JPH09292199A - Guided missile loading apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce loading time by providing two pieces of indicator rods on an upper portion of a launching apparatus, calculating distance and orientation of a guided missile loading portion on the basis of information of orientation of the indicator rods taken by a video camera and loading the missile by driving a crane arm according to result of calculation. SOLUTION: A launching apparatus 3 has on an upper portion thereof a first indicator rod 12a and a second indicator rod 12b vertically fixed with a specified distance therebetween. A circuit system of a guided missile loading apparatus outputs image signals of an image of the first and second indicator rods 12a, 12b taken by a video camera 13 and outputs a processed image obtained by subjecting the image of the first and second indicator rods to featuring processing. Then, orientation of the indicator rods 12a, 12b is calculated according to the processed image and outputs direction output signal and distance output signal of a guided missile loading section PF and an rotation angle of a crane arm 5 and an extension length of the arm are produced in a driving control section 16 on the basis of these signals and outputted to a rotational driving section 7 and an arm driving section 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention carries a guided bullet to replenish it with a launcher, and carries the guided bullet, and near the launcher, operates a crane arm to load the guided bullet into the launcher. The present invention relates to a guided bullet loading device.

[0002]

2. Description of the Related Art FIG. 6 shows a configuration of a conventional guided-fire loading device, wherein 1 is a loading device, 2 is a guided missile in which a missile MSL is stored in a launch cylinder CNS, 3 is a launching device, and 4 is a launching device. 5 is a crane arm having a clamp mechanism 6 at its tip and capable of restraining and guiding the guide bullet 2, 7 is a turning drive unit that can turn the crane arm 5, 8
Is an arm drive unit capable of extending and retracting the crane arm 5, 9 is an operation control unit capable of manually operating the clamp mechanism 6, the swivel drive unit 7 and the arm drive unit 8 of the crane arm 5, and 10 is an operation control unit that operates the crane arm 5 to guide the bullet 2 The mounting part of the launching device 3
A worker who operates the operation control unit 9 to be mounted on the PF, 1
Reference numeral 1 denotes an operator who guides the guide bullet 2 restrained by the clamp mechanism 6 of the crane arm 5 to the mounting portion PF of the launching device 3.

[0003]

By the way, in this conventional guided bullet loading device, the guided bullet 2 is mounted on the mounting portion of the launching device 3.
When loading the PF on the crane arm 5, the worker 10 sensuously determines the direction and distance of the mounting part PF of the launcher 3,
It takes a lot of skill and a lot of time to load by manipulating the direction and distance of the guided bullet 2 which is restrained at the tip of the crane arm 5, and also the operating situation is monitored on the launcher side.
There is a problem that a large number of workers such as the workers 11 who are guided to the mounting part PF are required.

The present invention has been made in order to solve the above problems, and measures the direction of the mounting portion PF of the guide bullet 2 of the launching device 3 and the direction of the guide bullet loading device 1 to measure the direction and distance. By automatically calculating and driving the crane arm 5 based on the calculation result, the loading time can be reduced and the number of workers can be reduced.

[0005]

According to a first aspect of the present invention, there is provided a guided bullet loading device having two identification rods on the upper portion of a launching device, which serve as a guide for distance and direction. A TV camera that shoots is used to automatically calculate the distance and direction of the loading section of the guided missile based on the direction information of the identification rod taken by the TV camera, and based on this calculation result, the crane arm is driven to drive the guided missile. It is designed to make you wear.

Further, the guided bullet loading device according to the second invention is provided with two infrared light emitting diodes on the upper portion of the launching device, and the guided bullet loading device is provided with an infrared detection camera for photographing these infrared light emitting diodes. , The distance and direction of the loading part of the guided missile are automatically calculated based on the direction information of the infrared light emitting diode taken by the infrared detection camera, and the crane arm is driven based on the calculation result to load the guided missile. It is a thing.

Further, the guided elastic loading device according to the third invention is provided with two optical reflecting spheres capable of reflecting a laser beam on the upper part of the launching device, and the guided elastic loading device is provided with directions of these optical reflecting spheres. A laser beam emitting unit that emits a pulsed laser beam and a laser receiving unit that can receive the laser beam reflected by the reflecting sphere are installed for the guide bullet based on the information on the direction of the reflecting sphere and the difference between the sending and receiving time of the laser beam. It automatically calculates the distance and direction of the mounting part of the vehicle and drives the crane arm based on the calculation result to load the guided bullet.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1. 1 is a side view of a guided bullet loading device showing a first embodiment of the present invention, in which FIG. 1a is a side view showing a state in which a guided bullet is loaded from a guided bullet loading device to a launching device, and FIG. FIG. 2 is a view of the state of 1a as seen from above, and FIG. 2 is a view showing a circuit system of the guided elastic loading device according to the present invention. 2 to 8 and CNS, MSL and PF in FIGS. 1a and 1b are the same as those in FIG. 6, LDR is a guided ammunition loading device according to the present invention, and 12a and 12b are fixedly mounted on the upper part of the launching device 3 at a predetermined interval. The first identification rod and the second identification rod are attached, 13 is a television camera attached to the LMD LDR to take a picture of the vicinity of the first identification rod and the second identification rod, and 14 is a television camera Image signal S obtained by
Based on 1, the characterization processing is performed so that the first identification rod and the second identification rod can be identified from the unnecessary background, and the processed signal S2 is obtained.
The image identifying unit 15 outputs the signal S3 by calculating the direction and distance of the guided missile mounting portion PF of the launching device 3 based on the processing signal S2 of the two identifying rods 12a and 12b output by the image identifying unit 14. , S4 output direction / distance calculator, 1
A drive control unit 6 controls the movement of the crane arm 5 based on the direction and distance output signals S3 and S4. As shown in FIG. 2, the circuit system of the guided elastic loading device according to the present invention includes first and second identification rods 1 attached to a launching device 3.
2a and 12b are photographed by the television camera 13 and the image signal S1
Based on the image signal S1, the identification rod 12a,
The processed image S2 that has been subjected to the characterization processing so that 12b can be distinguished from the background is output, and the directions of the identification rods 12a and 12b are calculated based on the processed image S2 to mount the guided bullet mounting portion.
The PF direction output signal S3 and the distance output signal S4 are output. Based on the direction output signal S3 and the distance output signal S4, the drive control unit 16 generates a rotation angle S5 for turning the crane arm 5 and an extension amount S6 of the arm, and outputs the rotation angle S5 to the turning drive unit 7 and the arm drive unit 8. As a result, the crane arm 5 can transport the guide bullet 2 to the mounting portion PF of the launching device 3. FIG. 3 shows the LDR of the guided weapon loading device of this invention.
FIG. 6 is a diagram showing a principle diagram for generating output signals S3 and S4 in the direction / distance calculation unit 15 of FIG. In FIG. 3, since the first and second identification rods 12a and 12b are installed at the interval of the predetermined distance L1, the first and second identification rods 12a and 1b are arranged.
The direction θ of the mounting portion PF of the guided weapon loading device LDR of 2b is an angular direction θ1 in which the first identification rod 12a is deviated from the central axis ML of the guided impact loading device based on the identification rod position recognition calculation based on the photographing by the television camera 13. And an angular direction θ2 in which the second identification rod 12b is deviated from the central axis ML of the guided elastic mounting device,
Number 1 based on the known angle θ3 to the loading point PF of the guided missile
Then, the direction output signal S3 is output.

[0009]

[Equation 1]

Further, the distance L from the guided weapon loading device LDR to the guided bullet mounting portion PF of the launching device 3 depends on the direction θ of the mounting portion,
The angle direction θ1 of the first identification rod 12a, the second identification rod 12
Based on the angle direction θ2 of b and the known amount L2 up to the mounting portion PF, the distance calculation unit obtains the distance output signal S4, which is obtained by the equation 2.

[0011]

[Equation 2]

Embodiment 2. FIG. 4 is a diagram showing a circuit system of a guided bullet loading apparatus according to Embodiment 2 of the present invention. 4, 2, 3, 5, 7, 8, 15, 16 and S3 to S6 are the same as those in FIG.
Are first and second infrared light emitting diodes mounted on the tip of the rod at predetermined intervals on the upper part of the launching device 3,
Reference numeral 19 is the first and second infrared light emitting diodes 17a, 1
An infrared detection camera for photographing the vicinity of 7b, and 20 for distinguishing the first and second infrared light emitting diodes 17a, 17b from an unnecessary background based on the image signal S7 obtained by photographing with the infrared detection camera 19. Is an image processing unit that performs the characterization processing on and outputs the processed signal S8. As in the first embodiment, the first and second signals are generated based on the processed signal S8.
The directions and distances of the infrared light emitting diodes 17a and 17b can be calculated, the crane arm 5 can be driven, and the guided bullet 2 can be moved and loaded.

Embodiment 3 FIG. 5 is a diagram showing a circuit system of a guided bullet loading apparatus according to Embodiment 3 of the present invention. 2, 3, 5, 7, 8, 15, 16 and S3 to S6 in FIG. 5 are the same as those in FIG.
Is a first and a second optical reflecting sphere, which are installed on the upper part of the launcher 3 at a predetermined interval and are attached to the tip of the rod, and 22 is a pair of the first and second optical reflecting spheres 21a and 21b. On the other hand, the laser beam emitting section 23 capable of emitting the pulsed laser beam S9 includes the first and second optical reflection spheres 21a,
The laser beam S10 reflected by 21b is received, the direction of the first and second optical reflection spheres 21a, 21b and the time difference between the transmitted pulse and the received pulse are detected, and the output signal S
It is a laser light receiving section that can output as 11. Similar to the first embodiment, the signal S11 output from the laser receiving unit 22
Based on the first and second optical reflecting spheres 21a, 21b
Can be calculated, and the distance can be calculated from the time difference between transmission and reception, the crane arm 5 can be driven, and the guided bullet 2 can be moved and loaded.

[0014]

According to the first aspect of the present invention, by mounting two identification rods, which serve as a guide for the distance and direction of the launching device, on the launching device, the loading device automatically grasps the mounting portion of the guided missile. Since the crane arm is driven by this, skilled workers are not required, the loading time can be shortened, and there is also no need for a worker to guide the loading section of the guided ammunition, so the number of workers is reduced. Occurs.

According to the second aspect of the invention, two infrared light emitting diodes, which serve as a guide for the distance and direction of the launching device, are attached to the launching device, and the infrared detection camera for photographing the two is constructed as a guided weapon loading device. As a result, the loading device can automatically grasp the mounting portion of the guided missile and drive the crane arm even at night.

According to the third aspect of the invention, two optical reflecting spheres are attached to the emitting device, the pulsed laser beam is radiated and the laser beam reflected by the optical reflecting sphere is received. It is possible to accurately obtain the distance and direction to the launching device even under the background, and it is possible to reduce the size and weight because an image processing unit for performing the characteristic processing with the background is not necessary.

[Brief description of drawings]

FIG. 1 is a diagram of Embodiment 1 of a guided elastic loading device according to the present invention.

FIG. 2 is a diagram showing a circuit system according to a first embodiment of the guided bullet loading apparatus according to the present invention.

FIG. 3 is a diagram illustrating a principle of generating an output signal in a direction / distance calculation unit according to the first embodiment of the guided bullet loading apparatus of the present invention.

FIG. 4 is a diagram showing a circuit system according to a second embodiment of the guided bullet loading apparatus of the present invention.

FIG. 5 is a diagram showing a circuit system in a third embodiment of the guided elastic loading device according to the present invention.

FIG. 6 is a diagram showing an embodiment of a conventional guided-bomb loading device.

[Explanation of symbols]

 LDR guided ammunition loading device 2 guided ammunition CNS launch barrel MSL missile PF guided ammunition mounting part 3 launching device 4 vehicle for loading device 5 crane arm 6 clamp mechanism 7 swing drive part 8 arm drive part 12a first identification rod 12b second Identification bar 13 Television camera 14 Image processing unit 15 Direction / distance calculation unit 16 Drive control unit S1 Image signal S2 Processing signal S3 Direction output signal S4 Distance output signal S5 Rotation angle S6 Arm extension amount ML Guided ammunition loading device central axis CL image center 17a 1st infrared light emitting diode 17b 2nd infrared light emitting diode 21a 1st optical reflection sphere 21b 2nd optical reflection sphere 19 infrared detection camera 20 image processing part S7 image signal S8 processing signal 22 laser beam emission part 23 laser light reception Part S9 Pulsed laser beam S10 Reflected laser beam S1 1 output signal

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G05D 3/12 G05D 3/12 Q H

Claims (3)

[Claims] 1. A guided bullet loading device for loading guided missiles onto a launching device using a crane, and two identifying rods provided at a predetermined interval on the upper part of the launching device and serving as a guide for distance and direction, and a crane. A television camera provided in a loading device equipped with an arm, for photographing the vicinity of the two identification rods, and an image processing unit capable of characterizing the two identification rods photographed by the television camera and outputting as an image signal. And a direction / distance calculation unit that calculates the direction and distance of the launching device based on the image-processed position signals of the two identification rods and outputs a signal, and based on the output signal of this direction and distance calculation unit, And a drive control unit for controlling the movement of the crane arm. 2. An infrared light emitting diode, which is provided at a predetermined interval above the launching device and serves as a guide for distance and direction, and a loading device equipped with a crane arm, and the vicinity of the two infrared light emitting diodes is photographed. Based on the infrared detection camera, an image processing unit capable of characterizing the two infrared light emitting diodes photographed by the infrared detection camera and outputting as an image signal, and the position signals of the two image processed infrared light emitting diodes. A direction / distance calculator for calculating the direction and distance of the launching device and outputting a signal; and a drive controller for controlling the movement of the crane arm based on the output signal of the direction / distance calculator. Guided ammunition loading device characterized by. 3. An optical reflection sphere provided on the upper part of the launching device at a predetermined interval as a guide for the distance and direction, and a loading device equipped with a crane arm. The optical reflection sphere is pulsed to the two optical reflection spheres. A laser beam emitting section for emitting the laser beam, a laser receiving section for receiving the laser beam reflected by the two optical reflecting spheres, and a direction and a distance of the emitting device based on a received signal of the laser receiving section. A guided ammunition loading device comprising: a direction / distance calculator that calculates and outputs a signal; and a drive controller that controls the movement of the crane arm based on the output signals of the direction and distance calculator. .