KR100817578B1 - Remote shooting apparatus of the rifle in the manless watching robot - Google Patents

Abstract

A remote shooting apparatus of a gun in a manless watching robot is provided to allow a live cartridge to be charged immediately when necessary by charging the live cartridge of the gun in the manless watching robot through a remote-controlled breechblock and shooting an object. A remote shooting apparatus of a gun in a manless watching robot comprises a breechblock driving apparatus and a percussion lock. The breechblock driving apparatus includes a first lead block(13) having latchs(12) and a steel wire(11) fixed to one side portion of a body, a second lead block(15) provided with fixing hooks(14), an arm protrusion and a screw mount, a lead screw(17) moving first and second lead blocks and formed in a long rod shape, a bearing member(18) located in one end of the lead screw and supporting rotation of the lead screw, a motor(19) for rotating the lead screw in a medium of the bearing member, a locking instrument(21) for locking blades of the latch so as to allow the latch to be separated from the fixing hook, and first and second limit switches(22,23) for detecting start or completion of movement of first and second lead blocks. The percussion lock is installed in a position corresponding to a trigger of the gun placed in the manless watching robot and percusses the trigger of the gun according to a remote percussion control signal.

Description

Remote shooting apparatus of the rifle in the manless watching robot}

1 is an explanatory diagram for explaining an example of a conventional monitoring control system.

Figure 2 (a-b) is an explanatory diagram illustrating an embodiment of the unmanned boundary robot of the present invention.

Fig.3 (a-b) is explanatory drawing explaining an example of the bolt drive device of this invention.

4 is an explanatory diagram for explaining an embodiment of the bolt drive device of the present invention.

5A is an explanatory diagram for explaining an embodiment of the triggering device of the present invention.

6 is a flowchart of the present invention.

7 is an explanatory diagram for explaining an example of a control circuit provided in the unmanned boundary robot of the present invention.

<Detailed Description of Codes>

11: wire 12: latch

 13: first lead block 14: fixing hanger

 15: second lead block

17: lead screw 18: bearing member

19: motor 20: wing

        21: latch 22: first limit switch

23: second limit switch 24: motor control unit

25: pivot point 26: lever

        27: steel cable 28: hinge member

29: first assembly 30: second assembly

31: intermediate member 32: fixing piece

33: solenoid 34: trigger control unit

35: control unit

The present invention relates to a remote firing system and a control method of a firearm of an unmanned boundary robot, in particular an unmanned boundary robot for firing the target of the gun mounted on the unmanned boundary robot into the chamber through a remotely operated bolt. The present invention relates to a remote firing system of a firearm and a control method thereof.

In general, as society develops, the importance of the safety of individuals and facilities in public places is increasing. Therefore, countries around the world feel the need for public safety and install surveillance equipment such as surveillance cameras in public places and actively use them for large-scale accidents and other crime prevention. In particular, in recent years, indiscriminate terrorism has been increasing in general, so most countries

Preventing outsiders' access to important facilities, such as military bases, airports, and nuclear power plants in their countries, and preventing various types of surveillance equipment for security surveillance. A method of using a general search light and a CCD camera, a method of using an optical amplification device without a search light, and a method of using thermal imaging equipment have been used.

In particular, recently, a surveillance system using a detection camera capable of monitoring and alerting a relatively large area regardless of weather or fatigue accumulation has been introduced to acquire many boundary effects.

Then, referring to Figure 1 of the surveillance system using a plurality of surveillance cameras as an example of the conventional surveillance method as described above, it is installed in a plurality of predetermined positions to monitor the surveillance to shoot the set the front surveillance area Cameras 70a-n;

Signals for controlling the display function of the video signals captured by the surveillance cameras 70a-n and controlling the overall functions of the surveillance system 71 by processing the video signals captured by the surveillance cameras 70a-n as video signals. A processing control unit 72;

A display unit 74 for displaying the screens captured by the surveillance cameras 70a-n on the individual screens 73a-n of the multi-screens in accordance with the display control signal of the signal processing control unit 72;

And a control button unit 75 connected to the signal processing control unit 74 and having buttons for inputting a function control signal of the user.

Here, the surveillance cameras 70a-n may use a surveillance camera for a closed circuit television (cctv).

On the other hand, the operation of the surveillance system using the conventional surveillance camera as described above, first, a plurality of surveillance cameras (70a-n), for example, at a predetermined position of a specific place where the front boundary is required, respectively, the surveillance system 71 Press the system on button of the control button unit 75 to execute the monitoring function.

Then, as described above, each of the surveillance cameras 70a-n installed in the plurality of locations photographs the front of the location in which they are installed, and then transmits the captured images to the signal processing control unit 72 of the surveillance system 71. . In addition, the signal processing controller 72 may perform image signal processing on video signals of the surveillance cameras 70a-n photographing each boundary area, and then implement the individual screens of the display unit 74 to implement the multi-screen. 73a-n), for example, will be displayed on the CCTV screen.

Therefore, the monitor of the monitoring system 71 performs the boundary and monitoring operation while observing the front screen of the setting position displayed on the individual screens 73a-n, that is, the CCTV screen, of the display unit 74, respectively. At this time, when the monitor of the monitoring system 71 detects an abnormal symptom on the individual screens 73a-n of the display unit 74, a supervisory action such as an alarm or a crisis action team is dispatched through a predetermined procedure. The procedure will be followed.

However, such a conventional surveillance system can only perform surveillance of unidentified persons or objects that invade the border area, and can perform countermeasures such as firing firearms against unidentified targets and taking immediate action. As a result, the efficiency and effectiveness of the alert function has been significantly reduced, and even if the monitoring equipment is equipped with a firearm, even if it can be triggered manually, there is a thrust drive or trigger device that can automatically fire and fire the gun. Since there is no need to fire bullets for a long time at all times, there was a problem that causes various accidents.

Therefore, the present invention has been invented to solve the above problems, it can be shot immediately when necessary without having to hold the bullet in the chamber of the unmanned boundary robot firearms, so accordingly for unmanned boundary robot The object of the present invention is to provide a remote firing system for a firearm of an unmanned boundary robot and a control method thereof that maximizes the bullet characteristics of the firearm.

Still another object of the present invention is to remotely fire the bullet in the chamber of an unmanned boundary robot firearm remotely from a surveillance control room located at a remote location. The present invention provides a remote firing system of a firearm of an unmanned boundary robot and a control method thereof.

The present invention for achieving the above object is equipped with a small firearm and is installed in the set boundary area to shoot the boundary area by the unmanned remote control method to transmit the remote control device and operate according to the function control signal of the remote control device In an unmanned border robot,

And a bolt drive device which is installed at the side position of the gun mounted on the body of the unmanned boundary robot and retreats the gun's bolt retreat forward lever in accordance with the remote control retracting forward control signal of the remote control device to fire bullets into the chamber of the gun; ;

Remote launching device for a firearm of an unmanned border robot, which is installed and detached to a position corresponding to the trigger of the gun mounted on the unmanned border robot, and includes a trigger device that triggers the trigger of the gun according to a remote trigger control signal of a remote control device. To provide.

delete

delete

delete

delete

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

Surveillance control system to which the present invention is applied is installed in the boundary area set up as shown in Fig. 2 to monitor the intruder invading the boundary area by the unmanned remote control method through the detection camera (1) and then photograph the surveillance area An unmanned boundary robot (3) for outputting a signal and fixedly mounting a small firearm (2) such as a K-2 (Korean rifle) or an M16 rifle at an upper end of the body;

Remote control device which compares and analyzes the image signals captured by the unmanned boundary robot (3) to determine the intruder entering the boundary area, and then transmits the bolt drive control signal and the bullet trigger control signal to the unmanned boundary robot (3), if necessary It includes (4).

On the other hand, the unmanned boundary robot (3) is provided with an actuator (5) capable of rotating the body 360 degrees to the left or right in the lower part of the body on which the firearm (2) or the detection camera (1) is mounted. In the side position of the firearm (2) mounted on the body of the robot (3) is installed a drive mechanism (7) capable of retreating forward the forward lever (6) of the firearm (2), the firearm (2) A triggering device 9 capable of triggering the trigger 8 of the firearm 2 is installed at the upper end of the body, which is a position corresponding to the trigger 8 of.

In addition, the bolt drive device 7 of the present invention as described above of the cable 10 which is detachably fixed to the bolt lock retraction lever 6 of the firearm 2 as shown in (ab) and 4 of FIG. Steel wire 11 is fixedly installed on one side of the body, the upper side of the body is provided with a correspondingly pivotable clasp 12, the first lead block 13 and the inner center perforated to a certain size and:

Removable hooks 14 are detachably coupled to one surface of the first lead block 13, respectively, and fixed hooks 14 are formed at positions corresponding to the clasp 12 of the first lead block 13, respectively. An arm protrusion (not shown) is installed, and the second lead block 15 having a thread formed on the inner surface of the circular hole is formed:

A lead screw (17) accommodated in a male and female coupling method in a threaded inner center of the second lead block (15) to move the first and second lead blocks (13, 15) and have a long rod shape;

A bearing member 18 positioned at one end of the lead screw 17 to support rotation of the lead screw 17;

A motor (19) for forward and reverse rotation of the lead screw (17) via the bearing member (18);

When the clasp 12 of the first lead block 13 is contacted by moving a distance set along the lead screw 17, the clasp 12 of the clasp so that the clasp 12 is separated from the fixed hook 14 Hanging) 21, for example, is installed in the "b" shape;

As the arm protrusion of the second lead block 15 is touched, the first and second limit switches 22 and 23 are switched to detect the start or end of movement of the first and second lead blocks 13 and 15. Include.

Here, the clasp 12 is installed to be able to pivot up and down through hinge members at both upper and lower ends of the first lead block 13, and the hinge member of the clasp 12 is provided with a spring so that the clasp ( 12 is restored to the lead screw 17 direction side.

On the other hand, the triggering device (9) is coupled to the pivot point 25 in the lower part of the body as shown in Figure 5 (ac) to rotate the pivot point 25 to the pivot side to trigger the gun (2) ( A first assembly 29 having a lever 26 for triggering 8) and a hinge member 28 interlocked with the steel cable 27 at an upper side of the lever 26;

A second assembly 30 which is screwed to correspond to the first assembly 29 and forms a fixed support to be mounted on the trigger 8 of the firearm 2;

The steel cable 27 includes a fixing member 32 having a substantially quadrilateral shape for fixing the intermediate member 31 for interlocking with the hinge member 28 to one side of the first assembly 29 by screwing. .

Here, the unmanned boundary robot 3 controls the driving of the motor 19 of the bolt drive device 7 from the remote control device 4 to control the movement of the first and second lead blocks 13 and 15. A motor control unit 24 for receiving the electronic drive control signal, which is an electronic signal, for driving the motor 19 of the driving device 7;

A solenoid 33 for flowing a steel cable 27 connected to the percussion apparatus 9;

Trigger control unit 34 for receiving the trigger control signal from the remote control device 4 to trigger the trigger 8 of the firearm 2 and driving the lever 26 of the trigger device 9 through the solenoid 33. )Wow;

Function of the trigger device 7 through the motor control unit 24 and the trigger control unit 34 through the motor control unit 24 according to the trigger control signal and the trigger control signal transmitted from the remote control device 4. It is configured to include a control unit 35 for controlling the overall function of the unmanned boundary robot (3).

In addition, a motor may be used instead of the solenoid 33 of the percussion apparatus 9.

On the other hand, when explaining the assembly state of the bolt drive device 7 of the present invention as described above, first, the body of the bolt drive device 7 in the side position of the firearm (2) mounted on the body of the unmanned boundary robot (3) Mount it firmly. Then, the steel wire 11 of the cable 10 connected to the first lead block 13 of the bolt drive device 7 is firmly attached to the rear wing of the bolt backward reversing lever 6 of the firearm 2. Fix it.

In addition, when the assembling state of the triggering device 9 of the present invention will be described, first, the triggering device 9 of the triggering device 8 of the gun 2 mounted on the body of the unmanned boundary robot 3 will be described. The first assembly 29 and the second assembly 30 are engaged with each other so that the lever 26 is positioned to be firmly fixed by screwing.

Next, a control method applied to the above apparatus will be described.

First, the present invention proceeds to the monitoring function execution process (S2) in the initial state (S1) as shown in Figure 6 to monitor the boundary area set by the detection camera provided in the unmanned boundary robot. At this time, after the monitoring function execution process (S2) proceeds to the event occurrence confirmation process (S3) to check whether there is an intruder in the current boundary area.

At this time, if there is no person invading into the current boundary area as a result of checking during the event occurrence checking process (S3), the process returns to the whole process (S2) and repeats the loop. However, as a result of checking during the event occurrence confirmation process (S3), if there is a person invading into the current boundary area, the process proceeds to the shot release confirmation process (S4) to confirm whether to fire a bullet for the person who has invaded the current boundary area.

At this time, when the shot shooting is not determined for the intruder in the current boundary area, the process proceeds to the whole process (S2) and repeats the loop.

However, when a shot is determined for a person who has intruded into the current boundary area as a result of judging during the shot firing confirmation process (S4), the shot proceeds to the shot firing signal processing process (S5) and the remote control device drives the key with an unmanned boundary robot. The control signal and the trigger control signal are transmitted, and the unmanned boundary robot receives these signals and processes them according to the set execution procedure, and then pulls the trigger 8 with the trigger drive execution signal, which is an electronic signal for driving the trigger, and fires a bullet. The trigger execution signal is output to the bolt drive device and the trigger device, respectively.

Then, after the bullet firing signal processing process (S5) proceeds to the bullet loading process (S6) and the bolt driving device is driven in accordance with the bolt driving execution signal of the unmanned boundary robot to retreat forwards the bolt forward and backward lever of the gun. To the chamber.

Then, after the bullet loading process (S6) proceeds to the triggering process (S7) and the triggering device is driven in accordance with the triggering execution signal of the unmanned boundary robot to drive the triggering device lever mounted on the trigger of the gun, so pull the trigger of the gun To target.

Here, in the triggering process (S7), the single-shot step of triggering the trigger of the gun once by driving the lever of the trigger device once, and by driving the lever of the trigger device to continue a certain time in the pulled state of the trigger gun It further comprises a continuous firing step for firing.

In other words, while monitoring the set boundary area through the detection camera 1 provided in the unmanned boundary robot 3, the image of the boundary area is captured and transmitted to the remote control device 4. Then, the remote control device 4 checks the video screen in a set manner and lists the event if there is an invader in the current border area.

In addition, when the administrator inputs a live shot firing command to the intruder during the event process, the remote control device 4 transmits the bolt driving control signal and the trigger control signal to the control unit 35 of the unmanned boundary robot 3. Then, the control unit 35 of the unmanned boundary robot (3) is a motor for controlling the motor (19) of the grit drive device (7) first, in accordance with the key control signal and the trigger control signal of the remote control device (4). The control unit 24 outputs the bolt driving execution signal.

Accordingly, the motor control unit 24 drives the motor 19 of the bolt driving device 7 and accordingly the lead screw 17 connected to the motor 19 via the bearing member 18 on the rotating shaft. Rotates together. Then, the first and second lead blocks 13 and 15 coupled to the other end of the lead screw 17 to be rotated to the inner center thereof also interlock together with the lead screw 17.

Therefore, the first and second lead blocks 13 and 15 are moved along the lead screw 17 which is rotated in the direction in which the motor 19 is located. In this case, the clasp 12 of the first lead block 13 is fixed to the fixed hook 14 of the second lead block 15 installed at the corresponding position at the time of initial driving.

At this time, when the first and second lead blocks 13 and 15 are moved in the direction toward the motor 19 side, the arm protrusion at the lower end of the first lead block 13 moves together with the bolt drive device 7. Switch the first limit switch 22 installed at the bottom of the). Then, the first limit switch 22 detects the start of movement of the first and second lead blocks 13 and 15 and transmits them to the control unit 35 through the motor control unit 24.

Meanwhile, when the first and second lead blocks 13 and 15 are moved toward the motor 19 side along the lead screw 17 in which the first and second lead blocks 13 and 15 are rotated, the steel fixed to one end of the second lead block 15 is fixed. The wire 11 of the cable 10 is also pulled toward the motor 19 side.

Then, the bolt retraction lever 6 of the gun 2 fixed to the opposite side of the steel cable 10 is also pulled toward the rear side of the gun 2 as the wire 11 is pulled.

In this case, when the first and second lead blocks 13 and 15 move a predetermined distance toward the motor 19 along the lead screw 17 which is rotated, that is, the bolt retraction lever 6 is completely pulled out to extend the bullet. If it moves by a distance which can be shot in this chamber, it is installed in the shape of, for example, “a” before the wing 20 of the latch 12 of the first lead block 13 contacts the second limit switch 23. The stopper 21 is fixed to be blocked in the advancing direction.

At this time, since the fixing hook 14 of the second lead block 15 to which the latch 12 is fixed continues to move toward the motor 19, the latch 12 is hinged to fix the latch 12. The second lead block 15 is separated from the first lead block 13 by lifting upward through the member.

 Then, in the first lead block 13 separated from the second rib block 15, the wire of the steel cable 10 fixed to one side of the first lead block 13 has a motor 19 by its elastic force. The reverse of the lateral direction is restored and returned to the original position.

At this time, as the first lead block 13 returns to its original position, the bolt retraction lever 6 connected to the other end of the steel cable 10 is pulled and raised from the magazine while being restored by its own spring. The bullets are loaded into the chamber through the bolts.

Meanwhile, when the second lead block 15 separated from the first lead block 13 continues, the arm protrusion installed in the second lead block 15 touches the second limit switch 23 and the motor The control unit 24 recognizes. In addition, the motor controller 24 rotates the motor 19 that is currently being rotated forward.

Therefore, when the motor 19 is reversely rotated as described above, the lead screw 17 connected to the motor 19 via the bearing member 18 is also reversely rotated, so that the end portion of the lead screw 17 The second lead block 15, which has been advanced to the motor side), is moved in the reverse rotation of the lead screw 17 to return to its original position.

In this case, when the second lead block 15 moves to its original position and an arm protrusion installed under the second lead block 15 touches the first limit switch 22, the motor controller 24 recognizes this. To stop the rotation of the motor 19. In addition, when the second lead block 15 contacts the first lead block 13 during the above process, the latch 12 of the first lead block 13 is fixed to the hook 14 of the second lead block 15. Since the first and second lead blocks 13 and 15 are fixed to the original position, the first and second lead blocks 13 and 15 are coupled to their original positions.

 On the other hand, when the bullet is shot in the chamber of the firearm 2 through the above-described backward retraction process, the control unit 35 of the unmanned boundary robot 3 transmits a trigger execution signal to the trigger control unit 34. Then, the trigger control unit 34 drives the solenoid 33 to pull the wire of the steel cable 27 connected to the other side of the solenoid 33. Therefore, as the wire of the steel cable 27 is pulled, the intermediate member 31 installed on the first assembly 29 of the percussion device 9 connected to the other side of the steel cable 27 also starts from the fixing piece 32. To be pulled. Therefore, as the intermediate member 31 is pulled, the hinge member 27 connected to the other end of the intermediate member 31 is also pulled toward the fixing piece 32 side.

Then, the lever 26 coupled to the hinge member 27 is rotated by pivoting the pivot point 25 installed on the lower part of the body to be pulled toward the trigger 8 side of the firearm 2.

Thus, the lever 26 triggers the trigger 8 of the firearm 2 in the rear part. Then, the live bullet shot in the chamber of the firearm 2 is fired as a target.

On the other hand, when the triggering process of the firearm 2 is made through the above process, the control unit 35 returns the solenoid 33 to the original position through the trigger control unit 34. Therefore, the wire of the steel cable 27 connected to the other side of the solenoid 33 is also restored to its original position. And, as the wire of the steel cable 27 is in place as described above, the lever 26 connected to the other side of the steel cable 27 through the intermediate member 31 and the hinge member 27 is also in place.

In this case, the control unit 35 drives the lever 26 of the triggering device 9 to continuously fire the bullet of the firearm 2 according to the control signal of the remote control device 4 so that the trigger of the firearm 2 ( 8) It will continue to be fired for a certain period of time while pulling.

As described in the above description, the present invention uses the shotgun mounted on the unmanned boundary robot to fire into a chamber through a target that is operated remotely, thereby firing the target into the chamber of the unmanned boundary robot. If you do not need to do so, you can immediately shoot bullets when needed, and accordingly have the advantage of maximizing the charcoal characteristics of the unmanned border robot firearms.

In addition, according to the present invention, since the ammunition can be immediately shot in the chamber of the unmanned boundary robot firearm remotely from the remotely controlled control room, the accident caused by the long-lasting shot of the bullet in the chamber of the firearm is not yet disclosed. As a result, it is possible to secure the stability of a gun accident accordingly.

Claims (11)

In the unmanned boundary robot, which is equipped with a small gun and is installed in the set boundary area, it photographs the boundary area by unmanned remote control method and transmits it to the remote control device and operates according to the function control signal of the remote control device. The steel wire of the cable, which is detachably fixed to the revolving lever of the firearm, is fixedly installed at one side of the body, and the first lead block having a predetermined inner diameter is installed on both sides of the upper end of the body, and the inner lead is drilled to a certain size. And, detachably coupled to one surface of the first lead block detachable hooks are formed in a position corresponding to the latch of the first lead block, respectively, the arm projections are installed on an outer side of the body, punched in a circular shape A second lead block having a thread formed on the inner surface thereof, and a lead screw formed in an elongated rod shape to move the first and second lead blocks by a male and male coupling method in a threaded inner center of the second lead block. Located in one end of the lead screw, the bearing member for supporting the rotation of the lead screw, and the mother screw for forward and reverse rotation of the lead screw through the bearing member And a latch for hanging the wings of the latch so that the latch is separated from the fixing hook when the latch of the first lead block moves in a set distance along the lead screw, and the arm protrusion of the second lead block The first and second limit switches are switched as they are touched to detect the start or end of movement of the first and second lead blocks, and are installed at the side position of the gun mounted to the body of the unmanned boundary robot, A bolt drive for recharging forward the bolt retracting forward lever of the firearm according to the remote key retraction forward control signal to burn bullets to the chamber of the firearm; And A trigger device detachably installed at a position corresponding to the trigger of the gun mounted on the unmanned boundary robot and triggering the trigger of the gun according to a remote trigger control signal of a remote control device; Remote launch device for firearms of the unmanned boundary robot is configured to include. delete The method of claim 1, The clasp is a remote firing apparatus of the firearm of the unmanned boundary robot, characterized in that the upper and lower ends of the first lead block is installed to be rotated up and down through the hinge member. The method of claim 3, The hinge member is a remote launch device for firearms of the unmanned boundary robot, characterized in that the spring is installed. The method of claim 1, The trigger device is coupled to the pivot point in the lower part of the body and the pivot point is pivoted to the pivoting side is installed a lever for triggering the trigger of the gun, and the first assembly is provided with a hinge member interlocked with the steel cable on the upper side of the lever ; And a second assembly configured to be screwed to correspond to the first assembly and to be mounted on a trigger of the gun. The method of claim 5, Remote launching device of the gun of the unmanned boundary robot, characterized in that the fixing piece is installed on one side of the first assembly. The method of claim 6, The fixing piece is a remote launch device for a gun of an unmanned boundary robot, characterized in that the media member is installed so that the steel cable is interlocked with the hinge member. The method of claim 1, The unmanned boundary robot includes a motor control unit which drives a motor of a no-drift drive device by receiving a no-drift control signal from a remote control device to control the movement of the first and second lead blocks; A solenoid for flowing a steel cable connected to the percussion device; A trigger control unit which receives a trigger control signal from a remote control device to trigger the trigger of the gun and drives a lever of the trigger device through a solenoid; The gun of the unmanned boundary robot further comprising a control unit for controlling the function of the trigger device and the function of the trigger device through the motor control unit according to the trigger control signal and the trigger control signal transmitted from the remote control device. Remote launcher. delete delete delete

Images