JPH03175296A - Sighting system - Google Patents

Abstract

PURPOSE: To let a shooting line follow an aiming line, by a method wherein a detection means is arranged to detect an angular deviation of a head mount and a servo driver is operated in response to the detection means to move a movable structural body in the direction of the angular deviation. CONSTITUTION: An angle detector 34 is located between a bracket 32 and a helmet 22 and linear potentiometers 48.1, 48.2, 52.1 and 52.2 are related respectively to angle joint shafts 46.1, 46.2, 50.1 and 50.2. As the potentiometers 48.2 and 52.2 are electrically connected back to back, an output of an addition amplifier 74.1 corresponds to a difference in the displacement of a pivot of a link 40 about the joint shafts 46.2 and 50.2. The output of the addition amplifier 74. 1 is further connected to drive a servo motor 80.1. The servo motor 8.1 is operated to relocate a movable structural body 16 pertaining to a base 28 about a height axis. When the angle detector 34 detects an angular deviation between shafts 46.3 and 50.3, one or both of the servo motors 80.1 and 80.2 is operated to move the movable structural body 16 in the direction of the angular deviation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an aiming system for aiming a target device by movement of an operator's head.

The target device may be, for example, a weapon, a camera, etc.

[Prior art and problems to be solved by the invention] German patent 2436169 (DE-A-243616
9) an aiming system for aiming a target device in the form of a weapon, the system comprising: a servo drive for moving the weapon; and an overhead equipment in the form of a helmet with a sight; detection means for detecting the angular position of the helmet; and control means for controlling a servo drive, the control means being responsive to the detection means to direct the weapon in a direction viewed by an operator wearing the helmet. A targeting system is disclosed that is operative to provide aiming.

The detection means detects the angle of the helmet with respect to a fixed reference frame that does not move with the weapon. This includes the angle sensing device of the sensing means and the servo drive of the sensing means to ensure that the weapon is aimed precisely in the direction of the operator's line of sight for all angles. It requires that the control loop between the

U.S. Patent No. 3,262,210 (U.S.-A-32622)
10) and British Patent 2122731 (CB-A-21
22731) discloses an aiming system with detection means in the form of an articulated mechanical link connected to the helmet. These systems are D E -A
-2436169 and suffers the same disadvantages.

[Means to solve the problem]

According to the invention, the detection means are arranged to detect an angular displacement of the overhead equipment with respect to the movable structure on which the target device is mounted, whereby the reference frame angularly fixed relative to the structure, and the servo drive actuated in response to the sensing means to move the movable structure in the direction of the angular offset.

The movable structure can include a seat for an operator.

If the detection means comprises an articulated mechanical link releasably connectable to the overhead equipment, the connection between the detection means and the overhead equipment is in a plane perpendicular to the line of sight. can be along the same connection interface.

A servo drive is arranged to move the movable structure about an axis of rotation and about a height axis perpendicular to the axis of rotation, and a mechanical link is arranged at one end to move the movable structure about an axis of rotation and about a height axis perpendicular to the axis of rotation, through a first articulated joint having first and second mutually perpendicular joint axes;
In addition, when the other end is connected to the movable structure via a second joint having first and second mutually perpendicular joint axes, the first joint The first joint axis of the articulated sit ind may lie in the same plane as the first r4As axis of the articulated sit ind, the plane being parallel to the axis of rotation, and The second joint axis of the connected joint is
The second articulated seat can lie in the same plane as a second joint axis, the plane being parallel to the height axis.

The system may further include magnetic means for magnetically connecting the sensing means to the overhead equipment along the connection interface.

The magnetic means may be fixed to the overhead equipment and may have coplanar pole faces forming a flat surface perpendicular to the line of sight, and the sensing means may have a A rotatable connector disk of ferromagnetic material may be provided having a flat surface perpendicular to its axis of rotation for contacting the pole faces.

The system may further include a disconnection sensing means for detecting disconnection of the sensing means from the overhead equipment and responsively inhibiting operation of the servo drive.

The disconnection sensing means may include a reed switch that senses the proximity of the magnetic means.

The system further includes a termination piece at each end of the articulated mechanical link.1. and a tube of flexible airtight material extending from one end piece to the other to form a closed space around the link;
Air can leave or enter the closed space at a limited rate.

The articulated links may be pre-extendable and the tube may be a bellows-shaped tube.

Embodiments of the invention will be explained in more detail below with reference to the drawings.

〔Example〕

Referring to FIG. 1, numeral 10 generally indicates a system for aiming a weapon 12, the line of fire of which is indicated at 14. The weapon is placed a on a movable structure 16, and a seat 1 supporting an operator 20 is mounted on the structure.
8 is placed. The operator is wearing a helmet 22. The helmet is fitted with a sight 24,
Its line of sight is indicated at 26.

The movable structure 16 (including the weapon 12 and the seat 18) rests on a fixed base 28, and drive means in the form of two servo motor drives drive the movable structure relative to said base. It is provided to change the elevation angle and rotation angle of the body. One of the turrets on which the movable structure 16 pivots to change elevation is shown at 30.

Behind the seat 18 is a bracket 32 which is fixed relative to the movable structure 16. Angle detection device 3 is installed between the bracket 32 and the helmet 22.
4, the rear end of the device 34 is connected to the bracket 32, and the front end of the device 34 is connected to the rear of the helmet 22.

Referring to FIGS. 2-5, the angle sensing device 34 includes a connector 36 that includes a malleable steel disk 38 at its forward end and a bracket 32 extending from the connector 36.
It is provided with an extendable link 40 extending to the insert. The link 40 is a joint 42 connected by a first joint.
It is connected to the connector 36 through a second joint 44, and to the bracket 32 through a second articulated joint 44.

A first articulated joint 42 pivots the link 40 relative to the connector 36 about two mutually perpendicular articulation axes 46.1 and 46.2. Angular joint axis 4
Associated with 6.1 and 46.2 are linear potentiometers 48.1 and 48.2, respectively. As will be explained below, these potentiometers are connected to an electrical circuit, thereby producing an electrical output corresponding to the degree of displacement of the pivot of the link 40 about each articulation axis 46.1 and 46.2. The joint 44 connected by the second joint has two mutually perpendicular joint axes 50.1 and 50.
．． 2 about the bracket 32 the link 40
Swirl. Here again, each joint axis 50.1 and 5
0.2 each has a linear potentiometer 52゜l.
and 52.2 are relevant. These are each joint axis 50
．． 1 and 50.2, producing an electrical output corresponding to the degree of displacement of the pivot of the link 40 about 50.

4% 46.3 in FIG. 3 is a reference line, which is fixed with respect to helmet 22 and parallel to line of sight 26 (see FIG. 1). Line 50.3 in FIG. 3 is a reference line, which is fixed with respect to movable structure 16 and parallel to firing line 14 (see FIG. 1).

The arrangement of articulated joints 42 and 44 is
Joint axis 46. l and 50.1 are always in the same plane, such that this plane is parallel to the axis of rotation of the movable structure 16. Furthermore, the arrangement of the articulated joints 42 and 44 is such that the articulation axes 46.2 and 50.
2 are always in the same plane, and this plane is parallel to the height axis of the movable structure 16. For convenience, joint axes 46.2 and 50.2 are both links 40.
are fixed relative to each other and parallel to each other. This is the sixth
This considerably simplifies the construction of the control circuit as explained below with respect to the figures.

In the area of the helmet 22 near the operator's neck,
Three permanent magnets 54 with flat and coplanar pole faces
is attached to the permanent magnet, and a malleable steel disk 38 is attached to the permanent magnet.
can be attached magnetically. The plane of the magnetic pole face is line 4
6.3, which also makes the line of sight 2
It is also perpendicular to 6.

Wiring 56 connects to potentiometer 48.1.48.2.52
, l and 52.2 to a control circuit which controls the raising and pivoting drives of the movable structure 16. This will be explained in more detail in connection with FIG.

The joints 42 and 44 articulated with the link 40 are covered with a flexible cover comprising a bellows-shaped tube 58 of rubber or an equivalent flexible airtight sheet material. Ru. At the connector end, the concertina tube is mounted on a termination piece 60, which forms part of the connector 36, and at the opposite end, the accordion tube is mounted on a termination piece 61. installed in
This creates a relatively air-tight enclosure.

The two parts of link 40 are movable into each other as shown by arrow A in FIG. However, the connection between these parts is such that they cannot rotate with respect to each other about the longitudinal axis of the link, and the construction of the connector 36 is such that it is not possible to rotate the connector 36 with respect to the disc, as shown by arrow B in FIG. 38 is rotatable about an axis 46.3 with respect to the articulation joint 42. This allows full freedom of movement of the operator's head within the reach of link 40.

The construction of connector 36 is shown in more detail in FIGS. 4 and 5. The aforementioned termination piece 60 is made of aluminum or other non-magnetic material.

Disk 38 has a flat annular surface 62 and a frustoconical boss 63 housing low-friction bearings 64 and 66. Assembly consists of a ring clip 6 days and a fixing screw 70 days
The fixing screws 70 are covered by a brass tink camp 72. 3 magnets 54
Their positions are shown in FIG. 5 as they engage disc 38.

Referring to FIG. 6, potentiometers 48.2 and 52.2 are electrically connected in a back-to-back configuration and their moving contacts are connected to a summing amplifier 74.1. Since the potentiometers are electrically connected back to back, the output of the summing amplifier 74.1 corresponds to the difference in displacement of the pivots of the link 40 about the articulation axes 46.2 and 50.2. In this way joint axes 46.2 and 5
Whatever the displacement of the pivot node of link 40 around 0.2, if lines 46.3 and 50.3 are parallel, the output of the summing amplifier 74.1 is zero. be. The output of the summing amplifier 74,t is further supplied via a summing amplifier 76.1 to a servo power amplifier 78.1, which in turn drives a servo motor 80.1. connected for. The servo motor 80.1 operates to displace the movable structure 16 about the height axis with respect to the base 2.

Summing amplifiers 74.1 and 76.1 and power amplifier 78
．． 1 forms a first channel 82.1. The circuit includes summing amplifiers 74.2 and 76.2 and power amplifier 7.
8.2, the power amplifier 78.2 is connected to drive a servo motor 80.2. The servo motor 80.2 operates to displace the movable structure 16 about the axis of rotation with respect to the base 28. Inputs to the second channel 82.2 are taken from potentiometers 48.1 and 52.1 (not shown in FIG. 4). The arrangement here also ensures that no matter what the displacement of the pivot of the link 40 about the joint axes 46°1 and 50.1, if the line 4
If 6.3 and 50.3 are parallel, the summing amplifier 74
．． The output of 2 is set to be zero.

The special arrangement of the articulated joints 42 and 44 makes it possible to use two simple independent channels or control loops, one for the servo motor 80.1 and one for the servo motor 80.1. 80.2.

When the angle detection device 34 detects an angular deviation between the axes 46.3 and 50.3, the servo motor 80. I and 8
0.2 act to move the movable structure 16 (and thereby the cotton 50.3) in the direction of the angular deviation. If the operator 20 fixes his eyes on the object at which the weapon is to be aimed, this has the effect of reducing the deviation to zero. In this way, the line of fire 14 follows the line of sight 26.

Summing amplifiers 76.1 and 76.2 each have a second input 84. 1 and 84.2. The second human power is extracted by control of the stick, which allows the operator to make advances and trajectory corrections.

The air can e.g.
(not shown) into or out of the closed space formed by the bellows-shaped tube 58 and the end pieces 60, 61. This means that the detection device 34
It has a vibration suppressing effect on the sensor, thereby preventing excessively rapid movement of the detection device and avoiding resonance problems.

A reed switch 86 is placed within the connector 36 and its The contact is magnet 5
4 is open or closed depending on whether it is attached to a malleable steel disc 38 or not. Reed switch 86 is connected to control circuits 82,1 and 82.2 such that when magnet 54 is removed from disk 38, operation of servo motors 80.1 and 80.2 is inhibited.

It will be appreciated that the angle sensing device does not rely on a fixed frame of reference intermediate helmet 22 and weapon 12 for its operation. The connection of the angle detection device 34 is direct between the helmet and the movable structure 16 on which the weapon is fixedly mounted.

This has the advantage that any non-linearities, loop gain changes, etc. within the control circuit do not affect the accuracy of operation. This makes it possible, for example, to use inexpensive potentiometers instead of expensive synchronizers.6 Also, the accuracy of the system is not affected by inaccuracies in the orthogonality of the rotation and height axes.

The reason is that the connection interface between the helmet 22 and the angle sensing device 34 is perpendicular to the line of sight 26, and disconnection and reconnection of the helmet can be accomplished easily and quickly without affecting the accuracy of movement. Any rotational or translational misalignment when reconnecting sensing device 34 to helmet 22 will cause surface 62 of disk 38 to
As long as it is aligned with the magnetic pole face of No. 4, it does not affect the accuracy of operation. Also, disconnection of helmet 22 from sensing device 34 does not require releasing any fasteners. Each part can be separated by simply pulling them apart from each other.

This is important in case of an accident or other emergency situation.

[Brief explanation of drawings]

1 is a perspective view of the aiming system according to the invention, also showing its operator; FIG. 2 is a cut-away perspective view of an angle detection device forming part of the system; FIG. 3 is a perspective view of an angle detection device according to the invention; 4 is an axial sectional view through the front end of the angle sensing device; FIG. 5 is an end view taken in the direction of arrow V in FIG. 4; FIG. 2 is a diagram illustrating a control loop between an angle sensing device and a servo motor of the system; FIG. (Explanation of symbols) 10: Aiming system, 12: Weapon, 16: Movable structure, 18 Two seats, 20: Operator, 22: Helmet, 24: Sight, 28: Base, 32: Brakent, 34: Angle detection device, 36: Connector, 38: Malleable steel disc, 40: Extendable link, 42: Joint connected by first joint, 44: Connected by second joint. Joint, 46.1.46.2: Joint axis, 46.3: Reference line, 48.1.4B, 2: Potentiometer, 50, Machining,
50.2: Joint axis, 50.3: Reference line, 52.1.52.2: Potentiometer, 54: Permanent magnet, 58: Bellows-shaped tube, 60.61 Nialuminum 'I%fa piece, 74 .1
．． 74.27 Addition amplifier, 76, l, 76.2: Addition amplifier, 78, l, 78.2: Serbo power amplifier, 80.1,
so, 2: servo motor, 86: reed switch.

Claims (1)

[Claims] 1. A movable structure (16) for aiming the target device (12) by moving the operator's head, on which the target device is fixedly mounted or can be mounted. ) and a servo drive for moving the movable structure (
80.1, 80.2), overhead equipment (22) for being placed on or attached to the head of said operator, and said overhead equipment (22) with respect to a reference frame (50.1, 50.2, 50.3) Detection means (34) for detecting angular deviation of equipment
An aiming system comprising: said detection means (34
) are arranged to detect the angular deviation of the overhead equipment (22) with respect to the movable structure (16), thereby determining the reference frame (50.1, 50.2, 50.
3) is angularly fixed with respect to the movable structure;
and characterized in that said servo drives (80.1, 80.2) operate in response to said detection means (34) to move said movable structure in the direction of said angular deviation. Aiming system. 2. The movable structure has a seat for an operator (1
8) The aiming system according to claim 1, characterized in that it comprises: 8). 3. an articulated mechanical link in which the overhead equipment (22) is associated with a line of sight (26) and the detection means (34) can be releasably connected to the overhead equipment; 40), wherein the connection between the detection means (34) and the overhead equipment (22) is a flat connection interface (62) perpendicular to the line of sight (26).
The aiming system according to claim 1 or 2, characterized in that the aiming system is along. 4. The servo drive (80.1, 80.2) is arranged to move the movable structure (16) around an axis of rotation and around a height axis perpendicular to the axis of rotation. , and the mechanical link (40) connects the overhead equipment (22) at one end with first and second mutually perpendicular articulation axes (40).
6.1, 46.2) and at the other end to said movable structure (16) first and second mutually perpendicular A aiming system connected via a second articulated joint (44) having an articulation axis (50.1, 50.2), the first articulation axis (44) of the first articulated joint; 46
．． 1) lies in the same plane as the first joint axis (50.1) of the joint connected by the second joint, which plane is parallel to the axis of rotation, and the second joint axis (50.1) of the joint connected by the first joint Axis (46
．． Aiming system according to claim 3, characterized in that 2) is in the same plane as the second articulation axis (50.2) of the second articulated joint, said plane being parallel to the height axis. . 5. characterized in that it comprises magnetic means (54) for magnetically connecting the detection means (34) to the overhead equipment (22) along the connection interface (62).
or the aiming system described in 4. 6. Magnetic means (54) are fixed to the overhead equipment (22) and have coplanar magnetic pole faces forming a flat surface perpendicular to the line of sight (26), and the detection means (34) are At its terminal end it is provided with a rotatable connector disk (38) of ferromagnetic material, which disk (38) has a flat surface (62) perpendicular to its axis of rotation (46.3) for contacting the pole faces. A targeting system according to claim 5, characterized in that it has a. 7. Detecting the disconnection of the detection means (34) from the overhead equipment (22), and responsively controlling the servo drive (8).
0.1, 80.2), further comprising a disconnection detection means (86) for prohibiting the operation of 0.1, 80.2).
Aiming system as described in. 8. A targeting system according to claim 7, characterized in that the disconnection sensing means comprises a reed switch (86) sensing the proximity of the magnetic means (54). 9. Providing a termination piece (60, 61) at each end of the articulated mechanical link (40) and extending from one of the termination pieces to the other to form a closed space around the link; A tube of flexible airtight material that stretches (
58), characterized in that air can leave or enter the closed space at a limited speed. Aiming system as described. 10. A targeting system according to claim 9, characterized in that the articulated link (40) is telescopically extendable and the tube (58) is a bellows-shaped tube.