JPS6237700A - Automatic tracking shooting control method - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic tracking fire control method for automatically aiming a gun in a fully armored vehicle (tank) or the like onto a target.

[Conventional technology]

This type of fire control system
System (hereinafter referred to as FC3) controls the gun and turret to minimize the effect of vehicle body movement on target shooting performance without stopping the vehicle each time it acquires a target, thereby improving vehicle maneuverability. This is to prevent damage.

This Fe2 mainly uses the main gun's stabilization control device (stabilizer) and a laser rangefinder to measure the firing range to the target, and also automatically measures the main gun's elevation angle based on vehicle characteristics and weather factors. It is divided into devices that determine the angle of elevation of the main gun and control the elevation angle of the main gun to the angle determined above.

In order to enable firing while the tank is moving, the stabilizer is a servo system with a built-in gyroscope that holds the turret horizontally and controls the turret's rotation according to the horizontal angular velocity of the turret. As a result, if the gunner holds the gun control lever fixed, the main gun will be controlled to point in a fixed direction regardless of the movement of the vehicle body. In this way, the stabilizer stabilizes the gun by canceling out the angular velocity of the vehicle's body movement, allowing the main gun to be fixed in the desired direction even when the tank is traveling on rough terrain.

[Problem that the invention seeks to solve]

The conventional Fe2 mentioned above has a function to remove the influence of vehicle body motion, so if the target is stationary, it is relatively easy to aim at the target while driving, but if the target is moving, The gunner must constantly operate the gun control lever to aim at the target.

In particular, this aiming process requires a high level of skill on the part of the gunner due to the intense vibrations that occur in a vehicle traveling at high speed on rough terrain. Since the time it takes for the reflected light to return is measured, it is necessary to keep the aim steady on the target during this time.

The present invention was made in view of the above circumstances, and an object of the present invention is to provide an automatic tracking fire control method that can automatically track and aim at a target even when the target is moving. do.

[Means for solving problems]

According to the present invention, when the sighting device of the armored or armament vehicle is fixed, the main gun of the vehicle is controlled to be directed in a fixed direction regardless of the movement of the vehicle, and the sighting device of the sighting device is When the point coincides with the target, in the fire control method in which at least the orientation of the main gun is made to coincide with the orientation of the target, a field of view of the aiming device is photographed, and a part of the target is determined from the photographed one-screen image. Alternatively, specify the position of a partial image of a predetermined area including the entire area, and compare the partial image at the specified time t0 and the time 1. after a predetermined time has elapsed. (= 1 o + Δt) Perform pattern matching with the image on the screen at 1 time, detect the moving position of the target on the screen, and then cut out from the screen at the time t in relation to the moving position. The partial image and time 1 after a predetermined period of time have elapsed. The moving position of the target on both sides is detected in the same manner from the images on the screen at (=1°+Δt), and by repeating this, the position of the target on the time-series screen is sequentially detected, and while , the aiming device is controlled so that the detected position of the target comes to a predetermined position on the screen corresponding to the aiming point of the aiming device.

[Effect]

Once the gunner indicates the position of the target on the monitor TV screen that displays the image based on the video signal tC from the TV camera that captures the field of view of the aiming device, the gunner displays the indicated target on the screen that is shifted in time. Pattern matching (searches from inside) and controls the aiming device so that the target is always at the aiming point of the aiming device.The direction of the aiming device and the direction of the main gun are made to match by →3・-bo mechanism. The direction of the main gun is automatically set to the direction of the target.

Therefore, the gunner does not have to constantly operate the gun control lever even if the target moves; once the target position has been specified, the gunner only needs to give the firing timing.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram showing one implementation ψ11 of the present invention. In FIG. 1, the TV camera 4 has high sensitivity in the infrared wavelength region, and the aiming device 1 is connected via the half mirror 2.
Field of view 1 () Photograph the scenery surrounding. In addition, the television camera 5 has high sensitivity in the visible light wavelength region, and the half mirror 2
Then, through the mirror 3, the scenery in the same field of view as the digital camera 4 is photographed.

The video cameras 4 and 5 perform scanning in synchronization using signals from the synchronization signal generator 6, and output the video signals to AD converters 7 and 8, respectively. 8 converts each human-generated video signal into image data of, for example, 16 gradations according to its density (brightness) level. AD converters 7 and 8 are synchronized by a synchronization signal from the synchronization signal generator 6. Therefore, the pixels at the same position on the screen will be sunfled.

Multiplexer 9 receives j! from AD converters 7 and 8! j Alternately select and output acid data, TV camera 4
Image data of two screens taken at the same time by j-9 and j-5 are combined.

FIGS. 2(a) and 2(b) show an example of two surfaces photographed at the same time by television cameras 4 and 5, respectively. In this case, the target object and the background cannot be distinguished by the white level in the visible light region. , In the infrared light region, the density level of the target object becomes black level with respect to the background.

The screen synthesized by the multiplexer 9 is
As shown in figure (C), each pixel of these two screens is alternately 1
This is arranged like this.

By compositing screens in this way, if the target object and the background are expressed at different levels in at least one of the visible region and the infrared region, then the target object and the background can also be expressed on the composite screen. It becomes possible to distinguish it from the background. Generally speaking, in the case of objects in the natural world, the two images are rarely the same, so creating a single screen by combining the screens of two television cameras with different wavelength sensitivities is a great way to reliably capture a target object outdoors. It has a big effect.

The image data from the multiplexer 9 is transferred to the switching circuit 1
Added to 0. The switching circuit 10 sequentially distributes the input image data one frame at a time to the four memories of the first image memories 11 to 14 (FIG. 3(a)).

(see (b)). Therefore, the image data for one screen stored in each memo IJ is shifted by one frame time.

Now, image data is sequentially read out from each of the above-mentioned memories with a delay of 3 frame periods: 2 frame periods for storing image data for correlation calculations in the image memory, which will be described later, and 1 frame period for performing correlation calculations. , is added to the DA converter 15 (see FIG. 3(d)). The DA converter 15 converts the input image data into an analog signal (video signal) and outputs it to the monitor television 16. The monitor television 16 displays the scenery within the visual field of the aiming device 1 on its screen according to the input video signal. Project. As mentioned above, this screen is delayed by 3 frame periods compared to the screen input to the aiming device 1, but since the 1 frame period is very short (1 second),
The delay is not a problem.

While viewing the screen of the monitor television 16, the gunner uses the position specifying device 17 to specify three positions on the screen, namely, the shooting target position and the positions of two stationary objects (for example, a tree, a house, a rock, etc.). The position specifying device 17 has an operating lever that functions as, for example, a joystick, and uses this operating lever to move a cross cursor displayed on the screen to specify each of the above positions. ↓3. You can also use a light pen instead of the control lever.

When each of the above positions is designated, the monitor television 16
Data indicating the target position (xo-, yo) on the screen (X, Y coordinate data with the center of the screen as the coordinate origin) is output to the first maximum position detector 18, and similarly the positions of the two stationary objects ( po, qo), (TJ, ., ν.) are output from the second maximum position detector 19 and the third maximum position detector 2I), respectively.These position data are output at each maximum position. This is the initial value of the detector.

Now, time 1. If the above position is specified at the point in time,
The first maximum value position detector 18 uses its initial value as it is.
Add to memory controller 21. The first memory controller 21 appropriately selects two image memories in relation to which image memory is currently writing image data, and determines the position based on a signal indicating the manually input position (x, y). A control signal for cutting out a central partial image from the two selected image memories is output to the two image memories.

That is, as shown in FIG.
When image data is written to the second image memo 1, the third and fourth image memories that have already stored image data are selected, and similarly, when image data is written to the second image memo 1/2, When the fourth and first image memories are selected and image data is written in the third image memory 13, the first and second image memories are selected and image data is written in the fourth image memo 114j. Sometimes, the second and third image memories are selected (Fig. 3(C)
reference).

Then, partial images of the same size at the same position are cut out from the two selected image memories. The center position of this partial image is the position input to the first memory controller 21, and the partial image has a size of m×n pixels including part or all of the target.

The data of the two partial images thus cut out are added to the first correlator B. The first correlator η calculates the correlation between both partial images while shifting the center point of the partial image delayed by one frame one pixel at a time.

The first maximum value position detector 18 detects the maximum value of the correlation value added from the correlator n, and calculates the deviation of the partial image delayed by one frame at the current position (in this case, the initial position (
xo, y6)) and convert this to the new current position it (
”, 3').

A signal indicating this new current position f(x, y) is applied to the first memory controller 21. The first memory controller 21 includes an image memory that stores image data delayed by one frame based on the input signal at the same time as described above, and image data further delayed by one frame from the partial image. Each partial image is cut out from the image memory and the data of these partial images is added to the first correlator 22.

The first correlator ρ calculates the correlation between both partial images by shifting the center point of the partial image delayed by one frame one pixel at a time.
The maximum value position detector 18 detects the correlation value added from the correlator n, adds the shift amount of the partial image delayed by one frame to the current position, and calculates this again to the new current position (
x, y).

By repeatedly performing the above processing, the position of the target on the screen can be detected in real time.

a second maximum value position detector 19, a second memory controller and a second correlator; a third maximum value position detector 19;
The memory controller b and the third correlator are connected to the first
It has the same functions as the maximum value position detector 18, the first memory controller 21, and the first correlator n, and differs only in the initial direct input. Positions (p, q) and (μ) detected by the second maximum position detector 19 and the third maximum position detector 19.

υ) are respectively added to the screen pre-detection circuit n, and the amounts of parallel movement between the screens (ΔX, Δy) are correlated here.
and the coordinate rotation angle (θ) are detected.

In other words, when a vehicle with a TV camera 4.5 mounted on it is traveling at high speed, minute vibrations (high frequency) remain that cannot be absorbed by the servo system that stabilizes the turret, causing problems on the shooting screen. Affect.

Therefore, it is necessary to detect the presence of the screen from changes in the position of objects that do not move on the screen, and to cancel the influence of this vibration.

Now, the position t (po, qo) and position (tLGyν.) of the stationary object at time t0, and the time Ll (=”o+Δt)
The position (Pt+qt) and position (tL) of the same stationary object at
I, υI) are shown in FIGS. 4(a) and (b), respectively.

The position change that occurred on the screen due to the influence of vibration is expressed as (Δp, Δ
q), (Δμ, Δυ), the following equation holds true, and by substituting this into the general equation for coordinate transformation, the coordinate rotation angle θ and the parallel movement amount (Δ”O+Δ3) are obtained from the above equation.
'e) can be found.

The signals indicating the coordinate rotation angle θ and the parallel movement amount (ΔX, Δy) detected by the screen pre-detection circuit 271 are as follows:
position correction circuit 28 ; and fourth memory controller 29
E is added.

The position correction circuit A converts the target position ffti (x, y) applied from the first maximum value position detector 18 into a position Cx after correction using the following conversion formula based on the above signal applied from each screen pre-detection circuit. ', y').

Note that if the turret is sufficiently stabilized, the vibrations that will affect the image will be minimal. In this case, it may be considered that θ=0, and the calculation can be simplified as shown in the following equation.

In addition, as described later, the target position is always the coordinate origin position,
That is, since the aiming device is controlled to come to the aiming point, the influence of the coordinate rotation angle θ on the target position is small. According to the above simplified formula, it is only necessary to calculate the amount of parallel movement, so it is only necessary to calculate the positional change of a stationary object at one point on the screen.

The fourth memory controller 4 changes the address of the image data taken out from the image memory based on the signal applied from the screen pre-detection circuit n, and causes the DA converter 15 to output the address.

Thereby, blurring of the screen of the monitor television 16 can be eliminated.

Now, the signal indicating the position (x', y') of the target on the screen that is output from the position correction circuit A is a rotation signal that is used to control the direction of the aiming bag AT so that the position is always at the coordinate origin. It is added to the addition point I as a speed command (the speed command is 0 when the coordinates are at the origin).

The aiming device servo device 31 controls the aiming device 1 according to the rotational speed command so that the target within the field of view of the aiming device 1 is brought to the center of the screen. The speed of direction change of the aiming device 1 is detected by the aiming device gyro 32, and the speed is fed back to the above-mentioned addition point.

Further, the horizontal angular velocity of the sighting device 1 is detected by a horizontal angular velocity detector, and the detected angular velocity is sent via the stabilization compensation circuit as a turning speed command for turning the turret 37 at the same speed. Add to the additional points.

The turret servo device unit controls the turret 37 according to the rotation speed command.
The speed is controlled so that it points in the same direction as the aiming device 1. The direction change speed of the turret 37 is detected by the turret gyro and fed back to the addition point.

Furthermore, the traveling direction of the own vehicle is changed during the traveling E, but the horizontal angular velocity of the vehicle body at that time is detected by the vehicle body gyro 39, and the detected angular velocity causes the turret 37 to change the traveling direction of the own vehicle. Regardless, it is added to the above-mentioned addition point A as an L-th command to always point in a certain direction.

Therefore, as shown in FIG. 5, when a target is captured within the field of view by the monitor television 16 (5th prisoner (a)) and the target is designated by the position specifying device 17 (FIG. 5 (b)), the above-mentioned By controlling the aiming device 1 in this manner, the target automatically comes to the center of the screen (FIG. 5(C)).

Thereafter, even if the target moves, it is automatically tracked, so the aiming device 1 is controlled so that the target always matches the center of the screen, that is, the aiming point (FIG. 5(d)).

In addition, by always aligning the aiming point of the aiming device with the target, the rangefinder attached to the aiming device can constantly measure the distance to the target. It is possible to automatically determine the elevation angle of the main gun based on the parallax of the main gun center, the recoil of the vehicle during firing, the angle of inclination of the vehicle body, etc.), and weather factors (temperature, humidity, wind direction, wind speed, atmospheric pressure), etc.

In addition, in armored vehicles that do not have a laser rangefinder and a ballistic computer, the gunner reads the notched scale on the sighting device's finder to determine the elevation angle of the main gun. Since the automatic tracking mechanism allows the 6C sight to be automatically aligned with the target even when the gunner is moving, the gunner can only control the elevation and elevation angle of the main gun.

Furthermore, the method of recognizing the g mark position by image processing is not limited to this embodiment, and various methods such as the contour method and other correlation methods can be applied.

Further, a method of compositing screens using two child cameras/video cameras and a method of preventing the influence of screens from P1/C are embodiments of the present invention.

〔Effect of the invention〕

As explained above, according to the present invention 6 (-), once you give a command to place a position within the field of view of the target, the vehicle will automatically track the target even if both the vehicle and the target move. You can aim by

In addition, the commander can be the gunner, making it possible to reduce the turret part and downsize the vehicle.

[Brief Description of the Drawings] Figure 1 is a block diagram showing one embodiment of the present invention, and Figure 2 (
a) and (b) are diagrams showing examples of two screens taken at the same time by two television cameras with different wavelength sensitivities, respectively, and Figure 2 (C) is a diagram showing examples of two screens taken at the same time by two television cameras with different wavelength sensitivities, and Figure 2 (C) is a diagram showing an example of two screens taken at the same time by two television cameras with different wavelength sensitivities. Figures 3(a) and 3(d) are composite images of the screens, and
(14 Timing chart of image data input/output to the four image memories in Fig. 1, Fig. 4 (a) and (b) are diagrams used to explain the method for preventing the effects of screen shake, Fig. 5 Figures (a) to (d) are views showing an example of the view range of the aiming device that changes according to the present invention E. 1. Aiming device, 2. Half mirror, 13. Mirror, 4.5...TV camera, 6...Sync signal generator, 7°8...AD converter, 9...Multiplexer, 10...Switching circuit, 11...@1 image memory,
12... Second image memory, 13... Third image memory, 14... Fourth image memory, 1: S... DA converter, 16... Monitor TV, 17... Position specification Device,
18...First maximum value position detector, 19...Second tear.
Great value! Detector, addition...Third maximum value position detector, 2nd...First memory controller, n...First correlator, n
...Second memory controller, U...Second correlator, U...Third memory controller,...Third correlator, 27...Screen pre-detection circuit, path ...Position correction circuit, 2+) No. 1 Vermilion memory controller, 31...
Aiming device -)) --- Bo device, 35"... Aiming device jai 0.33... Horizontal angular velocity detector, A... Stabilization compensation circuit, 36... Turret servo device, 37... - Turret, Seki...turret gyro, 39...car body gyro.Applicant's representative: Takahisa Kimura (b) Figure (d) Figure

Claims (3)

[Claims] (1) When the aiming device of an armored or armed vehicle is fixed, the main gun of the vehicle is controlled to point in a fixed direction regardless of the movement of the vehicle, and the aiming point of the aiming device is aligned with the target. Then, in the fire control method for at least matching the orientation of the main gun with the orientation of the target, the field of view of the aiming device is photographed, and a predetermined area including part or all of the target is determined from the photographed one-screen image. The position of the partial image at the specified time t_0 and the time t_1 (=t
_0+Δt), detecting the moving position of the target on the screen by performing pattern matching with the image on the screen at
Next, a partial image cut out from the screen at time t_1 in relation to the movement position and a time t_2 after a predetermined period of time have elapsed.
The movement position of the target on the screen is similarly detected from the image on the screen at (=t_1+Δt), and by repeating this, the position of the target on the time-series screen is sequentially detected. An automatic tracking fire control method, comprising controlling the aiming device so that the detected position of the target comes to a predetermined position on a screen corresponding to the aiming point of the aiming device. (2) The field of view of the aiming device is photographed simultaneously by two television cameras each having high sensitivity in the visible light region including night vision and in the infrared light region, and each pixel is alternately photographed on the two screens. An automatic tracking fire control method according to claim (1), in which a single screen is obtained by composing the images so that they are arranged in the following. (3) Specify the position of a partial image of a predetermined area that includes part or all of the target, and also specify the position of a partial image of a stationary subject on the same screen, and specify the time t_
Pattern matching is performed between the partial image of the subject at time 0 and the image on the screen at time t_1 (=t_0+Δt) after a predetermined period of time has elapsed, the amount of change in the subject on the screen is detected, and then the partial image of the subject at time t_1 is detected. Detect the amount of change of the subject on the screen in the same way from the partial image cut out in relation to the movement position and the image on the screen at time t_2 (=t_1+Δt) after a predetermined period of time has elapsed, and repeat this process. By doing this, the time t_n_+_1 (=t_n+
The automatic tracking fire control method according to claim 1, wherein the amount of change of Δt) on the screen is detected, and the image position on the screen at time t_n_+_1 is corrected based on this amount of change.