KR102054826B1 - system for manual control of gun fire using remote controll appartus - Google Patents

Abstract

Disclosed is a naval projectile manual fire system using remote control, comprising: an imaging device installed in a naval projectile and capable of remotely transmitting an image signal by imaging the direction of the naval projectile; a remote control panel installed on the naval projectile to adjust elevation, turning angle and trigger of the naval projectile by a remote signal, and controlling the naval projectile by transmitting a control signal remotely onboard or at any place; and a display device capable of receiving and displaying the image signal of the imaging device remotely. According to the present invention, the remote control panel allows an operator to drive the naval projectile through the sight while viewing a display device image in a stable position using a seat and a table on board. Therefore, it is more convenient to operate than the conventional manual firing apparatus, and the hit rate, the survivability of the operator, and the sustainability of a battle can be greatly improved.

Description

System for manual control of gun fire using remote controll appartus}

The present invention relates to a manual shooting system of a gun, and more particularly, to fire or immediately conceal or conceal a system that was fired after interlocking with a self-defense posture change correction device in a state in which the gun was manually aimed at the naked eye. Is aimed at a more stable position at the ship's place where it is possible, and it relates to the gun's manual shooting system that can be interlocked with the self-deformed attitude change correction device.

The Naval Battle System processes the ship's sensors, weapon equipment and other supporting data in real time through the combat system data bus and displays them on the multifunction console to assist the operator in making tactical judgments. It is a command and fire control automation system that allows for quick combat by optimal allocation.

However, if a problem occurs with a sensor, a gun shooting specification calculation device, a tactical information processing device, or the like in the naval battle system, automatic gun shooting using the engagement function of the naval battle system becomes impossible.

In this emergency, if necessary, shooting must be made, so that the gun can be fired without the operation of the automatically operated ship fighting system, as shown in FIG. 6 in the gun selection panel 40, the gun fire mode is automatically fired by the combat system 30. It is possible to switch to manual shooting by the manual shooting device (1), and when the mode is switched to manual shooting, the gun 10 is controlled by the manual shooting device (1). Connected with 1).

The conventional manual shooting system adjusts the scale installed in the manual shooting device for the purpose of shooting a target at a certain distance, and then the operator visually identifies the target to match the crosshair of the scale installed in the manual shooting device by hand. It is a device that fires a gun after making it.

For accurate shooting, the operator continuously reflects the change in the attitude of the ship, and must manually match the crosshairs of the manual shooting system with the naked eye in the current state and the current ship position. Trigger.

This conventional manual shooting system is designed to allow the operator to be exposed to the periphery of the gun while visually identifying the target and simultaneously firing the gun while continuously reflecting the movement of the ship's attitude.

However, as the ship's posture changes continuously due to the maneuvering and digging of the ship, it is difficult to support the body on board. In addition, shipboards equipped with manual firing devices are difficult to cover up, so that operators are exposed to enemy ship fires and are subject to lethal danger, making it difficult to aim and fire. Therefore, in such a manual shot, the accuracy of the hit is reduced and precise shooting is not possible, and if a lot of enemy ships and allied ships suddenly change or collide with the movement of the ship during a collision, if the operator fails to target the target properly, the gun is bad. It may be headed for a friendly ship.

In order to alleviate the problem of the conventional manual shooting system, once the manual aiming is performed, the gun is fixed in spite of the change in the self-deflection position by interlocking the gun direction and the self-deflection attitude correction device by operating the switch or the lever in the aimed state. A system has been proposed to remain intact. Republic of Korea Patent Registration No. 10-1887879 is to control the shooting of the operator gun by self-defense posture compensation in the event that automatic fire is not possible.

According to this prior art, in the manual shooting system, in addition to the conventional manual shooting system, the aiming setting switch, the aiming setting information receiving module which receives the aiming setting information from the aiming setting switch, and the aiming setting information received at the aiming setting information receiving module is aimed at. If set, self-ship attitude information receiving module for receiving self-ship attitude information from self-going gyro sensor, target aiming information receiving module for receiving the turning angle and elevation of the gun set by the manual shooting system by the operator's manual aiming, target aiming Self-contained posture information on the turning angle and elevation received by the information receiving module Real-time posture information received by the receiving module in the real-time, self-contained posture reflecting module that provides the turning angle and elevation with the gun in the real-time posture information Self-deflection attitude reflection module receives the target aiming information Removing the portion of the character position in the operator compartment depends aim value of the turning angle and the altitude received from the module (roll) and the front and rear (pitch) and will reflect the real-time position information jaham.

However, despite the development of such a system, it is the same situation for the operator to manually aim the artillery gun and operate the interlocking lever or switch on the ship's manual shooting launcher. The threat of fire is still present, which makes it difficult to aim stably, and technology development is required to solve these problems.

Republic of Korea Patent No. 10-1402795 Republic of Korea Patent Registration No. 10-1887879

The present invention aims to provide an artillery manual shooting system capable of supplementing and solving the problems of the conventional and standard manual shooting system described above.

In addition, the present invention, the existing manual shooting system occupies a large volume, and has a configuration that can be easily miniaturized what had to be located outside the vessel, can be easily installed on the ship cover concealed, manual guns that can be installed in a small ship The purpose is to provide a system.

Manual gun shooting system using the remote control of the present invention for achieving the above object

The altitude, turning angle and trigger of the gun can be controlled by the remote signal of the imaging device (camera) which can capture the direction of the gun and transmit the video signal remotely. Remote control panel that can control the gun, characterized in that it comprises a display device capable of receiving and displaying the image signal of the imaging device remotely.

In the present invention, the remote control panel may be provided with an aiming interval and a trigger as an elevation controller and a swing angle controller for signaling a mechanism for controlling the elevation of the gun, the swing angle and the trigger.

In the present invention, the remote control panel may further include an aiming interlocker for maintaining the aiming by interlocking to compensate for the gunship direction in accordance with the fluctuation of the self-ship attitude in the current gunship direction. In this case, the artillery manual shooting system of the present invention is provided with a posture information receiving unit for receiving the self-government posture information from the gyro system under the assumption that the existing gyro system informs the existing self-government posture information. In consideration of this, a compensation signal for correcting the direction of the gun can be calculated and transmitted to the gun through the aiming period from the start or interlocking time.

In the present invention, the remote control panel is provided with a joystick type aiming interval and a signal according to the manipulation between aimings may be transmitted to the gun to adjust the elevation and azimuth (orbital angle) of the gun in real time.

The present invention is a kind of manual shooting system or a system that can be operated separately from a comprehensive and automatic system such as an emergency trap fighting system, so as to increase the redundancy and redundancy of the naval fighting system, it is automatically added in addition to the basic manual operation function. Can have elements.

For example, the manual shooting system of the present invention further includes a laser range finder installed in the gun, and the transmitter of the laser range finder shows the target distance on the display of the remote control panel, and the operator views the target distance and uses the control means of the remote control panel. The gun reference elevation may be adapted to the target distance.

In the present invention, the display may be configured to be integrally formed with a remote control panel, and may be configured to be carried together, and may be a remote control panel integrated display that implements a remote control panel by a touch pad or a touch screen method.

According to the present invention, the mechanical element that directly controls the direction of the artillery can be seen to form part of the gun by being integrated with the gun and integrally with the gun itself. On the other hand, since the remote control panel is not an integrated panel of the naval battle system, the control target is limited and thus can be miniaturized. It can also be installed in small ships to carry out manual gun fire.

According to the present invention, the remote control panel is easy to operate compared to the conventional manual shooting device because the operator can drive the gun through the aiming period such as the joystick while watching the display (monitor) image in a stable posture using a seat and a table on board. It can also significantly increase accuracy, operator survivability, and combat sustainability.

According to an aspect of the present invention, the remote control panel has an effective shooting that automatically calculates gun command values through the setting of the ship's attitude mode to maintain aiming by interlocking the gun direction control device with the gun direction control in the current artillery state. In addition, since the direct shooting is possible even when the ship pose is not set, the operator can also perform real-time corrected shooting by adjusting the aiming.

1 is a conceptual diagram of a box diagram form of the gun manual shooting system according to an embodiment of the present invention,
Figures 2 and 3 use an embodiment of the present invention, but in one example of software scale adjustment of a manual shooting launcher of an existing system, the artillery first orients the orientation of the target and raises the elevation at the aiming point. The explanation reference for explaining how to fit through the display screen,
4 is a flowchart illustrating a process of setting a reference value when linking a ship posture and a gun direction using an aiming interlock device according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a process of performing a ship attitude application operation in which the gun direction changes according to ship attitude information in the embodiment as shown in FIG. 4;
6 is a configuration conceptual diagram showing a gun control system for selectively operating a conventional manual shooting apparatus and a combat system.

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

1 is a conceptual diagram of a box diagram form of a gun manual shooting system according to an embodiment of the present invention.

Here, the gun manual shooting system is installed in the gun 10 to capture the direction of the gun to capture the image device 500 (camera), the remote control panel 100, the image signal of the imaging device remotely It is provided with a display device 200 (monitor, display) capable of receiving and displaying.

Here, the remote control panel 100 adjusts the gun's elevation and the turning angle (azimuth) by the remote signal and can be installed or moved in the ship or any place, and can be remotely transmitted control signal to the gun 110 and It is provided with a trigger 120 for the gun fire.

In this case, it is possible to remotely send and receive a signal by using a wired cable for the stability of signal transmission. However, in this case, a wireless transceiver (not shown) is installed in the battery selection panel 40 and the remote control panel ( Switching to the manual shooting system of 100) and various control signals for the gun are transmitted to the gun via the gun selection panel, or using the gun radio control unit using a direct radio transceiver installed in the gun.

In addition, in the system of this embodiment, the remote control panel 100 is configured to maintain the aiming of the gun by interlocking the aiming interlocker 140 that enables the aiming interval 110 and the self-deflection attitude in the current gun direction. do. For this aim linkage, the ship is required to present the existing self-ship attitude information of the gyro system 20, of course, the gun manual shooting system is a self-ship capable of receiving self-ship attitude information from the gyro system 20 The posture information receiving unit 130 is provided, and the aiming interlocker 140 calculates a compensation signal so as to correct the gun direction from the time of interlocking in consideration of self-ship posture information and transmits it between aimings.

Since the configuration of associating the aiming interlocker 140 with the manual shooting system is well known through the prior art described in the prior art document, a detailed description thereof will be omitted here.

The aiming interval of the remote control panel 100 is provided here in the form of a joystick. As the direction of the aim is changed according to the operation of the aim, the signal indicating the direction of the aim is generated by the remote control panel and transmitted to the apparatus for adjusting the direction of the gun installed on the ship's ship.

The unit for adjusting the direction of the gun is coupled to the mechanism part for adjusting the elevation of the gun by moving the barrel of the gun 10 and the machine part for adjusting the swing angle of the gun. If this occurs, you can change the gun's elevation and turn angle accordingly.

For example, in an example, when using the aiming interval such as the joystick, the left and right adjustment values between the aimings are reflected in the gun angle command value of the gun. If you move the scope to the right, the gun will rotate to the right, and the camera, which is the imaging device, is fixed to the gun.

The display device 200 may be configured to display a cross mark for the convenience of aiming in the image through software in connection with the aiming point. In this case, the cross mark may be a mark indicating the gun rotation angle and the elevation command value. On the other hand, the monitor image can be displayed as a checkered crosshair by default, core line is divided into 18 equal to 1/3 ~ 3/3 height, one space means the gun elevation 5 °. The horizontal column can be used to mean 5 ° of artillery turn angle.

If the target is in the center of the image in the aimed state, the crosshairs of the image will be centered in the image, and there will be no change in gun rotation.

The up and down adjustments between the aims are reflected in the gun command. Pushing the bar on the crossbar moves the crosshairs upward in the image, and the gun's barrel also points upwards. Pulling the aiming scope down moves the crosshairs down in the video, and the gun's barrel elevation is lowered.

According to the tilt of the aiming section 110, the gun's turning angle and the change rate (° / sec) of the elevation command value are differently applied, so that the operator can drive the gun barrel through the fine movement of the cross mark.

The camera, which is the imaging device 500, may be installed to move together with the gun to capture a gun-oriented target. In relation to the screen of the display device, for example, a target positioned at a firing range when the gun is at an elevation of 0 ° may be installed by adjusting the angle of the camera to the gun so that the target is positioned 1/3 of the height of the monitor image and in the middle of the horizontal.

In addition, the scale of the existing system of manual shooting launcher is closely related to aiming the gun at the target distance, and it may be necessary to adjust the scale position according to the target distance. Therefore, in the case of the present invention, the scale of the conventional manual shooting system is implemented in software, and when adjusted via the control means 150 in the remote control panel, the gun reference angle is changed on the display screen and is represented by a thick horizontal line.

For more automated aiming, a laser range finder (not shown) having the same direction as the image pick-up device is installed, installed together with the pick-up device, and the display device 200 and the remote control panel 100 are used to control the laser range finder. When the target is aimed at, the laser rangefinder informs the target distance to the remote control panel, and the manual shooting system is configured so that the operator can adjust the gun reference elevation (thick vertical line) through the control means on the panel and adjust it to the target distance. It is also possible.

In Fig. 2, a crosshair and a grid scale are basically displayed on the display screen, and a flag on the rectangle indicates a target (target). The crosshairs have the azimuth and reference elevation to which the current gun is facing. Here, the left and right limit angles of the video screen are determined according to the viewing angle of the camera. In FIG. 2, it is shown that the gun gun has an angle of 60 degrees with a 120 degree viewing angle. Currently, the elevation shown in FIG. 2 is 0 degrees, so the thick reference line is also represented by 0 degrees.

When the operator estimates the target distance, the gun operator enters the gun base elevation according to the distance. For example, if the target distance is 15km and the gun elevation for the hit is 15 degrees, the operator enters 15 degrees for the gun base elevation.

Then, as shown in Fig. 3, the horizontal line representing the high angle of 15 degrees is changed to bold on the display screen, and the operator adjusts the aiming angle so that the cross mark is placed on the high angle 15 degree line, which is a thick horizontal line, and the target is the horizontal center of the screen and the reference high angle line 0. Position it in the drawing to aim.

If there is no change in the attitude of the ship, placing the shovel on the thick plastic line aims to match the target with the existing scale. If there is a change in the attitude of the ship, the display unit keeps the vertical distance between the target and the crosshairs constant. Manipulating is aimed at matching the target to the existing scale. When the self-winding posture information can be received in conjunction with the gyro system 20, the vertical thick line can be automatically moved up and down according to the self-standing posture, and the operator can move the crosshairs on the vertical thick line moving the crosshairs. Positioning will result in aiming.

On the other hand, the display device may use a variety of known displays for monitors, it is preferable to adopt a thin, light and strong durability to good mobility installation good durability.

In addition, since the display device is generally used by the operator with the remote control panel, the display device can be configured to be carried together with the remote control panel, and can be configured to be carried along with the touch screen method. It can be a panel integrated display.

The remote control panel main body has a communication modem capable of receiving and transmitting various remote signals, and can be considered as a kind of computer capable of processing and calculating various signals. The video signal of the imaging device is also transmitted to the display through the remote control panel. In general, a graphics card widely used in a computer may be used to implement an image signal acquired remotely by a camera, which is an image pickup device, from a display to an image.

In addition, the manual shooting system of the present invention includes a 422 card for receiving the data of the ship gyro device, a D / S converter card for the transmission of the gunship, an elevation command, an I / O discrete card for the control command of the gun fire. In addition, a single board computer (SBC) that performs calculations to apply inter-targeting adjustment information and gyro values to the gun's swing angle and elevation command value may be provided.

In the present invention, an example of the operation in the case where the self-deflection posture correcting apparatus is purely manually aimed with or without the manual shooting system will be described below.

First, if gun shooting using a naval battle system is not possible, power on the remote control panel to activate hardware and software such as a remote control panel to form a manual shooting system. This can be done by switching to.

In case of adopting the pure manual mode without interlocking the ship posture information with the gun aiming, the maneuvering information between aiming is reflected in the gun's turning angle and elevation command value in real time. Aim the crosshairs at the desired position in the video. When aiming is complete and the target and core markers match, press the trigger lever or button to fire.

If the ship posture information and the gun direction control mode are set, the operator first operates the aiming point in the non-ship posture mode and aims as in the above-described aiming process so that the cross mark is correctly positioned at the desired position in the image. If you press the button, you can set the posture application mode.

The application button of the aiming interlock may be installed together for the purpose of convenience, and the release button may serve as a release button, for example, press once to release the application.

In the remote control panel, the aiming interlocker calculates the value obtained by removing the parts of the ship's left and right and pitch positions from the gun rotation angle and the elevation command value, and sets the reference value as the reference value. The reference value setting process may be performed as shown in the flowchart of FIG. 2.

Looking at the reference value setting with reference to Figure 4, first, the operator selects the interlocking mode by pressing the button to apply the aiming interlock of the remote control panel (S10). From this point of time, the gun control angle of the remote control panel, the elevation command information and the self-deflection posture information (roll, pitch) are recognized and determined (S20).

Set the spherical coordinate value to the turning angle and elevation command value of the remote control panel, for example, bearing-turning command value, elevation-elevation command value, and range-1 deg. Based on the angle conversion (S30). .

Convert the spherical coordinate value to the rectangular coordinate value (S40), and rotate the Cartesian coordinate value on the y-axis to the opposite side of the roll (S50), and on the other hand, turn the rectangular coordinate value on the x-axis. Rotate the pitch of the ship (S60.

The Cartesian coordinate system is converted back to the spherical coordinate system (S70), and the turning angle and elevation reference value for the gun command from which the self-deflection attitude information is removed are set as bearing-gun turning angle reference value and elevation-gun elevation reference value (S80).

The final turning angle and elevation command value calculated by reflecting the received posture (Roll, Pitch) value with respect to the set reference value are transmitted to the gun. Also, the cross mark of the monitor image is moved according to the calculated command value. The process of reflecting the self-owned attitude may be performed as shown in the flowchart of FIG. 5.

Referring to FIG. 5, the reference value of the gun's swing angle and the elevation command is first set to the spherical coordinate system value at the beginning, for example, the bearing-the turning angle command value, the elevation-the elevation command value, and the angle-conversion range-1 deg. To set (S110).

The spherical coordinate value is converted into a rectangular coordinate value (S120), while the Cartesian coordinate value is rotated to the opposite direction of the roll of the self box relative to the y-axis (S130), while the rectangular coordinate value is determined based on the x-axis. Rotate the pitch of the ship (S140).

It converts the value of the Cartesian coordinate system back to the spherical coordinate system value (S150), and transmits a turning angle and an elevation angle command with self-defense attitude to the gun (S160). In the monitor image, the cross mark is moved to a position corresponding to the command command transmission value (elevation) (S170), and the steps from S130 are repeated.

If the interlocking mode is set, the control value between aimings is not reflected in the gun turning angle and elevation command value, and the automatically calculated command value is transmitted.If you want to reset the target, press the aiming interlock release button to release the interlocking mode. When manual aiming and aiming are done, select the interlocking mode again as before.

Using the gun manual shooting system as described above, the operator can perform shooting by intermittent operation while viewing the image of the camera mounted on the gun in real time in a stable position in a safe ship indoor. The manipulated value during aiming is reflected in the gun angle and elevation command value of the gun barrel, thus changing the position of the target in the image. The operator places the cross mark at the desired position by controlling the joystick in the image, and sets at least one reference value so that the gun continues to aim at the target. The remote control box contains the command angle and elevation command reflecting the change of attitude. Will be sent to. The operator then only needs to fire.

The present invention has been described above by way of limited embodiments, which are only illustratively described to help understanding of the present invention, and the present invention is not limited to these specific embodiments.

Therefore, one of ordinary skill in the art to which the present invention pertains may make various modifications or applications based on the present invention, and such modifications and applications belong to the appended claims.

10: gun 20: gyro system
30: Battle System 40: Gun Selection Panel
100: remote control panel 110: aiming
120: trigger 130: posture information receiving unit
140: aiming linkage 150: control means (scale control means)
200: display device (camera) 500: imaging device

Claims (5)

An imaging device installed in the gun and capable of remotely transmitting a video signal by imaging the direction of the gun;
Remote control panel installed in the gun can adjust the altitude, turning angle and trigger of the gun by a remote signal, and can control the gun by transmitting a control signal remotely onboard or at any place,
It is provided with a display device that can receive and display the image signal of the image pickup device remotely,
The display device may be a marker (cross-hair) that reflects the elevation and the turning angle of the gun can be aimed at the target through the display device is a manual fire system using a remote control. The method of claim 1,
The remote control panel is provided with an aiming angle and a trigger as an elevation controller and a swing angle controller for signaling a device for controlling the elevation, swing angle, and trigger of the gun,
Manual gun fire system using a remote control, characterized in that for transmitting the signal to remotely control the gun selection panel to switch the gun from the combat system to the manual shooting mode. The method of claim 1,
The remote control panel is installed in the ship, the attitude information receiver for receiving the self-ship attitude information from the gyro system for telling the self-ship attitude information, stopping the direction change of the gun by the aiming operation from the time of operation and fixed the direction of the gun It is provided with the aiming interlocker to continuously receive the self-ship attitude information from the attitude information receiver to calculate the compensation signal for changing the direction of the gun by the amount of change in the self-ship attitude and transmit it to the gun direction controller. Manual gun fire system using a remote control, characterized in that. The method of claim 1,
The gun is equipped with a laser range finder, the laser range finder measures the target distance and transmits it to the remote control panel to indicate the target distance on the display device, and by using the control means can adjust the gun reference elevation to the target distance. Manual gun fire system, characterized in that made to. The method according to any one of claims 1 to 4,
And the display device is integrally formed with the remote control panel in a touch pad manner so that at least a part of the operation of the remote control panel can be performed through the touch pad.

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