EP3123100B1 - Optoelectronic viewfinder with modular shielding - Google Patents

Optoelectronic viewfinder with modular shielding Download PDF

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Publication number
EP3123100B1
EP3123100B1 EP15714784.4A EP15714784A EP3123100B1 EP 3123100 B1 EP3123100 B1 EP 3123100B1 EP 15714784 A EP15714784 A EP 15714784A EP 3123100 B1 EP3123100 B1 EP 3123100B1
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EP
European Patent Office
Prior art keywords
opto
viewfinder
bearing
control
sight
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EP15714784.4A
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German (de)
French (fr)
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EP3123100A1 (en
Inventor
Bernard Boehm
Fabien Hauzanneau
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Safran Electronics and Defense SAS
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Safran Electronics and Defense SAS
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Publication of EP3123100A1 publication Critical patent/EP3123100A1/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H5/00—Armour; Armour plates
    • F41H5/26—Peepholes; Windows; Loopholes
    • F41H5/266—Periscopes for fighting or armoured vehicles
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H5/00—Armour; Armour plates
    • F41H5/06—Shields
    • F41H5/18—Rotating shields

Definitions

  • the invention relates to an optronic viewfinder with a modular shield comprising means for detecting the shielding.
  • a viewfinder equipping an armed land vehicle, such as a tank, is conventionally provided with an optronic device incorporating detection equipment such as an infrared camera, a video camera, a thermal camera, a laser rangefinder, etc.
  • an optronic device is mounted on a two-axis orientation platform which makes it possible to orient the device in a site and in a bearing.
  • the viewfinder of the command post is usually a panoramic viewfinder located on an upper part of the tank's turret to provide the tank commander with as wide a field of view as possible.
  • This viewfinder is very exposed and must be protected against external aggressions and more particularly against projectiles (bullet impacts, shrapnel, debris, etc.) and is equipped for this purpose with a ballistic armor.
  • DE 10 2008 039 512 A1 represents a device designed for the protection of the viewfinder of the control station.
  • the sight of the firing station meanwhile, is located near the weapon.
  • the sight of the firing station benefits from a limited angle of view centered on the axis of the barrel of the weapon. This allows to house the viewfinder closer to the barrel between armored walls of the tank.
  • the sight of the firing station is not itself equipped with a shield.
  • the two viewers can be identical from an optronic point of view, they have different mechanical structures adapted to the onboard weight, including the motorization and the bearing for the rotation of the optronic viewfinder.
  • the bearing of the sight of the firing station generally has a smaller diameter to limit the friction and to facilitate the active stabilization of the sight by the control of the motorization (in the visor of the position of head of tank, the frictions resulting from the use of a bearing of large diameter are not a problem to ensure the active stabilization of the viewfinder because they are compensated by the inertia provided by the mass of the shield).
  • the object of the invention is to reduce the development and maintenance costs of the viewfinders equipping, in particular, armed land vehicles.
  • a modally shielded optronic viewfinder as described in claim 1.
  • these viewfinders are today generally different and include in particular an orientation platform different and / or different drive means and / or different control means for controlling the drive means. It is therefore necessary, to equip such an armed vehicle, to develop two different viewfinders. It is also necessary to store and make available these two different types of viewfinders to ensure maintenance operations.
  • the optronic viewfinder of the invention is equipped with a modular shield which can be installed or not on the optronic viewfinder.
  • the detection means of the optronic viewfinder can detect the presence or absence of the shield and adapt the control of the drive means according to the presence or absence of a shield on the viewfinder.
  • two similar viewfinders comprising the same platform, drive means and identical control means, the viewfinder of the control station being equipped with a shielding contrary to that of the firing station. We therefore reduce the development cost of these viewfinders since it is no longer necessary to design two viewfinders.
  • an armed land vehicle with at least one weapon, a firing station from which the weapon is fired, a command post from which operations are performed such as control or observation operations, the control station being provided with a first optronic viewfinder on which the modular shielding is installed, the shooting station being provided with a second optronic viewfinder on which the modular shielding is not installed.
  • an armed land vehicle in this case a tank 1, comprises a turret 2 equipped with a gun 3, a control station intended to receive a tank commander, a shooting station intended to receive a shooter and a police station. driving the tank.
  • a turret 2 equipped with a gun 3, a control station intended to receive a tank commander, a shooting station intended to receive a shooter and a police station. driving the tank.
  • the general structure of the chariot is known in itself.
  • the control station is equipped with a first optronic viewfinder 4a according to the invention, which allows the tank commander to observe and monitor the surroundings of the tank 1.
  • the first optronic viewfinder 4a is a panoramic viewfinder located on the turret 2 in an unprotected area: he offers the tank commander a field of view over a 360 degree angle range.
  • the firing station is equipped with a second optronic viewfinder 4b according to the invention located near the barrel 3 and from which the barrel 3 is actuated.
  • the second optronic viewfinder 4b is located in a protected and partially shielded zone of the turret 2.
  • the turret 2 and thus the gun 3 are here enslaved in position to the second optronic viewfinder 4b, the amplitude of the angular deflection in the bearing of the second optronic viewfinder 4b is limited between -5 ° and + 5 °.
  • the first viewfinder and the second optronic viewfinder 4a, 4b are similar viewfinders but differently configured because of their different position on the tank 1.
  • the first optronic viewfinder 4a is equipped with a modular shield 7 designed to protect it from external aggression and more particularly projectiles (bullet impacts, etc.), while the second optronic viewfinder 4b is not equipped with a modular armor because its location on the tank 1 does not require it.
  • the figure 2 represents the second viewfinder of the invention 4b, or, more generally, a viewfinder of the invention 4 not equipped with the modular shielding 7.
  • Each optronic viewfinder 4 comprises an optronic device 8, a two-axis orientation platform 9 allowing an orientation of the optronic device 8 along a site axis X and along a bearing axis Y, a support 11 in which are arranged first drive means, a programmable electronic card 12 and second drive means.
  • the optronic device 8 here comprises, in a conventional manner, a video camera, an infrared camera and a laser range finder which will not be further detailed in the following description.
  • the first training means comprise a electric motor 13 (shown schematically on the Figures 2 and 4 ) adapted to drive the optronic device 8 in rotation around the bearing axis Y.
  • the programmable electronic card 12 comprises control means 14 for driving the electric motor 13.
  • the second drive means are adapted to drive the optronic device 8 in rotation around the axis of site X and, as they do not directly concern the invention, will no longer be mentioned in this description.
  • the two-axis orientation platform 9 comprises a bearing 15 on which the optronic device 8 is mounted to be free to rotate about the bearing axis Y.
  • the optronic device 8 is carried by a rotating part of this bearing 15.
  • the electric motor 13 is driven by the control means 14 of the programmable electronic card 12 to rotate the rotary portion of the bearing 15 and thus to orient the optronic device 8 according to the required angle of bearing.
  • the rotary part is for example provided with a ring gear coaxial with the bearing 15 and a pinion connected in rotation with the output shaft of the electric motor 13 meshes with the ring gear. It is also possible to use direct drive torque motors, therefore without gear and without reduction ratio.
  • the control means 14 implement a control program for the electric motor 13 programmed on the programmable electronic card 12, said control program being arranged to implement a servo-control loop of the angle of view of the optronic viewfinder 4.
  • the first optronic viewfinder 4a is equipped with the modular shielding 7.
  • the modular shielding 7 is balanced in a manner independent of the Y bearing axis to avoid introducing a couple of unbalance that would be detrimental to the stabilization of the viewfinder. Mounting the modular shield 7 on the first optronic viewfinder 4a therefore requires no resumption of balancing of the first optronic viewfinder 4a.
  • the modular shielding 7 comprises a first opening 18 of shape complementary to those of second openings 19 of the optoelectronic device 8.
  • the second openings 19 of the optoelectronic device 8 located opposite the sensors of the cameras, are protected by transparent protection elements through from which the cameras make acquisitions of images over a large extent of elevation angle.
  • the modular shielding 7 is adapted to be carried by the rotating part of the bearing 15.
  • the modular shielding 7 is mounted on the bearing 15 via fastening means 21 comprising a fastening armature. three parts 22 screwed to the bearing 15.
  • the modular shielding 7 is itself fixed to the attachment armature. It is noted here that the fastening arm extends over only a portion of the circumference of the bearing 15, which, on the one hand, facilitates the installation and the removal of the modular shielding 7, and on the other hand, reduces the mass of the optronic viewfinder when the modular shielding 7 is installed.
  • the only difference between the first optronic viewfinder 4a and the second optronic viewfinder 4b is the presence, on the first optronic viewfinder 4a, of the modular shielding 7.
  • the control means 14 are arranged to adapt the manner in which they drive the optronic viewfinders 4 as a function of the presence or absence of the modulable shielding 7.
  • the programmable electronic card 12 of each viewfinder 4 is equipped with detection means 24, said detection means being connected to the control means 14 to communicate to them the result of this detection.
  • the detection means 24 of the programmable electronic card 12 of a given viewfinder 4 are here arranged to detect whether a connection cable connecting the viewfinder to the remainder of the turret is a first connection cable 25 intended to be connected to a viewfinder.
  • a control station such as the first optronic viewfinder of the invention 4a (said first connection cable 25 is thus visible on the figure 4 )
  • a second connection cable 26 intended to be connected to a viewfinder of a shooting station such as the second optronic viewfinder of the invention 4b (said second connection cable 26 is thus visible on the figure 2 ).
  • the first connection cable 25 is provided with a first connector 27 intended to be connected to a connector 28 located on the support 11 of the viewfinder of the control station, that is to say on the support 11 of the first optronic viewfinder 4a .
  • the second connection cable 26 is provided with a second connector 29 intended to be connected to a connector 28 located on the support 11 of the viewfinder of the firing station, that is to say on the support 11 of the second optronic viewfinder 4b .
  • the first connecting cable 25 is electrically arranged so that when the first connector 27 is connected to the connector 28 of the first optronic viewfinder 4a, two configuration pins of the connector 28 of the first viewfinder 4a form an open circuit.
  • the second connection cable 26 is itself electrically arranged so that, when the second connector 29 is connected to the connector 28 of the second optronic viewfinder 4b, the two configuration pins of the connector 28 of the second viewfinder 4b are short-circuited.
  • the detection means 24 of the programmable electronic card 12 are connected to the connector 28 which is itself connected to the first connector 27 of the first connection cable 25 or to the second connector 29 of the second connection cable 26.
  • the detection means 24 of the a viewfinder 4 detect whether the configuration pins of the connector 28 of the support 11 of the viewfinder 4 are short-circuited or if they form an open circuit, that is to say if the connector connected to the connector 28 is the first connector 27 or the second connector 29.
  • the detection means of a viewfinder 4 thus detect whether the viewfinder 4 is the first optronic viewfinder 4a or the second optronic viewfinder 4b, and therefore if the modular shield 7 is installed or not on said viewfinder.
  • the detection means 24 of the programmed electronic card 12 transmit to the control program of the control means 14 the result of this detection.
  • the control adaptation here consists in using a set of adjustment parameters of the control loop, comprising at least one adjustment parameter, a first series of values when the modular shielding 7 is mounted, and a second series of values. 31 when the modular shielding 7 is not mounted.
  • the use of the first set of values 30 or the second set of values 31 is defined by the control means 14 of the programmable electronic card 12 as a function of the result of the presence detection of the shielding 7 transmitted by the detection means. 24.
  • the first and second series of values 30, 31 of the adjustment parameters are predetermined to take into account the difference in mass and inertia between a viewfinder equipped with a modular shield 7 such as the first one. optronic viewfinder 4a and a viewfinder not equipped with a modular shield 7 such as the second optronic viewfinder 4b, differences in mass and inertia being significant because of the relatively high mass of the modular shielding.
  • the first and second series of values 30, 31 of the adjustment parameters also take account of the friction at the rolling elements of the bearing, friction whose influence on the motorization is greater in the viewfinder not equipped with a flexible shielding. .
  • control program used to control the electric motor 13 of the first optronic viewfinder 4a and that of the second optronic viewfinder 4b is a single parameterizable program.
  • the bearing comprises rolling elements consisting of balls of large diameter relative to an inner diameter of the bearing.
  • the ratio between the inside diameter of the bearing 7 and a diameter of one of these balls is here between 15 and 35, and is advantageously close to 25.
  • the inside diameter of the bearing 7 is thus typically 10 inches or 25.4 cm for an outside diameter of 11.5 inches or 29.21 cm, while the balls typically have a diameter of three eighths of an inch, or about 9, 52 mm. With such dimensions, the ratio between the inside diameter of the bearing 7 and the diameter of the balls is 25.7.
  • the relatively large diameter of the balls relative to the internal diameter of the bearing 7 makes the bearing 7 perfectly adapted to the mass and the large inertia of the first optronic viewfinder 4a of the invention which is equipped with the modular shielding 7.
  • the strong inertia is favorable to the stabilization of the position angular deposit, and makes it possible to compensate for the significant friction associated with the balls of large diameter of the bearing 7.
  • detection means which detect an open circuit and a short circuit at the configuration pins of a viewfinder connector
  • the invention naturally applies to completely different detection means. It is for example possible to equip the viewfinder with one or more sensors (proximity sensors, etc.) directly detecting the presence of the shield, said sensors being connected to the control means. It is also possible to detect the presence of the shield according to the efforts that the engine must provide to move the viewfinder (measurement of the current consumed for example) or to provide that the viewfinder control program requires a predefined action of the operator allowing to indicate whether the viewfinder is positioned at the position of the tank commander or the shooter's post.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Viewfinders (AREA)
  • Accessories Of Cameras (AREA)
  • Eye Examination Apparatus (AREA)

Description

L'invention concerne un viseur optronique à blindage modulable comportant des moyens de détection du blindage.The invention relates to an optronic viewfinder with a modular shield comprising means for detecting the shielding.

ARRIERE PLAN DE L'INVENTIONBACKGROUND OF THE INVENTION

Un viseur équipant un véhicule terrestre armé, tel qu'un char, est classiquement muni d'un dispositif optronique intégrant des équipements de détection comme par exemple une caméra infrarouge, une caméra vidéo, une caméra thermique, un télémètre laser, etc. Un tel dispositif optronique est monté sur une plateforme d'orientation à deux axes qui permet d'orienter le dispositif en site et en gisement.A viewfinder equipping an armed land vehicle, such as a tank, is conventionally provided with an optronic device incorporating detection equipment such as an infrared camera, a video camera, a thermal camera, a laser rangefinder, etc. Such an optronic device is mounted on a two-axis orientation platform which makes it possible to orient the device in a site and in a bearing.

La plupart des chars modernes comportent un poste de commande accueillant un chef de char chargé des opérations d'observation et de commande du char ou de son équipage, et un poste de tir accueillant un tireur, depuis lequel une arme (canon, mitraillette, etc.) équipant le char est actionnée. Chacun de ces postes est équipé de son propre viseur.Most modern tanks have a command post with a tank commander in charge of observation and command operations of the tank or its crew, and a firing point with a gunner, from which a weapon (cannon, submachine gun, etc. .) equipping the tank is activated. Each of these positions is equipped with its own viewfinder.

Le viseur du poste de commande est généralement un viseur panoramique situé sur une partie supérieure de la tourelle du char pour fournir au chef de char un champ de vision le plus étendu possible. Ce viseur est très exposé et doit être protégé contre des agressions extérieures et plus particulièrement contre les projectiles (impacts de balles, éclats d'obus, débris, etc.) et est équipé à cet effet d'un blindage balistique. DE 10 2008 039 512 A1 représente un dispositif conçu pour la protection du viseur du poste de commande. Le viseur du poste de tir, quant à lui, est situé à proximité de l'arme. Le viseur du poste de tir bénéficie d'un angle de vue limité centré sur l'axe du canon de l'arme. Ceci autorise à loger le viseur au plus près du canon entre des parois blindées du char. Le viseur du poste de tir n'est donc pas lui-même équipé d'un blindage.The viewfinder of the command post is usually a panoramic viewfinder located on an upper part of the tank's turret to provide the tank commander with as wide a field of view as possible. This viewfinder is very exposed and must be protected against external aggressions and more particularly against projectiles (bullet impacts, shrapnel, debris, etc.) and is equipped for this purpose with a ballistic armor. DE 10 2008 039 512 A1 represents a device designed for the protection of the viewfinder of the control station. The sight of the firing station, meanwhile, is located near the weapon. The sight of the firing station benefits from a limited angle of view centered on the axis of the barrel of the weapon. This allows to house the viewfinder closer to the barrel between armored walls of the tank. The sight of the firing station is not itself equipped with a shield.

Ces viseurs sont très complexes techniquement et présentent des coûts de développement et des coûts de maintenance importants.These viewfinders are very complex technically and have significant development costs and maintenance costs.

En outre, si les deux viseurs peuvent être identiques d'un point de vue optronique, ils ont des structures mécaniques différentes adaptées à la masse embarquée, notamment la motorisation et le palier permettant la rotation du viseur optronique. En particulier, le palier du viseur du poste de tir a généralement un diamètre inférieur pour limiter les frottements et faciliter la stabilisation active du viseur par le contrôle de la motorisation (dans le viseur du poste de chef de char, les frottements résultant de l'utilisation d'un palier de fort diamètre ne sont pas gênants pour assurer la stabilisation active du viseur car ils sont compensés par l'inertie procurée par la masse du blindage).In addition, if the two viewers can be identical from an optronic point of view, they have different mechanical structures adapted to the onboard weight, including the motorization and the bearing for the rotation of the optronic viewfinder. In particular, the bearing of the sight of the firing station generally has a smaller diameter to limit the friction and to facilitate the active stabilization of the sight by the control of the motorization (in the visor of the position of head of tank, the frictions resulting from the use of a bearing of large diameter are not a problem to ensure the active stabilization of the viewfinder because they are compensated by the inertia provided by the mass of the shield).

OBJET DE L'INVENTIONOBJECT OF THE INVENTION

L'invention a pour objet de réduire les coûts de développement et de maintenance des viseurs équipant notamment des véhicules terrestres armés.The object of the invention is to reduce the development and maintenance costs of the viewfinders equipping, in particular, armed land vehicles.

RESUME DE L'INVENTIONSUMMARY OF THE INVENTION

En vue de la réalisation de ce but, on propose un viseur optronique à blindage modulable, tel que décrit dans la revendication 1. Dans un même véhicule terrestre armé comportant un viseur équipé d'un blindage pour le poste de commande et un viseur non équipé d'un blindage pour le poste de tir, ces viseurs sont aujourd'hui généralement différents et comportent notamment une plateforme d'orientation différente et/ou des moyens d'entraînement différents et/ou des moyens de pilotage différents pour piloter les moyens d'entraînement. Il est donc nécessaire, pour équiper un tel véhicule armé, de développer deux viseurs différents. Il est de plus nécessaire de stocker et de rendre disponibles ces deux types de viseurs différents pour assurer des opérations de maintenance.With a view to achieving this object, there is provided a modally shielded optronic viewfinder as described in claim 1. In the same armed land vehicle with a viewfinder equipped with a shield for the control station and a viewfinder not equipped with a shield for the shooting station, these viewfinders are today generally different and include in particular an orientation platform different and / or different drive means and / or different control means for controlling the drive means. It is therefore necessary, to equip such an armed vehicle, to develop two different viewfinders. It is also necessary to store and make available these two different types of viewfinders to ensure maintenance operations.

Le viseur optronique de l'invention est équipé d'un blindage modulable qui peut être installé ou non sur le viseur optronique. Les moyens de détection du viseur optronique permettent de détecter la présence ou l'absence du blindage et d'adapter le pilotage des moyens d'entraînement en fonction de la présence ou non d'un blindage sur le viseur. Ainsi, il est possible d'utiliser deux viseurs semblables comportant une même plateforme, des moyens d'entraînement et des moyens de pilotage identiques, le viseur du poste de commande étant équipé d'un blindage au contraire de celui du poste de tir. On réduit donc le coût de développement de ces viseurs puisqu'il n'est plus nécessaire de concevoir deux viseurs. On réduit aussi le coût de maintenance des viseurs, non seulement parce qu'il n'est plus nécessaire de stocker deux types de viseurs, mais aussi parce qu'il est désormais possible de prélever le viseur d'un poste d'un véhicule armé en panne pour l'installer sur un autre véhicule en remplacement d'un viseur en panne du même poste ou de l'autre poste.The optronic viewfinder of the invention is equipped with a modular shield which can be installed or not on the optronic viewfinder. The detection means of the optronic viewfinder can detect the presence or absence of the shield and adapt the control of the drive means according to the presence or absence of a shield on the viewfinder. Thus, it is possible to use two similar viewfinders comprising the same platform, drive means and identical control means, the viewfinder of the control station being equipped with a shielding contrary to that of the firing station. We therefore reduce the development cost of these viewfinders since it is no longer necessary to design two viewfinders. It also reduces the cost of maintenance of the viewfinders, not only because it is no longer necessary to store two types of viewfinders, but also because it is now possible to take the viewfinder of a post of an armed vehicle failed to install it on another vehicle to replace a viewfinder inoperative of the same station or the other station.

On propose aussi un véhicule terrestre armé comportant au moins une arme, un poste de tir depuis lequel l'arme est actionnée, un poste de commande depuis lequel sont effectuées des opérations telles que des opérations de commande ou d'observation, le poste de commande étant muni d'un premier viseur optronique sur lequel le blindage modulable est installé, le poste de tir étant muni d'un deuxième viseur optronique sur lequel le blindage modulable n'est pas installé.We also propose an armed land vehicle with at least one weapon, a firing station from which the weapon is fired, a command post from which operations are performed such as control or observation operations, the control station being provided with a first optronic viewfinder on which the modular shielding is installed, the shooting station being provided with a second optronic viewfinder on which the modular shielding is not installed.

L'invention sera mieux comprise à la lumière de la description qui suit d'un mode de mise en oeuvre particulier non limitatif de l'invention.The invention will be better understood in the light of the following description of a particular non-limiting embodiment of the invention.

BREVE DESCRIPTION DES DESSINSBRIEF DESCRIPTION OF THE DRAWINGS

Il sera fait référence aux dessins annexés, parmi lesquels :

  • la figure 1 est une vue schématique en perspective d'un véhicule terrestre armé selon l'invention ;
  • la figure 2 est une vue en perspective du deuxième viseur optronique de l'invention, ledit deuxième viseur n'étant pas équipé d'un blindage modulable ;
  • la figure 3 est une vue en perspective du blindage modulable et de ses moyens de fixation au viseur ;
  • la figure 4 est une vue en perspective du premier viseur optronique de l'invention, ledit premier viseur étant équipé du blindage modulable.
Reference will be made to the appended drawings, among which:
  • the figure 1 is a schematic perspective view of a land vehicle armed according to the invention;
  • the figure 2 is a perspective view of the second optronic viewfinder of the invention, said second viewfinder not being equipped with a modular shield;
  • the figure 3 is a perspective view of the modular shield and its attachment means to the viewfinder;
  • the figure 4 is a perspective view of the first optronic viewfinder of the invention, said first viewfinder being equipped with the modular shield.

DESCRIPTION DETAILLEE DE L'INVENTIONDETAILED DESCRIPTION OF THE INVENTION

En référence à la figure 1, un véhicule terrestre armé, en l'occurrence un char 1, comporte une tourelle 2 équipée d'un canon 3, un poste de commande destiné à accueillir un chef de char, un poste de tir destiné à accueillir un tireur et un poste de conduite du char. La structure générale du char est connue en elle-même.With reference to the figure 1 , an armed land vehicle, in this case a tank 1, comprises a turret 2 equipped with a gun 3, a control station intended to receive a tank commander, a shooting station intended to receive a shooter and a police station. driving the tank. The general structure of the chariot is known in itself.

Le poste de commande est équipé d'un premier viseur optronique 4a selon l'invention, qui permet au chef de char d'observer et de surveiller les alentours du char 1. Le premier viseur optronique 4a est un viseur panoramique situé sur la tourelle 2 dans une zone non protégée : il offre au chef de char un champ de vision sur une étendue d'angle en gisement de 360°.The control station is equipped with a first optronic viewfinder 4a according to the invention, which allows the tank commander to observe and monitor the surroundings of the tank 1. The first optronic viewfinder 4a is a panoramic viewfinder located on the turret 2 in an unprotected area: he offers the tank commander a field of view over a 360 degree angle range.

Le poste de tir est équipé d'un deuxième viseur optronique 4b selon l'invention situé à proximité du canon 3 et depuis lequel le canon 3 est actionné. Le deuxième viseur optronique 4b est situé dans une zone protégée et partiellement blindée de la tourelle 2. La tourelle 2 et donc le canon 3 sont ici asservis en position au deuxième viseur optronique 4b, l'amplitude du débattement angulaire en gisement du deuxième viseur optronique 4b est limitée entre -5° et +5°.The firing station is equipped with a second optronic viewfinder 4b according to the invention located near the barrel 3 and from which the barrel 3 is actuated. The second optronic viewfinder 4b is located in a protected and partially shielded zone of the turret 2. The turret 2 and thus the gun 3 are here enslaved in position to the second optronic viewfinder 4b, the amplitude of the angular deflection in the bearing of the second optronic viewfinder 4b is limited between -5 ° and + 5 °.

Le premier viseur et le deuxième viseur optroniques 4a, 4b sont des viseurs semblables mais configurés différemment du fait de leur position différente sur le char 1. Le premier viseur optronique 4a est équipé d'un blindage modulable 7 destiné à le protéger d'agressions extérieures et plus particulièrement des projectiles (impacts de balles, etc.), alors que le deuxième viseur optronique 4b n'est pas équipé d'un blindage modulable car sa situation sur le char 1 ne l'exige pas.The first viewfinder and the second optronic viewfinder 4a, 4b are similar viewfinders but differently configured because of their different position on the tank 1. The first optronic viewfinder 4a is equipped with a modular shield 7 designed to protect it from external aggression and more particularly projectiles (bullet impacts, etc.), while the second optronic viewfinder 4b is not equipped with a modular armor because its location on the tank 1 does not require it.

La figure 2 représente le deuxième viseur de l'invention 4b, ou bien, plus généralement, un viseur de l'invention 4 non équipé du blindage modulable 7. Chaque viseur optronique 4 comporte un dispositif optronique 8, une plateforme d'orientation à deux axes 9 permettant une orientation du dispositif optronique 8 selon un axe de site X et selon un axe de gisement Y, un support 11 dans lequel sont agencés des premiers moyens d'entraînement, une carte électronique programmable 12 et des deuxièmes moyens d'entraînement.The figure 2 represents the second viewfinder of the invention 4b, or, more generally, a viewfinder of the invention 4 not equipped with the modular shielding 7. Each optronic viewfinder 4 comprises an optronic device 8, a two-axis orientation platform 9 allowing an orientation of the optronic device 8 along a site axis X and along a bearing axis Y, a support 11 in which are arranged first drive means, a programmable electronic card 12 and second drive means.

Le dispositif optronique 8 comprend ici, de manière classique, une caméra vidéo, une caméra infrarouge et un télémètre laser qui ne seront pas plus détaillés dans la suite de la description.The optronic device 8 here comprises, in a conventional manner, a video camera, an infrared camera and a laser range finder which will not be further detailed in the following description.

Les premiers moyens d'entraînement comprennent un moteur électrique 13 (représenté schématiquement sur les figures 2 et 4) adapté à entraîner le dispositif optronique 8 en rotation autour de l'axe de gisement Y. La carte électronique programmable 12 comporte des moyens de pilotage 14 pour piloter le moteur électrique 13. Les deuxièmes moyens d'entraînement sont adaptés à entraîner le dispositif optronique 8 en rotation autour de l'axe de site X et, comme ils ne concernent pas directement l'invention, ne seront plus évoqués dans cette description.The first training means comprise a electric motor 13 (shown schematically on the Figures 2 and 4 ) adapted to drive the optronic device 8 in rotation around the bearing axis Y. The programmable electronic card 12 comprises control means 14 for driving the electric motor 13. The second drive means are adapted to drive the optronic device 8 in rotation around the axis of site X and, as they do not directly concern the invention, will no longer be mentioned in this description.

La plateforme d'orientation à deux axes 9 comporte un palier 15 sur lequel le dispositif optronique 8 est monté pour être libre en rotation autour de l'axe de gisement Y. Le dispositif optronique 8 est porté par une partie rotative de ce palier 15.The two-axis orientation platform 9 comprises a bearing 15 on which the optronic device 8 is mounted to be free to rotate about the bearing axis Y. The optronic device 8 is carried by a rotating part of this bearing 15.

Le moteur électrique 13 est piloté par les moyens de pilotage 14 de la carte électronique programmable 12 pour entraîner en rotation la partie rotative du palier 15 et donc pour orienter le dispositif optronique 8 selon l'angle de gisement requis. La partie rotative est par exemple pourvue d'une couronne dentée coaxiale avec le palier 15 et un pignon lié en rotation avec l'arbre de sortie du moteur électrique 13 engrène avec la couronne dentée. Il est également possible d'utiliser des moteurs couples à attaque directe, donc sans engrenage et sans rapport de réduction.The electric motor 13 is driven by the control means 14 of the programmable electronic card 12 to rotate the rotary portion of the bearing 15 and thus to orient the optronic device 8 according to the required angle of bearing. The rotary part is for example provided with a ring gear coaxial with the bearing 15 and a pinion connected in rotation with the output shaft of the electric motor 13 meshes with the ring gear. It is also possible to use direct drive torque motors, therefore without gear and without reduction ratio.

Les moyens de pilotage 14 mettent en oeuvre un programme de pilotage du moteur électrique 13 programmé sur la carte électronique programmable 12, ledit programme de pilotage étant agencé pour mettre en oeuvre une boucle d'asservissement de l'angle de gisement du viseur optronique 4.The control means 14 implement a control program for the electric motor 13 programmed on the programmable electronic card 12, said control program being arranged to implement a servo-control loop of the angle of view of the optronic viewfinder 4.

En référence aux figures 3 et 4, le premier viseur optronique 4a est équipé du blindage modulable 7. Le blindage modulable 7 est équilibré de manière indépendante selon l'axe de gisement Y afin d'éviter d'introduire un couple de balourd qui serait préjudiciable à la stabilisation du viseur. Le montage du blindage modulable 7 sur le premier viseur optronique 4a ne nécessite donc aucune reprise de l'équilibrage du premier viseur optronique 4a. Le blindage modulable 7 comporte une première ouverture 18 de forme complémentaire à celles de deuxièmes ouvertures 19 du dispositif optronique 8. Les deuxièmes ouvertures 19 du dispositif optronique 8, situées en regard des capteurs des caméras, sont protégées par des éléments de protection transparents au travers desquels les caméras réalisent des acquisitions d'images sur une étendue d'angle de site importante.With reference to Figures 3 and 4 , the first optronic viewfinder 4a is equipped with the modular shielding 7. The modular shielding 7 is balanced in a manner independent of the Y bearing axis to avoid introducing a couple of unbalance that would be detrimental to the stabilization of the viewfinder. Mounting the modular shield 7 on the first optronic viewfinder 4a therefore requires no resumption of balancing of the first optronic viewfinder 4a. The modular shielding 7 comprises a first opening 18 of shape complementary to those of second openings 19 of the optoelectronic device 8. The second openings 19 of the optoelectronic device 8, located opposite the sensors of the cameras, are protected by transparent protection elements through from which the cameras make acquisitions of images over a large extent of elevation angle.

Le blindage modulable 7 est adapté à être porté par la partie rotative du palier 15. Ici, dans le cas du premier viseur optronique 4a, le blindage modulable 7 est monté sur le palier 15 via des moyens de fixation 21 comportant une armature de fixation en trois parties 22 vissées au palier 15. Le blindage modulable 7 est lui-même fixé à l'armature de fixation. On note ici que l'armature de fixation s'étend sur une partie seulement de la circonférence du palier 15, ce qui, d'une part, facilite l'installation et la désinstallation du blindage modulable 7, et d'autre part, réduit la masse du viseur optronique lorsque le blindage modulable 7 est installé.The modular shielding 7 is adapted to be carried by the rotating part of the bearing 15. Here, in the case of the first optronic viewfinder 4a, the modular shielding 7 is mounted on the bearing 15 via fastening means 21 comprising a fastening armature. three parts 22 screwed to the bearing 15. The modular shielding 7 is itself fixed to the attachment armature. It is noted here that the fastening arm extends over only a portion of the circumference of the bearing 15, which, on the one hand, facilitates the installation and the removal of the modular shielding 7, and on the other hand, reduces the mass of the optronic viewfinder when the modular shielding 7 is installed.

Ainsi, comme cela a été dit précédemment, la seule différence entre le premier viseur optronique 4a et le deuxième viseur optronique 4b est la présence, sur le premier viseur optronique 4a, du blindage modulable 7.Thus, as has been said previously, the only difference between the first optronic viewfinder 4a and the second optronic viewfinder 4b is the presence, on the first optronic viewfinder 4a, of the modular shielding 7.

Les moyens de pilotages 14 sont agencés pour adapter la manière avec laquelle ils pilotent les viseurs optroniques 4 en fonction de la présence ou non du blindage modulable 7. Pour détecter la présence du blindage modulable 7, la carte électronique programmable 12 de chaque viseur 4 est équipée de moyens de détection 24, lesdits moyens de détection étant reliés aux moyens de pilotage 14 pour leur communiquer le résultat de cette détection.The control means 14 are arranged to adapt the manner in which they drive the optronic viewfinders 4 as a function of the presence or absence of the modulable shielding 7. To detect the presence of the modular shielding 7, the programmable electronic card 12 of each viewfinder 4 is equipped with detection means 24, said detection means being connected to the control means 14 to communicate to them the result of this detection.

Les moyens de détection 24 de la carte électronique programmable 12 d'un viseur donné 4 sont ici agencés pour détecter si un câble de connexion reliant le viseur au reste de la tourelle est un premier câble de connexion 25 destiné à être connecté à un viseur d'un poste de commande, tel le premier viseur optronique de l'invention 4a (ledit premier câble de connexion 25 est donc visible sur la figure 4), ou un deuxième câble de connexion 26 destiné à être connecté à un viseur d'un poste de tir, tel le deuxième viseur optronique de l'invention 4b (ledit deuxième câble de connexion 26 est donc visible sur la figure 2).The detection means 24 of the programmable electronic card 12 of a given viewfinder 4 are here arranged to detect whether a connection cable connecting the viewfinder to the remainder of the turret is a first connection cable 25 intended to be connected to a viewfinder. a control station, such as the first optronic viewfinder of the invention 4a (said first connection cable 25 is thus visible on the figure 4 ), or a second connection cable 26 intended to be connected to a viewfinder of a shooting station, such as the second optronic viewfinder of the invention 4b (said second connection cable 26 is thus visible on the figure 2 ).

Le premier câble de connexion 25 est muni d'un premier connecteur 27 destiné à être connecté à un connecteur 28 situé sur le support 11 du viseur du poste de commande, c'est-à-dire sur le support 11 du premier viseur optronique 4a. Le deuxième câble de connexion 26 est muni d'un deuxième connecteur 29 destiné à être connecté à un connecteur 28 situé sur le support 11 du viseur du poste de tir, c'est-à-dire sur le support 11 du deuxième viseur optronique 4b.The first connection cable 25 is provided with a first connector 27 intended to be connected to a connector 28 located on the support 11 of the viewfinder of the control station, that is to say on the support 11 of the first optronic viewfinder 4a . The second connection cable 26 is provided with a second connector 29 intended to be connected to a connector 28 located on the support 11 of the viewfinder of the firing station, that is to say on the support 11 of the second optronic viewfinder 4b .

Le premier câble de connexion 25 est agencé électriquement de sorte que, lorsque le premier connecteur 27 est connecté au connecteur 28 du premier viseur optronique 4a, deux broches de configuration du connecteur 28 du premier viseur 4a forment un circuit ouvert. Le deuxième câble de connexion 26 est quant à lui agencé électriquement de sorte que, lorsque le deuxième connecteur 29 est connecté au connecteur 28 du deuxième viseur optronique 4b, les deux broches de configuration du connecteur 28 du deuxième viseur 4b sont en court-circuit.The first connecting cable 25 is electrically arranged so that when the first connector 27 is connected to the connector 28 of the first optronic viewfinder 4a, two configuration pins of the connector 28 of the first viewfinder 4a form an open circuit. The second connection cable 26 is itself electrically arranged so that, when the second connector 29 is connected to the connector 28 of the second optronic viewfinder 4b, the two configuration pins of the connector 28 of the second viewfinder 4b are short-circuited.

Les moyens de détection 24 de la carte électronique programmable 12 sont reliés au connecteur 28 qui est connecté lui-même au premier connecteur 27 du premier câble de connexion 25 ou au deuxième connecteur 29 du deuxième câble de connexion 26. Les moyens de détection 24 d'un viseur 4 détectent si les broches de configuration du connecteur 28 du support 11 du viseur 4 sont court-circuitées ou si elles forment un circuit ouvert, c'est-à-dire si le connecteur connecté au connecteur 28 est le premier connecteur 27 ou le deuxième connecteur 29. Les moyens de détection d'un viseur 4 détectent ainsi si le viseur 4 est le premier viseur optronique 4a ou le deuxième viseur optronique 4b, et donc si le blindage modulable 7 est installé ou non sur ledit viseur.The detection means 24 of the programmable electronic card 12 are connected to the connector 28 which is itself connected to the first connector 27 of the first connection cable 25 or to the second connector 29 of the second connection cable 26. The detection means 24 of the a viewfinder 4 detect whether the configuration pins of the connector 28 of the support 11 of the viewfinder 4 are short-circuited or if they form an open circuit, that is to say if the connector connected to the connector 28 is the first connector 27 or the second connector 29. The detection means of a viewfinder 4 thus detect whether the viewfinder 4 is the first optronic viewfinder 4a or the second optronic viewfinder 4b, and therefore if the modular shield 7 is installed or not on said viewfinder.

Les moyens de détection 24 de la carte électronique programmée 12 transmettent au programme de pilotage des moyens de pilotage 14 le résultat de cette détection.The detection means 24 of the programmed electronic card 12 transmit to the control program of the control means 14 the result of this detection.

L'adaptation du pilotage consiste ici à utiliser un jeu de paramètres de réglage de la boucle d'asservissement, comprenant au moins un paramètre de réglage, une première série de valeurs 30 lorsque le blindage modulable 7 est monté, et une deuxième série de valeurs 31 lorsque le blindage modulable 7 n'est pas monté. L'utilisation de la première série de valeurs 30 ou de la deuxième série de valeurs 31 est définie par les moyens de pilotage 14 de la carte électronique programmable 12 en fonction du résultat de la détection de présence du blindage 7 transmis par les moyens de détection 24.The control adaptation here consists in using a set of adjustment parameters of the control loop, comprising at least one adjustment parameter, a first series of values when the modular shielding 7 is mounted, and a second series of values. 31 when the modular shielding 7 is not mounted. The use of the first set of values 30 or the second set of values 31 is defined by the control means 14 of the programmable electronic card 12 as a function of the result of the presence detection of the shielding 7 transmitted by the detection means. 24.

Les première et deuxième séries de valeurs 30, 31 des paramètres de réglage sont prédéterminées pour tenir compte de la différence de masse et d'inertie entre un viseur équipé d'un blindage modulable 7 tel le premier viseur optronique 4a et un viseur non équipé d'un blindage modulable 7 tel le deuxième viseur optronique 4b, les différences de masse et d'inertie étant importantes du fait de la masse relativement élevée du blindage modulable. Les première et deuxième séries de valeurs 30, 31 des paramètres de réglage tiennent aussi compte des frottements au niveau d'éléments de roulement du palier, frottements dont l'influence sur la motorisation est plus importante dans le viseur non équipé d'un blindage modulable.The first and second series of values 30, 31 of the adjustment parameters are predetermined to take into account the difference in mass and inertia between a viewfinder equipped with a modular shield 7 such as the first one. optronic viewfinder 4a and a viewfinder not equipped with a modular shield 7 such as the second optronic viewfinder 4b, differences in mass and inertia being significant because of the relatively high mass of the modular shielding. The first and second series of values 30, 31 of the adjustment parameters also take account of the friction at the rolling elements of the bearing, friction whose influence on the motorization is greater in the viewfinder not equipped with a flexible shielding. .

On note donc que le programme de pilotage utilisé pour piloter le moteur électrique 13 du premier viseur optronique 4a et celui du deuxième viseur optronique 4b est un programme unique paramétrable.It should therefore be noted that the control program used to control the electric motor 13 of the first optronic viewfinder 4a and that of the second optronic viewfinder 4b is a single parameterizable program.

On décrit maintenant plus en détails le palier 7 de la plateforme d'orientation à deux axes 9.The bearing 7 of the two-axis orientation platform 9 is now described in greater detail.

Le palier comporte des éléments de roulement constitués de billes de diamètre important par rapport à un diamètre intérieur du palier.The bearing comprises rolling elements consisting of balls of large diameter relative to an inner diameter of the bearing.

Le rapport entre le diamètre intérieur du palier 7 et un diamètre de l'une de ces billes est ici compris entre 15 et 35, et est avantageusement proche de 25.The ratio between the inside diameter of the bearing 7 and a diameter of one of these balls is here between 15 and 35, and is advantageously close to 25.

Le diamètre intérieur du palier 7 est ainsi typiquement de 10 pouces ou 25,4 cm pour un diamètre extérieur de 11,5 pouces ou 29,21 cm, alors que les billes ont typiquement un diamètre de trois huitièmes de pouce, soit environ 9,52 mm. Avec de telles dimensions, le rapport entre le diamètre intérieur du palier 7 et le diamètre des billes est de 25,7.The inside diameter of the bearing 7 is thus typically 10 inches or 25.4 cm for an outside diameter of 11.5 inches or 29.21 cm, while the balls typically have a diameter of three eighths of an inch, or about 9, 52 mm. With such dimensions, the ratio between the inside diameter of the bearing 7 and the diameter of the balls is 25.7.

Le diamètre relativement important des billes par rapport au diamètre interne du palier 7 rend le palier 7 parfaitement adapté à la masse et à l'inertie importante du premier viseur optronique 4a de l'invention qui est équipé du blindage modulable 7. En particulier, la forte inertie est favorable à la stabilisation de la position angulaire en gisement, et permet de compenser les frottements importants associés aux billes de diamètre important du palier 7.The relatively large diameter of the balls relative to the internal diameter of the bearing 7 makes the bearing 7 perfectly adapted to the mass and the large inertia of the first optronic viewfinder 4a of the invention which is equipped with the modular shielding 7. In particular, the strong inertia is favorable to the stabilization of the position angular deposit, and makes it possible to compensate for the significant friction associated with the balls of large diameter of the bearing 7.

Dans le cas du deuxième viseur optronique 4b, non équipé du blindage modulable 7, les frottements ont une influence néfaste plus importante sur la stabilisation du fait de la diminution de l'inertie du deuxième viseur optronique 4b due à l'absence du blindage modulable 7. Cependant, on constate que cette influence néfaste est peu sensible sur l'étendue limitée du débattement angulaire en gisement du deuxième viseur optronique 4b.In the case of the second optronic viewfinder 4b, not equipped with the modulable shielding 7, the friction has a greater detrimental effect on the stabilization due to the decrease in the inertia of the second optronic viewfinder 4b due to the lack of the modular shielding 7 However, it can be seen that this detrimental influence is insensitive to the limited extent of angular deflection in the field of the second optronic viewfinder 4b.

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 des moyens de détection qui détectent un circuit ouvert et un court-circuit au niveau de broches de configuration d'un connecteur du viseur, l'invention s'applique bien sûr à des moyens de détection complètement différents. Il est par exemple possible d'équiper le viseur d'un ou de plusieurs capteurs (capteurs de proximité, etc.) détectant directement la présence du blindage, lesdits capteurs étant connectés aux moyens de pilotage. Il est également possible de détecter la présence du blindage en fonction des efforts que doit fournir la motorisation pour déplacer le viseur (mesure du courant consommé par exemple) ou de prévoir que le programme de pilotage du viseur demande une action prédéfinie de l'opérateur permettant d'indiquer si le viseur est positionné au poste du chef de char ou au poste du tireur.Although detection means have been described which detect an open circuit and a short circuit at the configuration pins of a viewfinder connector, the invention naturally applies to completely different detection means. It is for example possible to equip the viewfinder with one or more sensors (proximity sensors, etc.) directly detecting the presence of the shield, said sensors being connected to the control means. It is also possible to detect the presence of the shield according to the efforts that the engine must provide to move the viewfinder (measurement of the current consumed for example) or to provide that the viewfinder control program requires a predefined action of the operator allowing to indicate whether the viewfinder is positioned at the position of the tank commander or the shooter's post.

Claims (7)

  1. An opto-electronic sight with modular shielding, the sight comprising an opto-electronic device (8), a bearing (15) having a rotary portion carrying the opto-electronic device (8), drive means for driving rotation of the rotary portion, control means (14) adapted to control the drive means, and modular shielding (7) adapted to be carried by the rotary portion of the bearing (15), the modular shielding being present or absent on the opto-electronic sight,
    the opto-electronic sight being characterized in that it includes detector means (24) for detecting the shielding (7) on the rotary portion, the detector means being connected to the control means, which are arranged to adapt the control of the drive means as a function of the result of the detection, with control being adapted by making use of a first value of a setting parameter for a control program when presence of modular shielding is detected, and of a second value of the setting parameter for the control program when absence of modular shielding is detected.
  2. An opto-electronic sight according to claim 1, wherein the various values of the setting parameter are predetermined in order to take account at least of a difference in the inertia of the sight.
  3. An opto-electronic sight according to any preceding claim, where the bearing (15) includes rolling elements constituted by balls, and wherein the ratio between the inside diameter of the bearing (15) and the diameter of any one of the balls lies in the range 15 to 35.
  4. An opto-electronic sight according to claim 3, wherein the ratio is close to 25.
  5. An opto-electronic sight according to any preceding claim, wherein the modular shielding (7) is fastened to the bearing (15) via fastener means (21) that extend over a portion only of the circumference of the bearing (15).
  6. An opto-electronic sight according to any preceding claim, wherein the detector means are adapted to detect an open circuit and/or a short circuit at configuration pins of a connector (28) of the sight.
  7. A military land vehicle (1) having at least one weapon (3), a firing station from which the weapon is actuated, a control station from which operations such as control or observation operations are performed, the control station being provided with a first opto-electronic sight (4a) according to any preceding claim on which the modular shielding (7) is installed, the firing station being provided with a second opto-electronic sight (4b) in accordance with any preceding claim on which the modular shielding (7) is not installed.
EP15714784.4A 2014-03-28 2015-03-27 Optoelectronic viewfinder with modular shielding Active EP3123100B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1452731A FR3019281B1 (en) 2014-03-28 2014-03-28 OPTRONIC SIGHT WITH MODULAR SHIELD
PCT/EP2015/056807 WO2015144919A1 (en) 2014-03-28 2015-03-27 Optoelectronic viewfinder with modular shielding

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EP3123100A1 EP3123100A1 (en) 2017-02-01
EP3123100B1 true EP3123100B1 (en) 2018-05-02

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EP (1) EP3123100B1 (en)
AU (1) AU2015238236B2 (en)
CA (1) CA2943770C (en)
FR (1) FR3019281B1 (en)
RU (1) RU2647811C1 (en)
WO (1) WO2015144919A1 (en)

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RU2801513C1 (en) * 2022-12-12 2023-08-09 Акционерное общество "Уральское конструкторское бюро транспортного машиностроения" (АО "УКБТМ") Device for protecting the optical device of a combat vehicle

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CA2943770C (en) 2017-11-28
EP3123100A1 (en) 2017-02-01
WO2015144919A1 (en) 2015-10-01
FR3019281B1 (en) 2016-04-22
RU2647811C1 (en) 2018-03-19
AU2015238236B2 (en) 2018-11-15
AU2015238236A1 (en) 2016-10-20
FR3019281A1 (en) 2015-10-02
CA2943770A1 (en) 2015-10-01

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