KR102238147B1 - Remote arming system and trajectory of projectiles correction method using the same - Google Patents

Abstract

A remote arming system and a ballistic correction method using the same are disclosed. The remote arming system according to an embodiment of the present invention acquires an image including the target using a firearm unit striking a target, a control signal for controlling a turning angle of the firearm unit, and a camera, And an image processing unit for moving the display position of the image obtained by the number of pixels corresponding to the size of the turning angle to the left or right.

Description

Remote arming system and ballistic correction method using the same {REMOTE ARMING SYSTEM AND TRAJECTORY OF PROJECTILES CORRECTION METHOD USING THE SAME}

It relates to a remote arming system and a ballistic correction method using the same, and more specifically, by controlling the image sensor of the camera device mounted on the remote arming system to move the image in response to the turning angle of the firearm during ballistic correction. It relates to a remote arming system capable of removing a turning motor and a ballistic correction method using the same.

In general, if there is only armed, a person uses a scale and sight to correct the ballistics and shoot. However, a difference in accuracy may occur depending on the skill level of a person using an armament, and as the distance from the target increases, the accuracy rate may decrease.

The remote armament system is a system in which the accuracy of shooting is improved by precisely controlling the ballistic correction, which was carried out by humans, using an electric motor and various sensors. In a remote armament system, the armament and camera are located on a turret that can rotate infinitely, the camera performs the monitoring function, and the armament performs the strike function.

The remote armament system performs a ballistic correction procedure before firing, and in the ballistic correction procedure, the armament is adjusted by operating an electric motor by the ballistic angle so that it hits the point at which the camera is aimed.

An object of the present invention is to provide a remote arming system capable of reducing manufacturing cost and suppressing machine failure as much as possible by removing a turning motor used when correcting a trajectory of a remote arming system, and a trajectory correction method using the same.

The remote arming system according to an embodiment of the present invention acquires an image including the target using a firearm unit striking a target, a control signal for controlling a turning angle of the firearm unit, and a camera, And an image processing unit for moving the display position of the image obtained by the number of pixels corresponding to the size of the turning angle to the left or right.

In addition, the image processing unit may move the display position of the image in a direction opposite to the turning direction of the firearm unit.

In addition, when the size of the turning angle is greater than or equal to a preset first turning angle, the controller may zoom-out the camera by a difference between the turning angle and the first turning angle.

On the other hand, the ballistic correction method using the remote arming system according to an embodiment of the present invention, outputting a control signal for controlling the turning angle of the firearm unit, calculating the number of pixels corresponding to the size of the turning angle And moving the image acquired from the camera photographing the target horizontally by the calculated number of pixels.

Further, in the step of moving the image, the display position of the image may be moved in a direction opposite to the turning direction of the firearm unit.

In addition, determining whether the size of the turning angle is greater than or equal to a preset first turning angle, and when the size of the turning angle is greater than or equal to the first turning angle, the camera It may further include the step of controlling the zoom-out (Zoom-Out).

The present invention can provide a remote arming system capable of reducing manufacturing cost and suppressing machine failure as much as possible by removing a turning motor used when correcting a trajectory of a remote arming system, and a trajectory correction method using the same.

1 is a diagram schematically showing the structure of a remote arming system according to the prior art.
2 is a diagram schematically showing the configuration of a remote arming system according to an embodiment of the present invention.
3 is a diagram schematically illustrating a structure of an image sensor controlled by an image processing unit according to an embodiment of the present invention.
4 is a diagram illustrating a method of performing ballistic correction according to an embodiment of the present invention.
5 is a flowchart schematically illustrating a flow of a ballistic correction method using a remote arming system according to an embodiment of the present invention.
6 is a flowchart schematically illustrating a flow of a ballistic correction method using a remote arming system according to another embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In addition, in this specification and drawings, redundant descriptions are omitted by using the same reference numerals for components having substantially the same configuration.

The terms used in the present specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements, numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance the possibility of being excluded. Terms such as first and second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another component.

1 is a diagram schematically showing the structure of a remote arming system according to the prior art.

Referring to Figure 1, the remote arming system according to the prior art includes a firearm and a camera device. The camera device may be rotated in left and right directions and vertically, and a rotation motor for rotating the camera device in a left and right direction may be mounted on a lower end of the camera device.

When the trajectory correction is performed in the remote arming system, the turning motor rotates clockwise or counterclockwise by a corresponding angle in the turning direction. The turning motor is mainly used for ballistic correction and aiming monitoring, and recently, the precision of a structure has been improved, and thus, it is mainly used only for ballistic correction.

On the other hand, the camera device and the barrel of the firearm are kept in a parallel state before the ballistic correction is performed. In this case, both the camera device and the barrel may be aiming at a target. In addition, the image acquired through the camera device may be transmitted to a control person located at a remote location through wired or wireless communication, and the control person may aim at a target through the image.

When hitting a target through an armed device, the horizontal angle of the barrel is adjusted in consideration of the trajectory of the bullet, and this is generally referred to as ballistic correction. Even if the barrel and the target are in a straight line, the bullets fired due to the influence of the steel wire of the barrel do not proceed in a straight line, but proceed along a specific path. You can aim.

At this time, when the barrel is rotated in the horizontal direction, the camera device is also interlocked with the barrel to rotate by the horizontal rotation angle of the barrel. Accordingly, in the image acquired through the camera device, the target may be displayed at a position off the center of the image, and it may be recognized that the target is aiming at an object other than the target, which is an actual hitting target.

Accordingly, the camera device is rotated in a direction opposite to the direction of rotation of the barrel in order to indicate that the barrel can accurately strike the target even when the barrel is not aiming at the target in a straight line. In order to rotate the camera device, a turning motor as described above is required, and the rotation direction of the camera device is opposite to the rotation direction of the barrel.

2 is a diagram schematically showing the configuration of a remote arming system according to an embodiment of the present invention.

Referring to FIG. 2, a remote arming system 100 according to an embodiment of the present invention includes a firearm unit 110, a control unit 120, and an image processing unit 130. The firearm unit 110 can be understood as a firearm or an armed device that strikes a target. The control unit 120 outputs a control signal for controlling the turning angle of the firearm unit 110.

The control signal may adjust the turning angle of the firearm unit in consideration of the trajectory of the bullet fired from the firearm unit 110, and control the turning angle and the elevation angle together. In the present specification, the angle control of the turning direction is mainly described, but it will be apparent to a person skilled in the art that the firearm unit 110 can rotate in the left and right directions and in the up and down directions.

The image processing unit 130 acquires an image including the target using a camera, and moves a display position of the acquired image to the left or right by the number of pixels corresponding to the size of the turning angle.

As described with reference to FIG. 1, the firearm unit 110 and the camera may be arranged in parallel with each other before ballistic correction is performed. If it is located in the center of the image, it can be determined that the aiming has been completed.

Meanwhile, when the firearm unit 110 rotates by a certain angle in a clockwise or counterclockwise direction by the control signal output from the control unit 120 while the ballistic correction operation is being performed, the firearm unit 110 rotates in conjunction with the firearm unit 110. The camera is also rotated by the same angle in the same direction as the rotation direction of the firearm unit 110.

Accordingly, in the image acquired through the camera, the target is placed at a position off the center of the image, and the user who is provided with the image may be mistaken for aiming incorrectly.

The ballistic correction is made to accurately hit the target by reflecting the characteristics of the firearm unit 110 and the bullet. After the ballistic correction is made, the barrel of the firearm unit 110 and the target may not be placed in a straight line. Nevertheless, from the user's point of view, a problem may arise in that the target is out of the center of the image and the aiming is not accurate.

In order to solve such a problem, the image processing unit 130 moves the display position of the image acquired through the camera in response to the angle at which the firearm unit 110 rotates.

More specifically, the image processing unit 130 moves the display position of the image by the number of pixels corresponding to the size of the turning angle, and moves the display position of the image in a direction opposite to the turning direction of the firearm unit 110 I can make it.

When the barrel of the firearm unit 110 is in a straight line with the target and the barrel is rotated clockwise by θ while the barrel and the camera are placed in parallel, the target in the image obtained through the camera is It moves to the left than the initial position, and the distance the target moves to the left can be expressed by the number of pixels, and the number of pixels will increase in proportion to the size of the angle at which the barrel rotates.

Accordingly, the image processing unit 130 moves the display position of the image as much as the number of pixels, and at this time, an image signal processor of the camera can be used, and more detailed information will be described with reference to FIGS. 3 and 4. Do it.

3 is a diagram schematically illustrating a structure of an image sensor controlled by an image processing unit according to an embodiment of the present invention.

Referring to FIG. 3, the image sensor includes a display effective area (hereinafter, “effective area”) and a camera basic display area (hereinafter, “basic area”). An area outside the effective area is an area included in the image sensor but does not actually have image data.

The basic area is an area including image data displayed to a user, and the effective area includes image data, but image data included only in the effective area is not displayed to the user. Accordingly, although only image data corresponding to the basic area is shown to the user, there is a room for further display of image data included only in the effective area.

In other words, the basic region may be understood as a specific region selected from among the effective regions. In FIG. 3, the center of the effective area and the center of the basic area are shown to coincide with each other, which may be an arrangement relationship between the effective area and the basic area in a general image sensor.

On the other hand, the present invention removes the conventional turning motor in the armed system, but aims to adjust the camera image in response to the change in the position of the target in the camera image when correcting the trajectory, and the image described with reference to FIG. 2 The processing unit 130 can achieve this purpose by adjusting the position of the basic region.

As described with reference to FIG. 2, when the barrel of the firearm unit 110 is in a straight line with the target, and the barrel is rotated clockwise by θ while the barrel and the camera are placed in parallel, the In the image acquired through the camera, the target moves to the left rather than the initial position.

In this case, the image refers to an image displayed through the base region, and the target may be displayed as if the target was at the initial position by adjusting the position of the base region as much as the position of the target has moved.

That is, if the position of the basic area is moved to the left by the amount that the target has moved to the left by the movement in the turning direction of the barrel, the target may be displayed as being at the initial position in the basic area.

4 is a diagram illustrating a method of performing ballistic correction according to an embodiment of the present invention.

First, referring to FIG. 4(a), a remote arming system as described with reference to FIG. 1 is shown. As described with reference to FIG. 2, the remote arming system includes a firearm unit, a control unit, and an image processing unit, and the control unit may be located at a remote location.

In addition, the image processing unit may acquire an image including a target through the camera device of FIG. 4A, and the camera device does not include a turning motor unlike the remote arming system illustrated in FIG. 1. Accordingly, the rotational operation of the camera device according to the trajectory correction is not performed, and the same effect as the prior art can be obtained through the control of the image sensor in the image processing unit.

In Fig. 4(a), the barrel of the firearm unit rotates clockwise by an angle θ, which may be achieved by a control signal output from the control unit. In this case, the camera device rotates clockwise by an angle θ at which the barrel rotates.

As described above, when the barrel and the camera device rotate clockwise, the position of the target in the image acquired through the camera device moves from the initial position to the left. Conventionally, a method of rotating the camera device counterclockwise using a turning motor connected to the camera device was used, but the remote arming system 100 according to the present invention does not include the turning motor, so a new method is used. It is done.

4B shows an example of an operation of moving the position of the basic area included in the image sensor when the firearm unit or the barrel is rotated by θ in the clockwise direction. As described above, the camera device rotates by the same angle according to the rotation of the barrel, and when rotating clockwise, an operation of moving the position of the image acquired through the camera device to the left is required.

Here, the operation of moving the position of the image to the left is the same as moving the position of the basic region to the left, and moving the position of the basic region to the left refers to the center of the effective region including the basic region. It can be understood as the same as moving the center of the basic area to the left.

On the other hand, the moving distance of the basic area increases in proportion to the rotation angle of the barrel and the camera device, for example, a target placed at a distance of 1800m is photographed using a camera having a resolution of 640×480, and the measured If the angle of view of the camera is 2.3˚, the rotation angle per 1 pixel is about 0.003˚.

When the size of the rotation angle of the barrel is 0.03°, when the basic area is moved by a distance corresponding to a total of 10 pixels, the target is located at the center of the basic area. That is, in FIG. 4(a), when the size of the rotation angle θ is 0.03˚ and the rotation direction is clockwise, the image processing unit 130 completes the trajectory correction by moving the basic region of the image sensor by 10 pixels to the left. do.

Meanwhile, the number of pixels included from one edge of the basic area to a corresponding edge of the effective area may be determined. Accordingly, when the rotation angle of the barrel is greater than a certain size, the target may not be located at the center of the basic area even if the position of the basic area is moved.

In this case, when the size of the turning angle is greater than or equal to a preset first turning angle, the controller 120 may zoom-out the camera by a difference between the turning angle and the first turning angle.

When the camera is zoomed out, the angle of view is widened, and accordingly, the size of the rotation angle per unit pixel can be increased. Accordingly, even if the firearm unit 110 rotates more than the first turning angle by the control signal output from the control unit 120, the position of the basic region can be moved so that the target is located at the center of the basic region.

In this case, the size of the first turning angle may be determined corresponding to a difference between the horizontal length of the basic region and the effective region. For example, if the effective area has a horizontal length of 600 pixels and the basic area has a horizontal length of 540 pixels, the length at which the position of the basic area can be moved to the right or left is 30 pixels, respectively.

When the angle of view of the camera is 2.3°, the size of the turning angle per unit pixel is about 0.003°, so it is calculated as about 0.09°. Accordingly, the minimum value of the first turning angle at this time may be set to be greater than 0.09°.

In addition, when the turning angle of the firearm unit 110 is greater than or equal to the first turning angle, the difference in size between the turning angle and the first turning angle is calculated, and the target is determined by considering the difference in the horizontal length between the basic region and the effective region. The angle of view of the camera that may be located at the center of the basic area may be calculated. Finally, the trajectory correction can be completed by zoom-out control of the camera in response to the calculated angle of view.

5 is a flowchart schematically illustrating a flow of a ballistic correction method using a remote arming system according to an embodiment of the present invention.

Referring to FIG. 5, a ballistic correction method using a remote arming system according to an embodiment of the present invention includes a control signal output step (S110), a pixel count calculation step (S120), and an image movement step (S130).

In the control signal output step (S110), a control signal for controlling the turning angle of the firearm unit included in the remote arming system is output. The firearm unit may be understood as a firearm or an armed device hitting the target, and the control signal may adjust the turning angle of the firearm unit in consideration of the trajectory of the bullet fired from the firearm unit.

Meanwhile, the control signal may control the turning angle and the elevation angle of the firearm unit together. In the present specification, the angle control of the turning direction is mainly described, but it will be apparent to a person skilled in the art that the firearm unit can rotate in the left and right directions and in the up and down directions.

In the step of calculating the number of pixels (S120), the number of pixels corresponding to the size of the turning angle is calculated. The pixel refers to a pixel included in a camera that photographs the target, for example, a target placed at a distance of 1800m is photographed using a camera having a resolution of 640×480, and the measured angle of view of the camera is If it is 2.3˚, the rotation angle per 1 pixel is about 0.003˚.

Accordingly, the number of pixels can be calculated according to the turning angle corresponding to the control signal. For example, when the turning angle corresponding to the control signal is 0.03°, the number of pixels is calculated as 10.

In the image moving step (S130), an image obtained from a camera photographing a target is moved left and right by the calculated number of pixels. As described with reference to FIG. 1, the firearm unit and the camera may be arranged in parallel with each other before ballistic correction is performed, and the user receiving the image acquired through the camera If it is located in the center, it can be determined that aiming is complete.

On the other hand, when the firearm unit rotates clockwise or counterclockwise by a certain angle by the control signal while the ballistic correction operation is being performed, the camera rotating in conjunction with the firearm unit also rotates in the same direction as the rotation direction of the firearm unit. It rotates by the same angle.

Accordingly, in the image acquired through the camera, the target is placed at a position off the center of the image, and the user who is provided with the image may be mistaken for aiming incorrectly.

The ballistic correction is performed in order to accurately hit the target by reflecting the characteristics of the firearm unit and the bullet. After the ballistic correction is made, the barrel and the target may not be placed in a straight line. Nevertheless, from the perspective of the user, there may be a problem in that the target is out of the center of the image and the aiming is not accurate.

In order to solve such a problem, in the image moving step (S130), the display position of the image acquired through the camera is moved in response to the rotation angle of the firearm unit.

More specifically, in the image moving step (S130), the display position of the image is moved by the number of pixels corresponding to the size of the turning angle, and the display position of the image is moved in a direction opposite to the turning direction of the firearm unit. I can make it.

When the barrel of the firearm unit is in line with the target, and the barrel is rotated clockwise by θ while the barrel and the camera are placed in parallel, the target is at the initial position in the image acquired through the camera. It moves to the left, and the distance the target moves to the left can be expressed by the number of pixels, and the number of pixels will increase in proportion to the size of the angle at which the barrel is rotated.

6 is a flowchart schematically illustrating a flow of a ballistic correction method using a remote arming system according to another embodiment of the present invention.

6, the ballistic correction method using the remote arming system according to an embodiment of the present invention is a control signal output step (S210), the step of determining whether the size of the turning angle is greater than or equal to the first turning angle (S220), the camera A zoom-out control step (S230), a pixel count calculation step (S240), and an image movement step (S250) are included.

In the control signal output step (S210), the pixel count calculation step (S240), and the image movement step (S250), the control signal output step (S110), the pixel count calculation step (S120), and the image described with reference to FIG. Since substantially the same operation as in the moving step (S130) is performed, detailed descriptions of overlapping contents will be omitted.

In determining whether the size of the turning angle is greater than or equal to the first turning angle (S220), it is determined whether the size of the turning angle is greater than or equal to the first turning angle set in advance. As described with reference to FIGS. 3 and 4, the image sensor included in the camera includes a basic area and an effective area, and the number of pixels included from one edge of the basic area to a corresponding border of the effective area May be fixed. Accordingly, when the rotation angle of the barrel is greater than a certain size, the target may not be located at the center of the basic area even if the position of the basic area is moved.

Therefore, if the firearm unit is rotated by more than the number of pixels corresponding to the difference in the horizontal length of the basic area and the effective area and a turning angle corresponding to the number of pixels, an appropriate image cannot be provided to the user. A process of determining whether the size of the turning angle is greater than or equal to the preset first turning angle is required.

In this case, the size of the first turning angle may be determined corresponding to a difference between the horizontal length of the basic region and the effective region. For example, if the effective area has a horizontal length of 600 pixels and the basic area has a horizontal length of 540 pixels, the length at which the position of the basic area can be moved to the right or left is 30 pixels, respectively.

When the angle of view of the camera is 2.3°, the size of the turning angle per unit pixel is about 0.003°, so it is calculated as about 0.09°. Accordingly, the minimum value of the first turning angle at this time may be set to be greater than 0.09°.

In the camera zoom-out control step (S230), when the size of the turning angle is greater than or equal to the first turning angle, the camera is zoom-out controlled by a difference between the turning angle and the first turning angle. .

When the camera is zoomed out, the angle of view is widened, and accordingly, the size of the rotation angle per unit pixel can be increased. Accordingly, even if the firearm unit rotates more than the first turning angle by the control signal, the position of the basic area can be moved so that the target is located at the center of the basic area.

In addition, when the turning angle of the firearm is greater than or equal to the first turning angle, a difference in size between the turning angle and the first turning angle is calculated, and the target is determined by considering the difference in the horizontal length between the basic region and the effective region. The angle of view of the camera that may be located at the center of the area may be calculated. Finally, the trajectory correction can be completed by zoom-out control of the camera in response to the calculated angle of view.

So far, the present invention has been looked at around its preferred embodiments. Those of ordinary skill in the art to which the present invention pertains will be able to understand that the present invention may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the above description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

100: remote armament system 110: firearms
120: control unit 130: image processing unit

Claims (6)

A firearm unit capable of turning while hitting a target;
A control unit for outputting a control signal for controlling a turning angle of the firearm unit; And
An image processing unit that acquires an image including the target using a camera, and moves the display position of the image by the number of pixels corresponding to the size of the turning angle of the firearm unit in a direction opposite to the turning direction of the firearm unit Including, remote arming system. delete The method of claim 1,
When the size of the turning angle is greater than or equal to a preset first turning angle, the control unit zooms-out the camera by a difference between the turning angle and the first turning angle. In the ballistic correction method using a remote armament system,
Outputting a control signal for controlling a turning angle of the firearm unit;
Calculating the number of pixels corresponding to the size of the turning angle; And
Moving an image obtained from a camera photographing a target, and moving the image by the number of pixels corresponding to the size of the turning angle of the firearm in a direction opposite to the turning direction of the firearm. Ballistic correction method using the system. delete The method of claim 4,
Determining whether the size of the turning angle is greater than or equal to a preset first turning angle; And
When the size of the turning angle is greater than or equal to the first turning angle, a trajectory using a remote armed system further comprising the step of controlling the camera zoom-out by a difference between the turning angle and the first turning angle. Calibration method.

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