CN113465449B - Machine gun vehicle-mounted servo aiming system and servo aiming striking method using same - Google Patents
Machine gun vehicle-mounted servo aiming system and servo aiming striking method using same Download PDFInfo
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- CN113465449B CN113465449B CN202010241712.8A CN202010241712A CN113465449B CN 113465449 B CN113465449 B CN 113465449B CN 202010241712 A CN202010241712 A CN 202010241712A CN 113465449 B CN113465449 B CN 113465449B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G11/00—Details of sighting or aiming apparatus; Accessories
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/06—Elevating or traversing control systems for guns using electric means for remote control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The application provides a vehicle-mounted servo aiming system of a machine gun and a servo aiming striking method using the same. By applying the technical scheme of the application, the technical problem that the aiming system in the prior art cannot ensure accurate aiming of the target and simultaneously protect the personal safety of shooting staff is solved.
Description
Technical Field
The application relates to the technical field of armed force countermeasure, in particular to a vehicle-mounted servo aiming system of a machine gun and a servo aiming striking method using the same.
Background
The gun carriage plays an important role in armed forces opposition, generally requiring two people to operate simultaneously. Because the heavy machine gun is arranged on the rapid and flexible automobile, one person is required to control the speed and displacement of the automobile, and the other person observes the external environment to rapidly detect, identify and track dangerous static or moving targets, thereby achieving the effects of rapidly advancing a battlefield and eliminating the living power of enemies.
In actual terrorist or armed compacting, the road surface is rugged, surrounding targets are difficult to distinguish, and the shooter may be flown over from all directions at any time to hit the head. The machine gun vehicle can move rapidly, and increases difficulty in aiming an enemy, thereby playing a role in protecting the machine gun vehicle. However, gun shooters have to be exposed to the environment where enemy can shoot in order to observe the surrounding environment and aim at the shooting target, which is easily hit by the enemy target, causing casualties.
In more complex countermeasure environments, enemy personnel, my personnel, camouflage personnel and people may exist at the same time, and methods such as image positioning and saturated shooting are no longer applicable, so that shooting personnel are required to accurately judge and aim at shooting through vision. However, the aiming system commonly used in the prior art cannot guarantee the accurate aiming target and protect the personal safety of shooting staff.
Disclosure of Invention
The application provides a vehicle-mounted servo aiming system of a machine gun and a servo aiming striking method using the same, which can solve the technical problems that the aiming system in the prior art cannot guarantee accurate aiming of a target and protect the personal safety of shooting personnel.
According to an aspect of the present application, there is provided a machine gun on-board servo aiming system, comprising: the bullet-proof glass is arranged on the car body and is used for protecting shooting personnel and enabling the shooting personnel to observe external environment and search shooting targets; the ammunition-free machine gun is arranged in the vehicle body and is used for being operated by shooting staff; the attitude acquisition platform is connected with the ammunition-free machine gun and is used for measuring attitude information of the ammunition-free machine gun; the gesture resolving computer is connected with the gesture collecting platform and is used for collecting gesture information of the ammunition-free machine gun and acquiring a firing signal; the bullet-firing machine gun assembly is arranged outside the car body and is used for firing real bullets to strike targets; the attitude and signal control computer is respectively connected with the attitude calculation computer and the firing machine gun assembly, and is used for controlling and adjusting the attitude of the firing machine gun assembly according to the attitude information of the ammunition-free machine gun transmitted by the attitude calculation computer and controlling the firing machine gun assembly to fire a real bullet according to the firing signal transmitted by the attitude calculation computer so as to strike a target.
Further, the gun vehicle-mounted servo aiming system further comprises a gun aiming camera and a target amplifying display, wherein the gun aiming camera is respectively connected with the live ammunition gun assembly and the target amplifying display, the gun aiming camera is used for collecting target lens information aimed by the live ammunition gun assembly and transmitting the target lens information to the target amplifying display, the target amplifying display is arranged in a vehicle body, and a shooter can adjust the posture of the ammunition-free gun according to the target lens information displayed by the target amplifying display.
Further, the gun vehicle-mounted servo aiming system further comprises a spatial alignment deviation device, wherein the spatial alignment deviation device is respectively connected with the gesture calculation computer and the gesture and signal control computer, and is used for compensating the spatial deviation between the ammunition-free gun and the live ammunition gun assembly.
Further, the machine gun vehicle-mounted servo aiming system further comprises a triggering touch switch, and the triggering touch switch is respectively connected with the ammunition-free machine gun and the gesture resolving computer; when the target lens information shows that the bullet firing machine gun assembly aims at the target, a shooting person can send a firing signal to the gesture calculation computer by triggering the firing touch switch.
Further, the live working machine gun assembly comprises a cradle head and a live working machine gun unit, wherein the cradle head is respectively connected with the gesture and signal control computer and the live working machine gun unit, and the gesture and signal control computer adjusts the gesture of the live working machine gun unit by adjusting the position of the cradle head.
Further, the bullet-firing machine gun unit comprises a machine gun seat frame, a bullet-firing machine gun and a machine gun launching device, wherein the machine gun seat frame is fixedly arranged on the cradle head, the bullet-firing machine gun and the machine gun launching device are both arranged on the machine gun seat frame, the machine gun launching device is connected with a gesture and signal control computer, and the gesture and signal control computer controls the machine gun launching device to act according to a firing signal so that the bullet-firing machine gun can launch a real bullet to strike a target.
Further, the gesture acquisition platform comprises a triaxial acceleration gyroscope platform, and the triaxial acceleration gyroscope platform is used for detecting movement angle signals, angular velocity signals and angular acceleration signals of the ammunition-free machine gun.
According to another aspect of the present application, there is provided a gun-mounted servo aiming and striking method using the gun-mounted servo aiming system as described above.
Further, the machine gun vehicle-mounted servo aiming striking method comprises the following steps: calibrating and initially aligning the ammunition-free machine gun and the live ammunition-machine gun so as to enable the ammunition-free machine gun and the live ammunition-machine gun to aim at a target in a range consistent; shooting staff observe a target in an external environment through bulletproof glass and move a ammunition-free machine gun, and observe target lens information displayed on a target amplifying display to confirm the target; the attitude acquisition platform detects the attitude information of the ammunition-free machine gun in real time and transmits the attitude information of the ammunition-free machine gun to the attitude calculation computer; the attitude calculation computer transmits the attitude information of the ammunition-free machine gun to the attitude and signal control computer, and the attitude and signal control computer controls the angle, the angular speed and the angular speed of the cradle head to enable the attitude of the live ammunition-free machine gun to be consistent with the attitude of the ammunition-free machine gun; when the target lens information shows that the live ammunition gun aims at the target, the shooting personnel trigger the firing touch switch to send a firing signal to the gesture calculation computer, and the gesture and signal control computer controls the action of the machine gun launching device according to the firing signal so as to enable the live ammunition gun to launch a real bullet to strike the target.
By the technical scheme, the application provides a vehicle-mounted servo aiming system of a machine gun, and the system can be used for blocking bullets shot by an enemy by configuring an observation window of the shooter to be protected by bulletproof glass, wherein the bulletproof glass does not influence the observation and judgment of the shooter on the external environment; through disposing no ammunition machine gun in the car and disposing the live ammunition machine gun subassembly outside the car, gesture and signal control computer control adjustment live ammunition machine gun subassembly's gesture according to no ammunition machine gun's gesture information and fire real bullet of live ammunition machine gun subassembly transmission according to firing signal control, this kind of mode makes the shooting personnel can be in the car through controlling no ammunition machine gun can adjust the gesture of the outer live ammunition machine gun subassembly of car in real time, drives the outside live ammunition machine gun subassembly of automobile body and aims and shoot in step. Therefore, compared with the prior art, the vehicle-mounted servo aiming system of the machine gun provided by the application not only can accurately aim at a static or moving target, but also can play a role in protecting personal safety for shooting staff, and does not need to change the shooting operation habit of the shooting staff.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 shows a block diagram of the structural components of a gun vehicle-mounted servo aiming system provided in accordance with an embodiment of the present application;
FIG. 2 illustrates a schematic diagram of the operation of a gun vehicle-mounted servo sighting system provided in accordance with an embodiment of the present application;
fig. 3 shows a schematic structural diagram of a machine gun vehicle-mounted servo aiming system according to an embodiment of the application.
Wherein the above figures include the following reference numerals:
10. bullet-proof glass; 20. ammunition-free machine gun; 30. a gesture acquisition platform; 40. a gesture calculation computer; 50. a firing machine gun assembly; 51. a cradle head; 52. a firing machine gun unit; 521. a machine gun mount; 522. a firing machine gun; 523. a gun launching device; 60. a gesture and signal control computer; 70. the machine gun is aligned with the camera; 80. a target magnifying display; 90. a spatial alignment deviator; 100. firing the touch switch.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1 to 3, according to an embodiment of the present application, there is provided a gun-mounted servo aiming system including a bullet proof glass 10, a ammunition-less machine gun 20, a posture collection platform 30, a posture calculation computer 40, a live ammunition gun assembly 50, and a posture and signal control computer 60, the bullet proof glass 10 being provided on a vehicle body, the bullet proof glass 10 being used for protecting a shooter and for the shooter to observe an external environment and search for a shooting target, the ammunition-less machine gun 20 being provided in the vehicle body, the ammunition-less machine gun 20 being used for operation by the shooter, the posture collection platform 30 being connected with the ammunition-less machine gun 20, the posture calculation computer 40 being connected with the posture collection platform 30, the posture calculation computer 40 being used for collecting posture information of the ammunition-less machine gun 20 and acquiring a signal, the live ammunition gun assembly 50 being provided on the vehicle body, the live ammunition gun assembly 50 being used for transmitting a real bullet to a shooting target, the posture and signal control computer 60 being connected with the live ammunition gun assembly 40 and the live ammunition gun assembly 50 being used for transmitting a firing signal to the live ammunition gun assembly 50 according to the posture calculation computer 40.
By adopting the configuration mode, the vehicle-mounted servo aiming system of the machine gun is provided, and the system can be used for blocking bullets shot by an enemy by configuring the observation window of the shooter to be protected by bulletproof glass, wherein the bulletproof glass does not influence the observation and judgment of the shooter on the external environment; through disposing no ammunition machine gun in the car and disposing the live ammunition machine gun subassembly outside the car, gesture and signal control computer control adjustment live ammunition machine gun subassembly's gesture according to no ammunition machine gun's gesture information and fire real bullet of live ammunition machine gun subassembly transmission according to firing signal control, this kind of mode makes the shooting personnel can be in the car through controlling no ammunition machine gun can adjust the gesture of the outer live ammunition machine gun subassembly of car in real time, drives the outside live ammunition machine gun subassembly of automobile body and aims and shoot in step. Therefore, compared with the prior art, the vehicle-mounted servo aiming system of the machine gun provided by the application not only can accurately aim at a static or moving target, but also can play a role in protecting personal safety for shooting staff, and does not need to change the shooting operation habit of the shooting staff.
Further, in the present application, in order to improve the accuracy of aiming shooting, the on-board servo aiming system of the gun may be configured to further include a gun alignment camera 70 and a target magnifying display 80, the gun alignment camera 70 is respectively connected with the live ammunition gun assembly 50 and the target magnifying display 80, the gun alignment camera 70 is used for collecting target lens information aimed by the live ammunition gun assembly 50 and transmitting the target lens information to the target magnifying display 80, the target magnifying display 80 is arranged inside the vehicle body, and the shooter can adjust the posture of the ammunition-free gun 20 according to the target lens information displayed by the target magnifying display 80.
By means of the configuration mode, the gun alignment camera and the target amplifying display are arranged, the gun alignment camera and the bullet firing gun assembly follow-up, target lens information aimed by the bullet firing gun assembly can be acquired in real time and transmitted to the target amplifying display, shooting staff can observe the external environment and the target lens information displayed on the target amplifying display through bullet proof glass in a vehicle body, and aiming and shooting are carried out by controlling the ammunition-free gun in the vehicle. The ammunition-free machine gun in the vehicle transmits the posture information of the ammunition-free machine gun to a posture resolving computer through a posture collecting platform, and the posture resolving computer transmits the posture information to a posture and signal control computer, so that the posture of a live ammunition-machine gun assembly is controlled and adjusted to aim and shoot a target synchronously.
Further, in the present application, in order to improve accuracy of the transmission of the attitude information and thus the striking accuracy, the on-board servo sighting system of the gun may be configured to further include a spatial alignment deviator 90, the spatial alignment deviator 90 being connected to the attitude calculation computer 40 and the attitude and signal control computer 60, respectively, the spatial alignment deviator 90 being used to compensate for the spatial deviation between the ammunition-less gun 20 and the live ammunition gun assembly 50.
In addition, in the present application, in order to enable striking of the target after the live ammunition machine gun assembly has aimed at the target, the machine gun vehicle-mounted servo aiming system may be configured to further include a firing touch switch 100, the firing touch switch 100 being connected to the ammunition-less machine gun 20 and the attitude resolving computer 40, respectively; wherein, when the target lens information indicates that the firing gun assembly 50 has aimed at the target, the shooter can send a firing signal to the attitude resolution computer 40 by triggering the firing touch switch 100. Specifically, in the present application, when the target lens information indicates that the live action gun assembly 50 has aimed at the target, the shooter only needs to pull the trigger of the ammunition-free machine gun to trigger the firing touch switch fixedly connected with the trigger to generate the firing signal.
Further, in the present application, in order to be able to adjust the attitude of the live action gun assembly in real time according to the attitude information of the ammunition-free gun while shielding noise disturbance due to the movement of the machine gun, the live action gun assembly 50 may be configured to include a cradle head 51 and a live action gun unit 52, the cradle head 51 being connected to the attitude and signal control computer 60 and the live action gun unit 52, respectively, and the attitude and signal control computer 60 adjusting the attitude of the live action gun unit 52 by adjusting the position of the cradle head 51.
Under the configuration mode, the cradle head can execute the instruction sent by the gesture and signal control computer to drive the live ammunition machine gun unit to move, so that the gesture of the live ammunition machine gun unit is consistent with that of an ammunition-free machine gun, and meanwhile, the live ammunition machine gun unit is arranged on the cradle head, so that noise disturbance caused by movement of a machine gun can be greatly shielded.
Further, in the present application, in order to accurately aim and strike the target, the live-action gun unit 52 may be configured to include a gun mount 521, a live-action gun 522, and a gun-firing device 523, the gun mount 521 being fixedly disposed on the cradle head 51, the live-action gun 522 and the gun-firing device 523 being disposed on the gun mount 521, the gun-firing device 523 being connected to the attitude and signal control computer 60, the attitude and signal control computer 60 controlling the action of the gun-firing device 523 in accordance with the firing signal to cause the live-action gun 522 to fire a real bullet to strike the target.
Under the configuration mode, the live ammunition machine gun is fixedly arranged on the cradle head, the shooting angle of the live ammunition machine gun can be adjusted through rotation of the cradle head, the machine gun launching device is fixedly connected with the machine gun seat frame, the firing signal of the ammunition-free machine gun is transmitted to the gesture and signal control computer through the gesture resolving computer, and the action of the machine gun launching device is controlled by the gesture and signal control computer so that the live ammunition machine gun launches a real bullet to strike a target.
Further, in the present application, in order to acquire attitude information of the ammunition-less machine gun, the attitude acquisition platform 30 may be configured to include a three-axis acceleration gyro platform for detecting the movement angle signal, the angular velocity signal, and the angular acceleration signal of the ammunition-less machine gun 20. As one embodiment of the application, a tri-axial accelerometer gyro platform may detect the angle of movement from a ammunition-less machine gunAngular velocity (omega) x ,ω y ,ω z ) And angular acceleration (alpha) x ,α y ,α z ) And transmitting the nine paths of signals to a gesture calculating computer.
According to yet another aspect of the present application, there is provided a gun-mounted servo aiming and striking method using the gun-mounted servo aiming system as described above. Specifically, in the application, the machine gun vehicle-mounted servo aiming striking method comprises the following steps: calibrating and initially aligning ammunition-less machine gun 20 and live ammunition machine gun 522 such that ammunition-less machine gun 20 and live ammunition machine gun 522 aim at a target consistent within range; the shooter observes the target in the external environment through the bullet-proof glass 10 and moves the ammunition-less machine gun 20, observes the target lens information displayed on the target magnification display 80 to confirm the target; the attitude acquisition platform 30 detects the attitude information of the ammunition-free machine gun 20 in real time and transmits the attitude information of the ammunition-free machine gun 20 to the attitude calculation computer 40; the attitude calculation computer 40 transmits the attitude information of the ammunition-free machine gun 20 to the attitude and signal control computer 60 and controls the angle, the angular velocity and the angular velocity of the cradle head 51 through the attitude and signal control computer 60 so that the attitude of the ammunition-free machine gun 20 and the ammunition-free machine gun 522 are kept consistent; when the target lens information shows that the live ammunition gun 522 is aimed at the target, the shooter sends a firing signal to the attitude calculation computer 40 by triggering the firing touch switch 100, and the attitude and signal control computer 60 controls the action of the gun launching device 523 according to the firing signal so that the live ammunition gun 522 launches a real bullet to strike the target.
By applying the configuration mode, the vehicle-mounted servo aiming striking method of the machine gun is provided, the machine gun vehicle is used as a moving carrier, and the aiming striking method plays a role in protecting the responsible shooting personnel on the machine gun vehicle in the process of executing tasks in dangerous environments. Shooting personnel can detect the external environment through the bulletproof glass, and can aim at dangerous targets to shoot at the same time. The bullet-proof glass is arranged at the observation window, so that shooting from enemy can be blocked, and a protection effect is achieved on shooting personnel on the gun carriage. Shooting staff can search shooting targets through the bullet-proof glass, and can aim shooting in a ammunition-free machine gun in the bullet-proof glass operation vehicle after the targets are found. The real bullet-firing machine gun is installed at the top of the vehicle, and synchronous movement of the real bullet-firing machine gun and the ammunition-free machine gun in the vehicle is realized through the cradle head, the gesture and signal control computer and the gesture calculation computer, so that aiming and striking of a target are realized. Compared with the prior art, the method has the advantages that the shooting staff can shoot the enemy target in the vehicle, so that the personal threat of the enemy target to the shooting staff is avoided, and the task execution capacity of the machine gun vehicle is greatly improved.
For further understanding of the present application, the following describes the on-board servo aiming system and aiming striking method of the present application with reference to fig. 1 to 3.
As shown in fig. 1 to 3, according to an embodiment of the present application, there is provided a gun-mounted servo aiming system including a bullet proof glass 10, a ammunition-free gun 20, a triaxial acceleration gyro platform, a posture solving computer 40, a cradle head 51, a gun mount 521, a bullet firing machine 522, a gun firing device 523, a posture and signal control computer 60, a gun alignment camera 70, a target amplification display 80, a spatial alignment deviator 90, and a firing touch switch 100, wherein the ammunition-free gun 20, the posture collecting platform 30, the posture solving computer 40 are in-vehicle posture detecting devices, and the cradle head 51, the gun mount 521, the bullet firing machine 522, the gun firing device 523, the posture and signal control computer 60, and the gun alignment camera 70 are out-of-vehicle posture servo devices.
The inside of the machine gun car is a safe environment, and the gun bullets from the external environment can be blocked by utilizing the car body structure. When a target in the external environment needs to be detected, the target can be observed through the bulletproof glass embedded on the window of the car body. When a shooter is required to aim at a target in the external environment, the ammunition-free machine gun 20 connected to the triaxial acceleration gyro platform can be operated to face the bullet-proof glass 10 to aim at the target. The attitude angle of ammunition-less machine gun 20 is obtained from a three-axis accelerometer-gyroscope platform measurement and then the information is transmitted to attitude resolution computer 40. The attitude calculation computer 40 transmits attitude information and firing signals to the attitude and signal control computer 60, and the attitude and signal control computer 60 controls the attitude of the pan-tilt 51 on the machine gun carriage so as to adjust the attitude before firing of the live ammunition gun 522. The gun alignment camera 70 can transmit the target lens information aimed by the live ammunition gun 522 to the target amplifying display 80 in the gun carriage in real time, and the shooter in the gun carriage can adjust the posture of the ammunition-free gun 20 according to the target amplifying display 80 and the real external environment, so that the live ammunition gun 522 can aim at the target more accurately. When the target is required to be shot, the trigger of the ammunition-free machine gun 20 is only required to be pulled, the firing touch switch 100 fixedly connected with the trigger is required to generate a firing signal, and the firing signal sent by the firing touch switch 100 is transmitted to the ammunition-powered machine gun 20 by the gesture and signal control computer 60.
In this embodiment, the bullet proof glass 10 is part of the body structure shield and is capable of blocking bullets from enemy targets for protecting the shooter and for the shooter to view the external environment, i.e., the field of view that the shooter in the gun carriage can see through the bullet proof glass, and for looking for the shot targets. Ammunition-free gun 20 refers to a shooter facing bullet proof glass and can operate like a real bullet-proof gun. The three-axis acceleration gyro platform is a computer capable of measuring angles, angular velocities, and angular accelerations in three directions of the ammunition-less machine gun 20 and transmitting the information to a posture resolution computer. The spatial alignment deviator 90 is used to compensate for the spatial deviation of the ammunition-less gun 20 from the firing gun 522 aiming at the target. The attitude and signal control computer 60 is capable of servo-controlling the angles, angular velocities and angular accelerations of the cradle head 51 in three directions, thereby rapidly tracking the angular movement of the ammunition-free machine gun and controlling the machine gun launching device 523 according to the firing signal sent by the firing touch switch. The cradle head 51 can execute instructions of the attitude and signal control calculation 60, and can also shield noise disturbance caused by movement of the locomotive. The gun launcher 523 is fixedly connected with the gun mount 521, and the firing signal of the ammunition-free gun 20 can be transmitted to the gun launcher 523 of the live ammunition gun 522 by the gesture and signal control computer 60. The gun alignment camera 70 can transmit the aiming lens information of the live gun 522 to the target amplifying display 80 in real time, and the target amplifying display 80 displays the aiming lens information of the live gun 522 in real time so as to enable the shooter in the gun carriage to distinguish the target with limited visual ability.
The flow of aiming and striking by using the machine gun vehicle-mounted servo aiming system provided by the application is specifically as follows.
The ammunition-less machine gun 20 and the live ammunition machine gun 522 are calibrated and initially aligned to align the ammunition-less machine gun 20 and the live ammunition machine gun 522 at the target within range. Without changing the firing habits of the original gun carriage shooter, the shooter observes stationary or moving objects in the external environment through the bullet proof glass 10 and moves the ammunition-less gun 20 while observing the object lens information displayed on the object magnification display 80 to further confirm the object. Because the ammunition-free machine gun 20 is fixedly connected to the triaxial acceleration gyro platform, the triaxial acceleration gyro platform detects the moving angle from the ammunition-free machine gun 20 in real time when a shooter moves the ammunition-free machine gun 20Angular velocity (omega) x ,ω y ,ω z ) And angular acceleration (alpha) x ,α y ,α z ) Signals, and transmits nine paths of attitude information of ammunition-free machine gun 20 to attitude calculation computer 40.
The attitude calculation computer 40 transmits nine attitude information of the ammunition-free machine gun 20 to the attitude and signal control computer 60 and controls the angle, the angular velocity and the angular velocity of the cradle head 51 through the attitude and signal control computer 60 so that the attitude of the ammunition-free machine gun 20 and the ammunition-free machine gun 522 are kept consistent. Through the compensation of the spatial alignment deviator 90, the vertical distance, longitudinal and transverse deviations of the ammunition-free machine gun 20 and the live ammunition machine gun 522 are corrected, so that the target aimed by the ammunition-free machine gun 20 in the bullet proof glass 10 is consistent with the target aimed by the live ammunition machine gun 522 on the machine gun carriage. Meanwhile, the cradle head 51 also has stronger adaptive capacity to the gun carriage, and can accurately aim and track even in a bumpy environment. Gun alignment camera 70 may display the target of firing practice gun 522 in an enlarged scale, and the firing personnel in the vehicle may determine and adjust the aiming posture of ammunition-free gun 20 to further confirm the target to be fired.
When the aiming target lens information shows that the firing gun 522 is aimed at the target, the shooter only needs to pull the trigger of the ammunition-free gun, the firing touch switch 100 fixedly connected with the firing trigger generates a firing signal and sends the firing signal to the gesture resolving computer 40, the gesture resolving computer 40 sends the firing signal to the gesture and signal control computer 60, and the gesture and signal control computer 60 controls the gun firing device 523 to act according to the firing signal so as to enable the firing gun 522 to fire a real bullet to accurately strike the target.
In summary, the application provides a vehicle-mounted servo aiming system of a machine gun, which is characterized in that an observation window of a shooter is protected by bulletproof glass, and the bulletproof glass does not influence the observation and judgment of the shooter on the external environment and can be used for blocking bullets shot by an enemy; the shooter on the machine gun car can observe the external environment and the target enlarged image from the aiming of the bullet-proof machine gun through the bullet-proof glass, and only the aiming and shooting of the ammunition-free machine gun in the car are required to be operated. The ammunition-free machine gun in the vehicle transmits signals to the gesture resolving computer through the triaxial acceleration gyroscope platform, and the gesture resolving computer transmits gesture information to the cradle head and the gesture control computer, so that the cradle head is controlled to perform servo motion, and the live ammunition-machine gun on the machine gun vehicle is driven to aim and shoot synchronously. Therefore, compared with the prior art, the vehicle-mounted servo aiming system of the machine gun provided by the application not only can accurately aim at a static or moving target, but also can play a role in protecting personal safety for shooting staff, and does not need to change the shooting operation habit of the shooting staff.
In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present application.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (5)
1. A machine gun on-board servo sighting system, characterized in that the machine gun on-board servo sighting system comprises:
the bullet-proof glass (10) is arranged on a vehicle body, and the bullet-proof glass (10) is used for protecting shooting staff and enabling the shooting staff to observe external environment and search shooting targets;
a ammunition-free machine gun (20), the ammunition-free machine gun (20) being disposed within a vehicle body, the ammunition-free machine gun (20) being for operation by a shooter;
the attitude acquisition platform (30), the attitude acquisition platform (30) is connected with the ammunition-free machine gun (20), and the attitude acquisition platform (30) is used for measuring attitude information of the ammunition-free machine gun (20);
a gesture resolution computer (40), the gesture resolution computer (40) being connected to the gesture acquisition platform (30), the gesture resolution computer (40) being configured to acquire gesture information of the ammunition-less machine gun (20) and to acquire a firing signal;
a live action gun assembly (50), the live action gun assembly (50) being disposed outside the vehicle body, the live action gun assembly (50) being for firing real bullets to strike a target;
a gesture and signal control computer (60), wherein the gesture and signal control computer (60) is respectively connected with the gesture resolving computer (40) and the live ammunition gun assembly (50), and the gesture and signal control computer (60) is used for controlling and adjusting the gesture of the live ammunition gun assembly (50) according to gesture information of the ammunition-free gun (20) transmitted by the gesture resolving computer (40) and controlling the live ammunition gun assembly (50) to emit real bullets according to the firing signal transmitted by the gesture resolving computer (40) so as to strike targets; the gun vehicle-mounted servo aiming system further comprises a gun aiming camera (70) and a target amplifying display (80), wherein the gun aiming camera (70) is respectively connected with the live ammunition gun assembly (50) and the target amplifying display (80), the gun aiming camera (70) is used for collecting target lens information aimed by the live ammunition gun assembly (50) and transmitting the target lens information to the target amplifying display (80), the target amplifying display (80) is arranged in a vehicle body, and a shooter can adjust the gesture of the ammunition-free gun (20) according to the target lens information displayed by the target amplifying display (80); the gun vehicle-mounted servo aiming system further comprises a spatial alignment deviation device (90), wherein the spatial alignment deviation device (90) is respectively connected with the gesture calculation computer (40) and the gesture and signal control computer (60), and the spatial alignment deviation device (90) is used for compensating the spatial deviation between the ammunition-free gun (20) and the live ammunition gun assembly (50); the bullet-firing machine gun assembly (50) comprises a cradle head (51) and a bullet-firing machine gun unit (52), wherein the cradle head (51) is respectively connected with the gesture and signal control computer (60) and the bullet-firing machine gun unit (52), and the gesture and signal control computer (60) adjusts the gesture of the bullet-firing machine gun unit (52) by adjusting the position of the cradle head (51); the bullet-firing machine gun unit (52) comprises a machine gun seat frame (521), a bullet-firing machine gun (522) and a machine gun launching device (523), wherein the machine gun seat frame (521) is fixedly arranged on the cradle head (51), the bullet-firing machine gun (522) and the machine gun launching device (523) are both arranged on the machine gun seat frame (521), the machine gun launching device (523) is connected with the gesture and the signal control computer (60), and the gesture and the signal control computer (60) control the machine gun launching device (523) to act according to the firing signal so that the bullet-firing machine gun (522) launches a real bullet to strike a target.
2. The machine gun onboard servo sighting system according to claim 1, characterized in that it further comprises a firing touch switch (100), said firing touch switch (100) being connected to said ammunition-free machine gun (20) and to said attitude resolution computer (40), respectively; wherein, when the target lens information shows that the live action gun assembly (50) has aimed at a target, a shooter can send a firing signal to the attitude resolution computer (40) by triggering the firing touch switch (100).
3. The machine gun onboard servo sighting system according to claim 1, characterized in that the attitude acquisition platform (30) comprises a tri-axial acceleration gyro platform for detecting movement angle signals, angular velocity signals and angular acceleration signals of the ammunition-less machine gun (20).
4. A machine gun in-vehicle servo aiming striking method, characterized in that the machine gun in-vehicle servo aiming striking method uses the machine gun in-vehicle servo aiming system according to any one of claims 1 to 3.
5. The machine gun on-board servo aiming and striking method according to claim 4, characterized in that said machine gun on-board servo aiming and striking method comprises:
calibrating and initially aligning a ammunition-less machine gun (20) and a live ammunition machine gun (522) to align the ammunition-less machine gun (20) and the live ammunition machine gun (522) with a target within range;
shooting staff observe the target in the external environment through the bullet-proof glass (10) and move the ammunition-free machine gun (20), observe the target lens information displayed on the target magnifying display (80) to confirm the target;
the attitude acquisition platform (30) detects the attitude information of the ammunition-free machine gun (20) in real time and transmits the attitude information of the ammunition-free machine gun (20) to the attitude calculation computer (40);
the attitude calculation computer (40) transmits the attitude information of the ammunition-free machine gun (20) to the attitude and signal control computer (60) and controls the angle, the angular speed and the angular speed of the cradle head (51) through the attitude and signal control computer (60) so as to keep the attitude of the ammunition-free machine gun (522) consistent with the attitude of the ammunition-free machine gun (20);
when the target lens information shows that the live ammunition gun (522) is aimed at a target, a shooting person triggers a firing touch switch (100) to send a firing signal to the gesture resolving computer (40), and the gesture and signal control computer (60) controls a gun launching device (523) to act according to the firing signal so that the live ammunition gun (522) launches a real bullet to strike the target.
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