42 (représenté schématiquement sur la figure) situé dans l'embase 2 du tourelleau optronique armé 1.The armed optronic cupola 1 finally comprises a centralized computer 42 (shown schematically in the figure) located in the base 2 of the armed optronic cupola 1.

Le calculateur centralisé 42 est ici connecté à une pluralité d'équipements du tourelleau pour les commander et/ou pour acquérir des données provenant de ces équipements.The centralized computer 42 is here connected to a plurality of equipment of the cupola to control and / or to acquire data from these equipment.

Le calculateur centralisé 42 est en l'occurrence connecté à l'arme légère 15 et au dispositif de lance-grenades 41 pour commander leur actionnement. Le calculateur centralisé 42 est de plus connecté aux premiers moyens d'entraînement 7 pour commander l'orientation en gisement du corps 3 du tourelleau optronique armé 1 et donc de l'arme légère 15, du dispositif lance-grenades 41, des moyens de détection 31 et du dispositif de vision atmosphérique 32. Le calculateur centralisé 42 est aussi connecté aux deuxièmes moyens d'entraînement 16 pour commander l'orientation en site de l'arme légère 15, aux troisièmes moyens d'entraînement 18 et aux quatrièmes moyens d'entraînement 25 pour commander respectivement l'orientation en gisement et en site du viseur optronique 6. Le calculateur centralisé 42 est enfin relié aux moyens de traitement 35 des moyens de détection 31, au dispositif de vision hémisphérique 32 et au viseur optronique 6 pour acquérir des données (images, mesures acoustiques, localisation de l'origine d'un projectile, etc.) provenant de ces équipements.The centralized computer 42 is in this case connected to the light weapon 15 and the grenade launcher device 41 to control their actuation. The centralized computer 42 is further connected to the first drive means 7 for controlling the bearing orientation of the body 3 of the armed optronic cupola 1 and thus of the light weapon 15, the grenade launcher device. 41, detection means 31 and the atmospheric vision device 32. The centralized computer 42 is also connected to the second drive means 16 for controlling the orientation of the light weapon 15 in its location, to the third drive means 18 and the fourth drive means 25 for respectively controlling the orientation of the optronic viewfinder 6. The centralized computer 42 is finally connected to the processing means 35 of the detection means 31, to the hemispherical vision device 32 and to the optronic viewfinder 6 to acquire data (images, acoustic measurements, location of the origin of a projectile, etc.) from these devices.

Le calculateur centralisé 42 comporte des moyens de communication symbolisés en 43 (ces moyens de communication sont par exemple une liaison par câbles électriques ou mais pourraient être une liaison sans fil) qui permettent de téléopérer le tourelleau optronique armé 1. Par « téléopérer », on entend que les moyens de commande (manette de pointage, écran de visualisation, bouton de mise de feu...) sont déportés à l'intérieur du véhicule.The centralized computer 42 comprises means of communication symbolized at 43 (these communication means are for example a connection by electric cables or but could be a wireless link) which make it possible to remote control the armed optronic cupola 1. By "teleoperating", one means that the control means (pointing stick, display screen, firing button ...) are deported inside the vehicle.

L'utilisation d'un calculateur centralisé 42 situé au coeur même du tourelleau optronique armé 1 permet de faciliter l'intégration du tourelleau optronique armé 1 dans le véhicule, de réduire le nombre et la longueur des câbles connectés aux différents équipements du tourelleau optronique armé 1, de diminuer les temps de réponse associés aux commande de ces équipements, d'améliorer les fonctions de surveillance de ces équipements, etc.The use of a centralized computer 42 located in the heart of the armed optronic cupola 1 makes it possible to facilitate the integration of the armed optronic cupola 1 in the vehicle, to reduce the number and the length of the cables connected to the different equipment of the armed optronic cupola. 1, decrease the response time associated with the control of these equipment, improve the monitoring functions of these equipment, etc.

Avantageusement, les premiers moyens d'entraînement 7 et les troisièmes moyens d'entraînement 18 peuvent être pilotés par le calculateur centralisé 42 pour mettre en oeuvre un mode coordonné dans lequel un entraînement en rotation coordonné du corps 3 et du viseur optronique 6 autour de l'axe de gisement Z est commandé. Le mode coordonné est utilisé pour réduire voire éliminer totalement la zone angulaire dans laquelle le champ de vision du viseur optronique 6 est masquée.Advantageously, the first drive means 7 and the third drive means 18 may be driven by the centralized computer 42 to implement a coordinated mode in which a coordinated rotation drive of the body 3 and the optronic viewfinder 6 around the Z bearing axis is controlled. Coordinated mode is used to reduce or totally eliminate the angular area in which the field of view of the optronic viewfinder 6 is masked.

Lorsque le mode coordonné est sélectionné (depuis le véhicule, à distance, etc.), le calculateur centralisé 42 pilote les premiers moyens d'entraînement 7 et les troisièmes moyens d'entraînement 18 en coordonnant les premiers moyens d'entraînement 7 et les troisièmes moyens d'entraînement 18 de manière à assurer que les positions angulaires en gisement du corps 3 et du viseur optronique 6 demeurent telles que le champ de vision du viseur optronique 6 ne soit jamais masqué par les bras verticaux du support échancré 5.When the coordinated mode is selected (from the vehicle, at a distance, etc.), the centralized computer 42 controls the first drive means 7 and the third drive means 18 by coordinating the first drive means 7 and the third drive means. drive means 18 so as to ensure that the angular position of the body 3 and the optronic viewfinder 6 remain such that the field of view of the optronic viewfinder 6 is never hidden by the vertical arms of the indented support 5.

Le viseur optronique 6 peut donc être orienté sur une étendue d'angle de gisement de 360° sans que son champ de vision ne soit masqué. L'entraînement en rotation du viseur optronique 6 s'accompagne d'un entraînement en rotation coordonné du corps 3 lorsque la position angulaire en gisement du viseur optronique 6 est telle que son champs de vision est sur le point d'être masqué par les bras verticaux du support échancré 5. Avantageusement, des moyens d'estimation de la vitesse d'entraînement en rotation selon l'angle de gisement du viseur optronique 6 et du corps 3, ainsi que des moyens d'estimation de la position angulaire en gisement du viseur optronique 6 et du corps 3 sont utilisés pour mettre en oeuvre le mode coordonné.The optronic viewfinder 6 can therefore be oriented over a 360 ° angle of view angle without its field of vision being masked. The rotational drive of the optronic viewfinder 6 is accompanied by a coordinated rotation drive of the body 3 when the angular position in the bearing of the optronic viewfinder 6 is such that its field of vision is about to be masked by the arms 5. Advantageously, means for estimating the rotary drive speed according to the bearing angle of the optronic viewfinder 6 and the body 3, as well as means for estimating the angular position in the bearing of the 6 optronic viewfinder and 3 body are used to implement the coordinated mode.

Lorsque les positions angulaires relatives du viseur optronique 6 et du corps 3 et la vitesse d'entraînement en rotation du viseur optronique 6 sont telles que les premiers moyens d'entraînement 7 ne sont pas en mesure d'orienter le corps 3 suffisamment rapidement pour empêcher que le champ de vision du viseur optronique 6 ne soit masqué, le calculateur centralisé 42 commande les troisièmes moyen d'entraînement 18 pour interrompre l'entraînement en rotation du viseur optronique 6.When the relative angular positions of the optronic viewfinder 6 and the body 3 and the rotational drive speed of the optronic viewfinder 6 are such that the first drive means 7 are not able to orient the body 3 quickly enough to prevent that the field of view of the optronic viewfinder 6 is masked, the centralized computer 42 controls the third drive means 18 to interrupt the rotation drive of the optronic viewfinder 6.

Alternativement, le calculateur centralisé 42 est configuré pour déduire des positions angulaires en gisement respectives du viseur optronique 6 et du corps 3 que le champ de vision du viseur optronique 6 va être masqué par un des bras. Dans ce cas, le calculateur centralisé 42 commande les troisièmes moyens d'entraînement 18 pour entraîner le viseur optronique 6 dans un sens opposé au sens de rotation commandé, de manière à repositionner le viseur optronique 6 dans une position angulaire où son champ de vision n'est pas masqué.Alternatively, the centralized computer 42 is configured to deduce respective bearing angular positions of the optronic viewfinder 6 and the body 3 that the field of view of the optronic viewfinder 6 will be masked by one of the arms. In this case, the centralized computer 42 controls the third drive means 18 to drive the optronic viewfinder 6 in a direction opposite to the direction of rotation controlled, so as to reposition the optronic viewfinder 6 in an angular position where its field of vision n is not hidden.

Alternativement, des données de référence de position angulaire en gisement du corps 3 et du viseur optronique 6 et de vitesse de rotation du corps 3 et du viseur optronique 6 sont stockées dans un module de mémoire associé au calculateur centralisé 42. Le calculateur centralisé 42 utilise ces données de référence pour mettre en oeuvre le mode coordonné, par exemple en stoppant l'entraînement en rotation du viseur optronique lorsque sa vitesse dépasse un seuil prédéfini inclus dans les données de référence ou lorsque sa position angulaire dépasse une position prédéfinie incluse dans les données de référence.Alternatively, reference data of the angular position of the body 3 and the optronic viewfinder 6 and the rotational speed of the body 3 and the optronic viewfinder 6 are stored in a memory module associated with the centralized computer 42. The centralized computer 42 uses these reference data to implement the coordinated mode, for example by stopping the rotational drive of the optronic viewfinder when its speed exceeds a predefined threshold included in the reference data or when its angular position exceeds a predefined position included in the data reference.

L'invention n'est pas limitée au mode de réalisation particulier qui vient d'être décrit, mais, bien au contraire, couvre toute variante entrant dans le cadre de l'invention telle que définie par les revendications.The invention is not limited to the particular embodiment which has just been described, but, on the contrary, covers any variant within the scope of the invention as defined by the claims.

Bien que l'on ait décrit que l'embase du tourelleau optronique armé est fixée directement sur le véhicule terrestre blindé léger, le tourelleau optronique armé peut bien sûr être monté sur une tourelle équipant un tel véhicule. On note par ailleurs que, dans le terme « tourelleau », on inclut tout type d'affût portant une arme quelconque, pouvant être ou non monté sur une tourelle.Although it has been described that the base of the armed optronic cupola is fixed directly on the light armored ground vehicle, the armed optronic cupola can of course be mounted on a turret equipping such a vehicle. Note also that in the term "turret" includes any type of carriage carrying any weapon, which may or may not be mounted on a turret.

De même, bien que l'on ait indiqué que le tourelleau optronique armé équipe un véhicule terrestre blindé léger, celui-ci peut bien sûr être monté sur un autre type de support : navire militaire, avion ou hélicoptère de combat, installation militaire fixe (tourelle antiaérienne), etc.Similarly, although it has been stated that the cupola armed optronics equip a light armored land vehicle, it can of course be mounted on another type of support: military ship, aircraft or helicopter fighter, fixed military installation (antiaircraft turret), etc.

Bien que l'axe de gisement soit ici un axe vertical, celui-ci peut être un axe d'orientation quelconque formant un angle non nul avec un axe vertical.Although the bearing axis is here a vertical axis, it may be any axis of orientation forming a non-zero angle with a vertical axis.

Lors du déplacement du viseur optronique 6, le corps 3 peut être fixe ou entraîné dans le même sens que le viseur optronique 6 (pour éviter un masquage du champ de vision du viseur optronique 6 par un des bras) ou dans un sens opposé (pour augmenter la vitesse de passage du bras devant le viseur optronique et réduire la durée de masquage). During the displacement of the optronic viewfinder 6, the body 3 can be fixed or driven in the same direction as the optronic viewfinder 6 (to avoid a masking of the field of view of the optronic viewfinder 6 by one of the arms) or in an opposite direction (for increase the speed of passage of the arm in front of the optronic viewfinder and reduce the duration of masking).

Claims (12)

  1. An opto-electronic remote weapon station (RWS) comprising a body (3) pivotable about a bearing axis (Z), a weapon (15) constrained to turn with the body (3) about the bearing axis (Z) and pivotally mounted about a first elevation axis (X1), and an opto-electronic sight (6) pivotally mounted about the same bearing axis (Z) independently of the pivoting of the body (3) about the bearing axis characterized in that the weapon (15) is situated on a top portion (14) of the body (3) of the RWS above the opto-electronic sight (6), and the weapon being mounted on a notched support (5) leaving free a majority peripheral zone around the opto-electronic sight.
  2. An opto-electronic RWS according to the preceding claim, including drive means arranged to authorize coordinated drive of the body (3) and of the opto-electronic sight (6) in turning about the bearing axis (Z) so as to avoid a field of view of the opto-electronic sight (6) being masked by an obstacle situated on the body (3).
  3. An opto-electronic RWS according to claim 2, wherein an angular position in bearing of the opto-electronic sight (6) and/or of the body (3) is used to cause coordinated turning drive to be put into operation.
  4. An opto-electronic RWS according to claim 2, wherein a rate of turning in bearing of the opto-electronic sight (6) and/or of the body (3) is used in order to cause coordinated turning drive to be put into operation.
  5. An opto-electronic RWS according to claim 2, wherein reference data concerning angular position and/or rate of turning is stored in a memory module and used to cause coordinated turning drive to be put into operation.
  6. An opto-electronic RWS according to any preceding claim, wherein the opto-electronic sight is pivotally mounted about a second elevation axis (X2).
  7. An opto-electronic RWS according to any preceding claim, including detector means (31) for detecting the firing of a projectile, said detector means being situated on the top portion of the body of the RWS.
  8. An opto-electronic RWS according to claim 7, wherein the detector means are also adapted to locate an origin for the projectile.
  9. An opto-electronic RWS according to claim 7 or claim 8, wherein the detector means include an acoustic sensor (34) .
  10. An opto-electronic RWS according to any preceding claim, including a hemispherical viewer device (32) situated on the top portion of the body of the RWS.
  11. An opto-electronic RWS according to any preceding claim, including a centralized computer (42) connected to a plurality of pieces of equipment of the RWS in order to control them and/or acquire data coming from the pieces of equipment, the plurality of pieces of equipment, comprising the weapon and/or the opto-electronic sight and/or the detector means and/or the hemispherical viewer device and/or the rotary drive means for the pieces of equipment.
  12. An opto-electronic RWS according to claim 11, wherein the centralized computer (42) is remotely controllable.
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FR1452728A FR3019279B1 (en) 2014-03-28 2014-03-28 OPTRONIC ARMY TURTLE
PCT/EP2015/056924 WO2015144937A1 (en) 2014-03-28 2015-03-30 Armed optoelectronic turret

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RU2743597C1 (en) * 2020-07-29 2021-02-20 Юрий Иосифович Полевой Method of guiding the weapon on the target
RU206350U1 (en) * 2021-05-27 2021-09-07 Акционерное общество «Аэроэлектромаш» HORIZONTAL HORIZONTAL HORIZONTAL HORIZONTAL HORIZONTAL HORIZONTAL ROTARY BEARING
RU2759065C1 (en) * 2021-06-08 2021-11-09 Акционерное общество «Аэроэлектромаш» Helicopter gun mount with improved mounting of projectile containers

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WO2015144937A1 (en) 2015-10-01
FR3019279B1 (en) 2018-06-22
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AU2015238173B2 (en) 2018-12-13
EP3123097A1 (en) 2017-02-01

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