KR101578023B1 - Remote shooting system - Google Patents

Abstract

The present invention includes a user input unit, a first control unit, a second control unit, a shooting solenoid, an arming unit, and a gyro sensor. The first control unit transmits the shooting control signal according to the shooting command signal from the user input unit. The second control unit generates a shooting driving signal according to the shooting control signal from the first control unit. The shooting solenoid operates according to the shooting drive signal from the second control unit. The arming unit is equipped with a shooting device to fire by the action of the shooting solenoid. The gyro sensor is installed in the arming unit and inputs an angular velocity signal according to the driving disturbance of the armed unit to the second control unit. The second control section provides a remote shooting system that controls the horizontal position and the vertical position of the armed section so that the tilting of the armed section is compensated in accordance with the angular velocity signal from the gyro sensor.

Description

Remote shooting system

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote shooting system, and more particularly, to a remote shooting system used by a soldier in a protective room such as a tank at the time of battle.

In the use of the remote shooting system, a soldier performs a shooting operation by operating a joystick or the like while watching an image displayed in a battle room such as a tank at the time of battle.

However, when a vehicle equipped with an armed unit such as a tank is running while shooting, there is a problem that accuracy and speed of shooting are lowered due to shaking of the armed unit.

The main object of the present invention is to provide a remote shooting system capable of increasing the accuracy and speed of shooting even when a vehicle equipped with an armed unit such as a tank is running while shooting.

A remote shooting system according to an embodiment of the present invention includes a user input unit for generating a shooting command signal according to a user's operation, a first control unit for transmitting a shooting control signal according to a shooting command signal from the user input unit, A second control unit for generating a shooting driving signal in accordance with the shooting control signal from the first control unit; a shooting solenoid operated in response to the shooting driving signal from the second control unit; And a gyro sensor installed on the armed unit for inputting an angular velocity signal according to driving disturbance of the armed unit to the second control unit, Wherein the tilting of the armature is compensated according to an angular velocity signal from the gyro sensor, It controls the horizontal position and vertical position of the book.

The charging control unit may further include an automatic charging unit for driving the charging knob in the arming unit in response to a charging signal from the second control unit, To the second control unit, and the second control unit may input the charging drive signal to the automatic charging unit in accordance with the charging control signal received from the first control unit.

In the present invention, it is preferable that the automatic loading section includes: a moving block interlocking with the loading handle; an automatic chapter dedicated motor rotating according to a loading drive signal from the second control section; Wherein the second control unit includes a ball screw for moving the block in a straight line and a proximity sensor provided at a return position of the moving block so that the second control unit reverses the automatic chapter dedicated motor in accordance with a signal from the proximity sensor, It can be returned to the opposite position.

In accordance with the present invention, there is provided an image pickup apparatus comprising: a photographing unit having a camera for daytime use and a camera for nighttime; and a control unit for controlling the operation of the daytime camera or the nighttime camera in accordance with a control signal from the second control unit, And an image selection unit for inputting a live-view image signal to the second control unit.

The present invention may further comprise a display unit, wherein the second control unit transmits a live-view video signal from the video selection unit to the first control unit, A live-view image from the photographing unit can be displayed on the display unit by providing a live-view image signal received from the photographing unit to the display unit.

In the present invention, it is preferable that the motor control device further include: a swing drive motor that rotates in accordance with a horizontal-position drive signal from the second control unit; a swing drive unit that swings the armed unit in the horizontal direction by a rotational force of the swing drive motor; Further comprising: a low-level drive motor that rotates in accordance with a vertical-position drive signal from the control unit; and a high-low drive unit that adjusts the shooting vertical direction of the armed unit by the rotational force of the high-level drive motor, The horizontally moving distance and the vertical moving distance of the shooting unit of the armed unit can be determined according to the signals from the swivel driving motor and the encoders installed in the elevator driving motor.

In accordance with the present invention, there is provided an image-high floor driving motor that rotates in accordance with a video-independent driving signal from the second control unit, and a video-high floor driving motor provided between the photographing unit and the armed unit, And an image elevation driving unit for independently adjusting a vertical photographing direction of the photographing unit.

In the present invention, the first control unit transmits a video-independent control signal to the second control unit according to a video-independent command signal from the user input unit, and the second control unit controls the video- Independent driving signal according to the independent control signal.

In the present invention, the image elevation drive unit includes a speed reducer that rotates at a speed lower than a rotational speed of the video-elevation drive motor, a sector gear that rotates the image pickup unit in the vertical direction in accordance with the applied rotational force, And transmits the rotational force of the sector gear to the sector gear.

In the present invention, it is preferable to further include: a turning position sensor provided in a coupling area between the swivel driving part and the armed part; and a high level position sensor provided in a coupling area between the high level driving part and the armed part, It is possible to determine the turning position and the high and low position of the vehicle.

In the present invention, the arming unit may include: a weapon mount on which the gun is mounted; and a support portion that engages with the arming mount so that the arming mount can be rotated up and down, and the arming mount is moved up and down And the support portion is movable left and right together with the armed mount.

In the present invention, the armrest mount comprises: a mount support which engages with the support; a front securing block which is disposed on the mount support and engages with a part of the gun to fix the gun; A rear fixed block disposed apart from the fixed block and coupled with the other end of the gun to fix the gun, and a rear fixed block disposed between the front fixed block and the rear fixed block and having one end connected to the rear fixed block, And a shock absorber fixing block connected to the other end of the shock absorber for fixing the shock absorber.

According to the remote shooting system of the present invention as described above, the inclination of the armed unit is compensated according to the angular velocity signal from the gyro sensor.

Accordingly, even if a vehicle equipped with an armed unit such as a tank is running while shooting, accuracy and speed of shooting can be increased.

Further, according to the present invention, it is possible to improve the accuracy of hit by alleviating the main force generated when the gun is triggered.

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

1 shows a general configuration of a remote shooting system according to an embodiment of the present invention. Fig. 2 is a perspective view showing the arming of the remote shooting system of Fig. 1, and Fig. 3 is an exploded perspective view showing the arming of the remote system of Fig.

1 to 3, a remote shooting system according to an exemplary embodiment of the present invention is divided into components installed outside the protective room and components installed in the protective room.

The components installed outside the protective room include a photographing unit 101, an image selecting unit 102, an image elevation driving unit 103, a video elevation driving motor _IM , an arming unit 150, a high elevation driving unit 105, An automatic load section 108 ( _MAU ) including a high level drive motor M _HL , a shooting solenoid 106, a swing drive section 107, a swing drive motor M _TU , and an automatic chapter dedicated motor M _AU , A second control unit 109, a gyro sensor 121, a high or low position sensor 122 and a turning position sensor 123. The motor main motor _MU , the second control unit 109, the gyro sensor 121,

Here, an encoder is attached to the video-elevation driving motor M _IM , the elevation driving motor M _HL , and the swing driving motor M _TU . The second control unit 109 determines the vertical movement distance of the photographing unit 101 and the horizontal movement distance and the vertical movement distance of the shooting unit 104a of the arming unit 150 according to the signals from the encoders do. Here, the horizontal movement of the photographing section 101 is subject to horizontal movement of the armed section 150. [

The components installed in the protection room include a first control unit 111, a user input unit 112, a video tracking unit 113, and a display unit 114.

A communication cable (not shown) is connected between the first control unit 111 and the second control unit 109. Of course, the first control unit 111 and the second control unit 109 may perform wireless communication, but in the case of the present embodiment, they perform wired communication.

2, reference numeral 104a denotes a shooting light emitting portion, 104b denotes a loading handle, and 201 denotes a tongue. As the communication cable (not shown) between the first control unit 111 and the second control unit 109 passes through the drum and the contactor in the slip ring (not shown), the armature unit 150 continues to rotate in one direction The communication cable (not shown) is not twisted.

Referring to FIG. 1, the overall configuration and operation of the remote shooting system of one embodiment of the present invention will be described as follows.

User input unit 112 For example, the joystick generates a shooting command signal in response to a user's operation.

The first control unit 111 transmits a shooting control signal according to a shooting command signal from the user input unit 112.

The second control unit 109 generates a shooting driving signal in accordance with the shooting control signal from the first control unit 111.

The shooting solenoid 106 operates according to the shooting drive signal from the second control unit 109. [

The arming portion 150 includes a gun 104, a gun mount 130, and a support 140. The gun 104 is fired by the action of the shooting solenoid 106.

The armed mount 130 provides a space in which the gun 104 is mounted and engages with the support 140. The armed mount 130 on which the gun gun 104 is mounted moves up and down with respect to the support portion 140. In detail, the arm mount 130 is hinged to the support 140 and can move up and down, i.e., vertically, about the hinge axis. As a result, the gun 104 can aim the target up and down. The armed mount 130 is driven up and down by the high and low drive section 105.

The support 140 can be moved laterally. That is, the support portion 140 can move in the horizontal direction. Accordingly, since the support portion 140 coupled with the arm mount 130 is capable of turning in the horizontal direction, the gun 104 can aim at the target in the left-right direction. The support portion 140 is driven by the swing drive portion 107. [

A mounting knob (104b) in the automatic sheet motor for automatic chapter all (108, M _AU) is the second control arm mounting portion 150 in response to the drive signal from unit 109 containing the (M _AU) is driven.

Here, the first control unit 111 transmits a loading control signal to the second control unit 109 in response to the loading command signal from the user input unit 112. Also, the second control unit 109 inputs the charging signal to the automatic charging unit 108 (M _AU ) according to the charging control signal received from the first control unit 111.

When a burnt shot to be supplied to the gun 104 from the tumbler 201 is generated due to misfiring of the gun 104 in the arming unit 150, the load command signal from the user input unit 112 So that the automatic loader 108 (M _AU ) drives the loading handle 104b of the gun 104.

Therefore, the risk that the soldier in the protective room comes out of the protective room and reloads the gun 104 can be prevented.

The photographing section 101 includes a daytime camera and a nighttime camera.

The image selection unit 102 selects a live-view image from a daytime camera or a nighttime camera while operating a daytime camera or a nighttime camera in accordance with a control signal from the second control unit 109 And inputs the signal to the second control unit 109.

The second controller 109 transmits a live-view image signal from the image selector 102 to the first controller 111.

The first control unit 111 provides a live-view video signal received from the second control unit 109 to the display unit 114. Accordingly, a live-view image from the photographing unit 101 is displayed on the display unit 114. [

The second control unit 109 comprises a horizontal moving distance of the pivot drive motor (M _TU) and elevation drive motor fire exit part (104a) of the arm portion 150 in response to the signals from the encoder installed on the (M _HL) for And the vertical movement distance.

The first controller 111 transmits a horizontal-position control signal to the second controller 109 according to a horizontal-position command signal from the user input unit 112. The second controller 109 generates the horizontal-position driving signal according to the horizontal-position control signal received from the first controller 111.

The swing drive motor M _TU rotates in accordance with the horizontal-position drive signal from the second control unit 109. Thus, the swivel driving unit 107 turns the supporting unit 150 in the horizontal direction by the rotational force of the swivel driving motor _MTU .

In addition, the first controller 111 transmits a vertical-position control signal to the second controller 109 according to a vertical-position command signal from the user input unit 112. The second controller 109 generates the vertical-position drive signal according to the vertical-position control signal received from the first controller 111.

The low-level drive motor (M _HL ) rotates in response to the vertical-position drive signal from the second control section (109). Accordingly, the high-level drive section 105 adjusts the shooting vertical direction of the arm mount 130 by the rotational force of the high-level drive motor M _HL .

The first controller 111 transmits a video-independent control signal to the second controller 109 in response to a video-independent command signal from the user input unit 112. Accordingly, the second control unit 109 generates a video-independent driving signal according to the video-independent control signal received from the first control unit 111.

The image-high floor driving motor M _IM rotates in accordance with the video-independent driving signal from the second control unit 109.

Video elevation driving unit 103 that is provided between the imaging unit 101 and the arm unit 150, the image-independently adjust the vertical-up direction of the elevation drive motor (M _IM) recording unit 101 by the rotational force for the do.

Due to the intervention of the image elevation drive unit 103, the soldier in the protection room can continue to view the target through the display unit 114 even when the shooting direction is different from the shooting direction. Such an effect will be described in more detail with reference to FIGS. 5 and 6. FIG.

The turning position sensor 123 and the high / low position sensor 122 are provided in preparation for the independent driving of the image elevation driving unit 103 as described above. The turning position sensor 123 is installed in the coupling region of the swing drive unit 107 and the arm portion 150. The low level position sensor 122 is installed in the coupling area of the high level drive part 105 and the arm part 150.

The second control unit 109 determines the turning position and the high and low position of the arming unit 150 in accordance with the position signals from the turning position sensor 123 and the high / low position sensor 122 as described above.

Accordingly, at the time when the image elevation drive unit 103 is no longer required to be driven independently, the first control unit 111 outputs a video-coincidence control signal to the second control unit 111 in response to the video-coincidence command signal from the user input unit 112 The second control unit 109 drives the image-elevation driving motor in accordance with the video-coincidence control signal received from the first control unit 109 so as to accurately match the shooting direction and the shooting direction have.

On the other hand, the image tracking unit 113 continuously detects the position of the subject in the live-view image from the first controller 111 and provides the position control data of the subject to the first controller 111 .

The first controller 111 corrects the horizontal-position control signal and the vertical-position control signal according to the position movement data from the image tracking unit 113. Thus, the accuracy and speed of shooting in a continuous shooting situation can be increased.

The gyro sensor 121 for inputting the angular velocity signal according to the driving disturbance of the arming unit 150 to the second control unit 109 is installed in the arming unit 150. [

The second control unit 109 rotates the swivel driving motor M _TU and the high level driving motor M _HL so that the tilting of the arming unit 150 is compensated according to the angular velocity signal from the gyro sensor 121 .

Accordingly, even if a vehicle equipped with the armed unit 150 such as a tank is running while shooting, the accuracy and speed of shooting can be increased.

Fig. 4 shows the overall appearance of the automatic loader ( _MUU ) 108 of Figs. 4, the automatic load section 108 includes a moving block 302, an automatic chapter dedicated motor ( _MU ), a ball screw 301 and a proximity sensor 303. [

The moving block 302 cooperates with the loading handle 104b.

The automatic chapter dedicated motor ( _MUU ) rotates in accordance with the loading drive signal from the second control section (109 in Fig. 1).

The ball screw 301 moves the moving block 302 in a straight line in accordance with the rotation of the automatic chapter dedicated motor M _AU .

The proximity sensor 303 is installed at the return position of the mobile block 302.

The second control unit 109 reversely rotates the automatic chapter dedicated motor M _AU in accordance with a signal from the proximity sensor 303 to return the mobile block 302 to the opposite position.

Therefore, when the automatic charging unit (M _AU ) 108 as described above is provided, a bundle to be supplied to the gun gun from the tongue (201 in FIG. 2) due to misfiring of the gun gun in the arming unit The automatic _loader 108 (M _AU ) drives the loading knob 104b in the arm part 150 by the loading command signal from the user input part (112 in FIG. 1).

Therefore, the risk that the soldier in the protective room comes out of the protective room and recharges the gun can be prevented.

5 shows a state in which the image elevation drive unit 103 of Figs. 1 to 3 does not operate and the shooting direction of the shooting unit 101 and the shooting direction of the armed unit 150 coincide with each other, Lt; RTI ID = 0.0 > 150 < / RTI > moves integrally. 5 shows a case where the image elevation drive unit 103 of Figs. 1 to 3 operates and the photographing unit 101 moves independently of the arming unit 150. Fig. In FIGS. 5 and 6, reference numeral 405 denotes a target, L _F denotes a shooting direction line, _CT denotes a trajectory trajectory, and L _S denotes a shooting direction line.

5, when the photographing unit 101 and the armed unit 150 are integrally moved as in the conventional art, when the shooting direction along the shooting direction line L _F and the shooting direction along the shooting direction line L _S The shooting direction always coincides. In this case, if the shooting direction line L _F coincides with the trajectory locus C _T , the soldier in the protective room can continue to view the target through the display unit (114 in FIG. 1).

However, if the shooting direction line L _F and the trajectory locus C _T do not coincide with each other as shown in FIG. 5, the soldier in the protective room can not see the target through the display portion (114 in FIG. 1). Therefore, it can not be known whether the bullet was exactly priced for the enemy.

6, the soldier in the battle room can continuously see the target through the display unit 114 even when the shooting direction is different from that in the shooting direction, as shown in FIG. 6 have.

Fig. 7 shows the appearance of the image elevation drive unit 103 of Figs.

1 to 3 and 7, the image elevation drive section 103 includes a speed reducer 601, a sector gear 603, and a gear assembly 602.

Reducer 601 includes an image-and rotates at a lower speed than the rotational speed of the elevation drive motor _(IM M) for.

The sector gear 603 rotates the photographing unit 101 in the vertical direction according to the applied rotational force.

The gear assembly 602 transmits the rotational force from the speed reducer 601 to the sector gear 603.

Here, as described above, the first controller 111 transmits a video-independent control signal to the second controller 109 in response to the video-independent command signal from the user input unit 112. Accordingly, the second control unit 109 generates a video-independent driving signal according to the video-independent control signal received from the first control unit 111.

The image-high floor driving motor M _IM rotates in accordance with the video-independent driving signal from the second control unit 109. The vertical photographing direction of the photographing section 101 is determined by the rotation of the image-elevation drive motor M _IM .

Therefore, the photographing section 101 rotates in the vertical direction in accordance with the image-independent command signal from the user input section 112. [

8 is a perspective view showing the outline of the armed mount 130 of Figs.

Referring to Figures 1-3 and 8, the arming portion 150 includes a gun 104, a gun mount 130, and a support 140.

The gun 104 may be a demonstrator or a direct shooter. For example, gun gun 104, which is a shooter, may be a K-4 machine gun, and gun gun 104, which is a direct shooter, may be a K-6 machine gun.

The gun mount (130) is equipped with a gun gun (104). The armed mount 130 includes a mount support 135, a front fixed block 131, a rear fixed block 132, a cushion 133, and a cushion fixing block 134.

The mount support 135 provides a space in which the front fixing block 131, the rear fixing block 132, the buffer 133 and the buffer fixing block 134 are arranged and engages with the supporting portion 140. Specifically, the mount support 135 is hinged to the support 140, and can swing up and down, i.e., vertically, about the hinge axis. The turning of the mount support member 135 in the vertical direction is driven by the fixed drive unit 105 as described above.

The front fixing block 131 and the rear fixing block 132 are disposed apart from each other on the mount support 135 in the longitudinal direction of the shooting gun 104. The front fixed block 131 engages a part of the gun 104 and the rear fixed block 132 engages with the rear side part of the gun 104. [ Thus, the gun gun 104 is fixed to the mount support 135 by the front fixing block 131 and the rear fixing block 132. [

The shock absorber 133 is disposed between the front fixed block 131 and the rear fixed block 132 and has one end coupled with the rear fixed block 132 and the other end coupled with the shock absorber fixed block 134, Thereby absorbing the impact generated at the time of triggering. 8 shows that two shock absorbers 133 are arranged parallel to the longitudinal direction of the guns 104. However, the present invention is not limited thereto, and at least one shock absorber 133 may be disposed on the mount supporter 135 . Since the shock absorber 131 absorbs the main force generated when the gun 104 is triggered, it can prevent the impact from affecting other components such as the photographing unit 101, Can be improved.

The shock absorber fixing block 134 is engaged with the other end of the shock absorber 134 and fixes the shock absorber 134 to the mount support 135.

As described above, according to the remote shooting system of the present invention, the gyro sensor is used, and the accuracy and the speed of shooting can be increased even when the shooting is carried out while the vehicle equipped with the armed portion such as the tank is running .

In addition, it is possible to prevent the risk that the soldier in the protective room must come out of the protective room and reload the gun.

Further, due to the intervention of the image elevation drive unit, the soldier in the protection room can continue to view the target through the display unit even when the shooting direction and shooting direction are different.

On the other hand, when the revolving position sensor and the high / low position sensor are used, the image-elevation driving motor is driven at the time when the image elevation driving section is not required to be driven independently, and the shooting direction and the shooting direction can be precisely matched.

Further, using the image tracking unit, the accuracy and speed of shooting in a continuous shooting situation can be increased.

It is intended that the present invention not be limited by the foregoing embodiments and the accompanying drawings, but rather by the appended claims, and that various changes, substitutions, and alterations can be made hereto without departing from the spirit of the invention as defined in the appended claims. It will be apparent to those skilled in the art that changes may be made.

FIG. 1 is a view showing the overall configuration of a remote shooting system according to an embodiment of the present invention.

Figure 2 is a perspective view showing the overall appearance of the arming of the remote shooting system of Figure 1;

Figure 3 is an exploded perspective view of the remote shooting system of Figure 1;

FIG. 4 is a perspective view showing the overall appearance of the automatic terminal of FIGS. 1 to 3. FIG.

5 is a view showing a case where the image elevation drive unit of FIGS. 1 to 3 does not operate and the shooting unit and the armed unit move integrally in a state in which the shooting direction and the shooting direction of the armed unit coincide with each other.

FIG. 6 is a view showing a case where the image elevation drive unit of FIGS. 1 to 3 operates and the photographing unit moves independently of the armed unit.

FIG. 7 is a perspective view showing the external appearance of the image elevation drive unit of FIGS. 1 to 3. FIG.

Fig. 8 is a perspective view showing the outer shape of the armed portion of Figs. 1 to 3. Fig.

Description of the Related Art

101 ... photographing section, 102 ... image selecting section,

103 ... image elevation drive section, M _IM ... image - elevation drive motor,

104 ... armed portion, 105 ... high bay drive portion,

M _HL ... high ground drive motor, 106 ... shooting solenoid,

107 ... Swivel drive unit, _MTU ... Swivel drive motor,

108 ... Automatic _load section, M _AU ... Automatic _load section motor,

109 ... second control unit, 111 ... first control unit,

112 ... user input unit, 113 ... image tracking unit,

114 ... display unit, 121 ... gyro sensor,

122 ... height sensor, 123 ... turning position sensor,

104a ... shooting light emitting portion, 104b ... loading handle,

201 ... tangential, 202 ... slip ring,

301 ... ball screw, 302 ... movable block,

303 ... proximity sensor, 405 ... target,

L _F ... Shooting direction line, C _T ... Trajectory trajectory,

L _S ... shooting direction line, 601 ... Reducer,

602 ... gear assembly, 603 ... sector gear.

Claims (14)

A user input unit for generating a shooting command signal according to an operation of a user; A first control unit for transmitting a shooting control signal according to a shooting command signal from the user input unit; A second control unit for generating a shooting driving signal according to a shooting control signal from the first control unit; A shooting solenoid operated according to a shooting driving signal from the second control unit; An arming unit including a gun gun and triggered by the action of the shooting solenoid; A high level driving motor rotating in accordance with a vertical-position driving signal from the second control unit; A low elevation driving unit for adjusting a shooting vertical direction of the armed unit by a rotational force of the elevation driving motor; A photographing unit for photographing; A video-high floor drive motor rotating according to a video-independent drive signal from the second controller; And And an image elevation driving unit for independently adjusting a vertical imaging direction of the imaging unit by a rotational force of the motor for elevation- Independent control signal from the user input unit, the first control unit transmits the video-independent control signal to the second control unit, and the second control unit controls the video-independent control signal in accordance with the video-independent control signal received from the first control unit And a remote shooting system for generating the video-independent driving signal. delete delete delete delete delete delete delete delete delete The method according to claim 1, A swing drive motor that rotates in accordance with a horizontal-position drive signal from the second controller; And Further comprising a swivel driving unit for swiveling the armed unit in a horizontal direction by a rotational force of the swivel driving motor, Wherein the second control unit judges a horizontal movement distance and a vertical movement distance of the fire exit unit of the armed unit according to signals from encoders installed in the swivel drive motor and the high level drive motor. Claim 12 is abandoned in setting registration fee. 12. The method of claim 11, A turning position sensor provided in a coupling region of the swivel driving part and the armless part; And Further comprising a high and low position sensor installed in a coupling region of the high level drive part and the non-powered part, Wherein the second control unit determines the turning position and the high and low position in the shooting direction of the armed unit by using the turning position sensor and the high and low position sensor, When the first control unit transmits a video-coincidence control signal to the second control unit in accordance with the video-coincidence command signal from the user input unit, the second control unit controls the video- Wherein the vertical shooting direction of the photographing unit is matched with the shooting direction of the armed unit by driving the motor for elevation driving. delete delete

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