Apparatus for determining an angular deviation, vehicle and method for determining an angular deviation

Abstract

The invention relates to an apparatus (100) for determining an angular deviation between a line of sight and a line of fire of a barrelled firearm (50). The apparatus (100) comprises: at least one clocked light source (10) for generating at least one coherent light beam (Ltx) and for emitting the at least one generated coherent light beam (Ltx), at least one neuromorphic camera (20) for receiving at least the at least one emitted coherent light beam (Ltx) and for providing detection data at least from the received light beam (Lrx), and a computing unit (40) for determining the angular deviation based on a correction value indicative of the angular deviation, wherein the computing unit (40) is designed to determine the correction value depending on at least one specific basic calibration value and the provided detection data.

Description

[0001] DEVICE FOR DETERMINING AN ANGLE DEVIATION,

[0002] VEHICLE AND METHOD FOR DETERMINING A

[0003] ANGLE DEVIATION

[0004] The present invention relates to a device for determining an angular deviation and to a vehicle. Furthermore, the present invention relates to a method and a computer program product for determining an angular deviation.

[0005] Different weather conditions and thermal stress in the field lead to deviations between the line of sight and the line of fire of the barrel weapon when firing projectiles, which in turn affects the shooting accuracy, especially at long distances.

[0006] To correct these deviations, field adjustment systems are conventionally used. Static and dynamic field adjustment systems are known from the state of the art.

[0007] The article T. Dursun et al. : A review on the gun barrel vibrations and control for a main battle tank (Defence Technology 13 (2017)) discloses a static field adjustment system that uses collimators and a mirror mounted on the muzzle of the gun. A light pattern is projected twice into the gunner's sight (RS): directly and after a reflection from the mirror. If the mirror is aligned differently from the straight-ahead calibration, meaning the muzzle of the gun is not pointing exactly straight ahead, the light patterns in the RS's sight image do not match. The RS then manually determines the deviation from a reference position and feeds it into the fire control computer as a correction value. However, static systems cannot be used while moving and are of very limited use between shots, as they require manual measurement times and value input.

[0008] US 5,513,000 A and US 7,124,676 B1 each disclose dynamic field alignment systems. These dynamic field alignment systems use detectors to directly spatially assign the offset of signals reflected from the muzzle mirror and subsequently convert it into an angular deviation.

[0009] Against this background, it is an object of the present invention to provide means to improve field adjustment of a barrel weapon.

[0010] According to a first aspect, a device for determining an angular deviation between a line of sight and a line of fire of a barrel weapon is proposed. The device comprises: at least one clocked light source for generating at least one coherent light beam and for emitting the at least one generated coherent light beam, at least one neuromorphic camera for receiving at least the at least one emitted coherent light beam and for providing detection data at least from the received light beam, and a computing unit for determining the angular deviation based on a correction value indicative of the angular deviation, wherein the computing unit is configured to determine the correction value as a function of at least one specific base calibration value and the provided detection data.

[0011] The proposed device forms a fully automatic field adjustment system for determining the angular deviation between a line of sight of a gun and a firing line of the

[0012] Barrel weapon.

[0013] This proposed device advantageously exhibits increased accuracy and increased speed in determining the angular deviation, which in turn means that a correction of the angular position of a muzzle of the barrel weapon can be carried out more precisely and quickly by means of the control unit and the at least one actuator of the device, which is controlled by the control unit. As a result, the angular deviation can be determined between individual projectiles fired from the barrel weapon and, if necessary, a correction of the angular position of the muzzle of the barrel weapon can be made immediately after the angular deviation has been determined. This also increases the probability of hitting the barrel weapon, since the field adjustment system can continuously determine the angular deviation of the barrel weapon, which in turn leads to increased efficiency in engaging a target object.

[0014] The increased accuracy results from the use of the at least one clocked light source for emitting a plurality of coherent light beams in combination with the neuromorphic camera for receiving the plurality of coherent light beams. The neuromorphic camera, as a detector of received coherent light beams, structurally comprises a high detection resolution and thus provides the detection data with an increased resolution. The neuromorphic camera is particularly configured to determine a center point and / or a pixel in the center point of a received light beam at the sub-pixel level using suitable calculation methods, such as interpolation or correlation. This enables a determination of the angular deviation at the sub-pixel level, which leads to increased accuracy.The increased speed results, on the one hand, from the high clock frequency of the clocked light source when generating and emitting the plurality of coherent light beams and the high temporal resolution of the neuromorphic camera for detecting the emitted plurality of coherent light beams. On the other hand, it results from the fully automatic and continuous determination of the angular deviation by processing the data from the clocked light source, neuromorphic camera, and computing unit, which does not require human operator intervention. In other words, the increased speed results from the neuromorphic camera's ability to quickly detect and process the plurality of coherent light beams emitted by the clocked light source at a high clock frequency, and from a time-coordinated electronic circuit of the clocked light source.

[0015] The term "clocked" specifically refers to a coherent light beam being emitted not continuously but in pulsed form, meaning that the coherent light beam is emitted in time-limited pulses at a specific clock frequency. The clocked light source is preferably a clocked laser source.

[0016] Furthermore, the term "coherent" is preferably understood to mean that a plurality of emitted light beams at the same frequency have a fixed phase relationship to each other.

[0017] A neuromorphic camera is designed as an "event camera," "silicon retina," or "dynamic vision sensor." A neuromorphic camera is an image sensor that responds to changes in the quantum flux (photon flux) of light from pixels. Specifically, a neuromorphic camera is configured to detect a change in the quantum flux of each pixel in a detector array of the neuromorphic camera, preferably independently, and to report the change only when it is detected by the neuromorphic camera. A neuromorphic camera advantageously has no detection dead time when detecting received (coherent) light beams, as it has no electronic or mechanical shutter time, unlike conventional cameras, and can thus detect received light beams at any time.Furthermore, the neuromorphic camera is further advantageously designed because it has a low latency, for example 1 ps (microsecond), which is significantly reduced compared to conventional cameras, which, for example, have a latency of over 16 ms (milliseconds) at frame rates of 60 Hertz per second.

[0018] A line of sight (LOS) of a barrel weapon corresponds in particular to the straight line between the firing point or the muzzle of the barrel weapon and a target object in the distance.

[0019] A gun's line-of-fire (LOF) corresponds specifically to the extension of the gun's barrel's centerline. The line of fire is preferably the orientation in which the gun is aimed before firing.

[0020] The clocked light source, the neuromorphic camera, and the computing unit are connected to one another, in particular by wire and / or wireless means, so that they can transmit electrical signals to one another and exchange data. Furthermore, the device can also comprise more than one clocked light source for generating at least one coherent light beam and for emitting the generated coherent light beam. Furthermore, the at least one clocked light source is particularly configured to generate the at least one coherent light beam and emit it in the direction of the neuromorphic camera. "Indicative of the correction value" means, in particular, that the angular deviation, or at least a value or an angle of the angular deviation, can be derived or calculated based on the determined correction value.

[0021] The respective unit, for example, the computing unit, can be implemented in hardware and / or software. In a hardware implementation, the respective unit can be embodied as a device or as part of a device, for example, as a computer, an FPGA (Field Programmable Gate Array), or a microprocessor. In a software implementation, the respective unit can be embodied as a computer program product, as a function, as a routine, as part of a program code, or as an executable object.

[0022] According to one embodiment, the at least one clocked light source is designed as a surface emitter.

[0023] The term "surface emitter" refers to the English term "Vertical Cavity Surface Emitting Laser (VCSEL)." A VCSEL is, in particular, a laser source that emits light perpendicular to its surface with high beam quality and low power.

[0024] In particular, the VCSEL is arranged in a module. The module preferably has an optics system arranged in the optical path of the VCSEL.

[0025] Advantageously, the VCSEL has a size of 1 mm 2 (square millimeters) and a low weight. Thus, the overall weight of the device is reduced. According to a further embodiment, the at least one clocked light source is configured to generate the at least one coherent light beam with a wavelength in the near-infrared range, in particular with a wavelength of 880 nm, 940 nm, or 1550 nm.

[0026] The neuromorphic camera is further configured to receive or detect the at least one coherent light beam with at least one wavelength in the wavelength range from ultraviolet light (UV light), through the light visible to the human eye, up to and including the NIR (near-infrared range). For this purpose, the neuromorphic camera comprises, in particular, at least one detector chip. The detector chip is formed, for example, using silicon, quantum dots, and / or indium gallium arsenide (inGaAs). The UV light range extends, in particular, from 100 nm (nanometers) to 380 nm, the light visible to the human eye range from 380 nm to 780 nm, and the near-infrared range covers a wavelength range from 780 nm to 3000 nm.The neuromorphic camera is thus also configured to receive the at least one coherent light beam with a wavelength in the SWIR (short-wave infrared) range, which, with a wavelength range of 780 nm to 1400 nm, is part of the NIR. Furthermore, the at least one clocked light source is configured to generate the at least one coherent light beam with at least one wavelength in the wavelength range of UV light and / or in the range of light visible to the human eye.

[0027] According to a further embodiment, the device is further characterized by: the gun with a gun barrel, wherein the gun barrel has a muzzle. According to a further embodiment, the at least one clocked light source is configured to generate a plurality of coherent light beams and emit them in a predetermined pattern.

[0028] Emitting a plurality of coherent light beams has the advantage of increasing the probability that at least one other emitted coherent light beam from the plurality will be detected by the neuromorphic camera, even if a large angular deviation results in one of the emitted coherent light beams no longer reaching the neuromorphic camera, particularly after reflection from a mirror of the device. This advantageously increases the reliability of determining the angular deviation of the device.

[0029] In particular, the at least one clocked light source is configured to generate a plurality of coherent light beams and to emit them in a predetermined pattern, in particular in the direction of the at least one neuromorphic camera or in the direction of the mirror.

[0030] Furthermore, the neuromorphic camera is configured to detect the emitted plurality of coherent light beams at the sub-pixel level, in particular after reflection from the mirror, or upon direct reception of the emitted plurality. The center point and / or a pixel in the center point of at least one received light beam can be determined with sub-pixel accuracy using suitable computational methods, such as interpolation or correlation, particularly if the predetermined pattern of the received light beams is known. This advantageously increases the spatial resolution when providing or generating the detection data, which in turn leads to increased accuracy in the detection of emitted coherent light beams.The reception and precise detection of the plurality of light beams by means of the neuromorphic camera in the neuromorphic camera advantageously leads to an increase in the measurement accuracy of the device.

[0031] Compared to conventional devices with non-clocked light sources, such as broadband light sources such as incandescent bulbs, another advantage is that the device is difficult for a hostile entity to detect. This is because the VCSEL emits its coherent light beams in particular with short pulses, for example greater than or equal to 1 kHz, with a specific wavelength and a narrow bandwidth. The short pulses with a low duty cycle in clocked operation also advantageously keep the waste heat and thus the heat signature of the device low. This reduces the probability of detection of the at least one light beam emitted by the at least one clocked light source by hostile entities, since the clocking of the clocked light source is unknown to them.

[0032] According to a further embodiment, the predetermined pattern has a temporal pattern and / or a spatial pattern, wherein the at least one clocked light source is configured to emit the plurality of coherent light beams at a predetermined clock frequency as a temporal pattern and / or is configured to emit the plurality of coherent light beams in the form of a light pattern comprising the plurality of coherent light beams as a spatial pattern.

[0033] A clock frequency comprises the number of clock cycles performed by the clocked light source per second. For example, the clocked light source is operated at a predetermined clock frequency of greater than or equal to 1 kHz (kilohertz). A high temporal resolution corresponds in particular to the emission of the plurality of coherent light beams at the predetermined clock frequency by the clocked light source. A high temporal resolution preferably also corresponds to the reception and / or processing of the plurality of coherent light beams at the predetermined clock frequency by the neuromorphic camera.

[0034] A light pattern is in particular a specific spatial arrangement of the plurality of coherent light beams, in which the respective coherent light beams are emitted at a certain distance from one another, so that a light pattern of coherent light beams results.

[0035] In particular, the at least one clocked light source is configured to emit the plurality of coherent light beams as a temporal pattern with a predetermined clock frequency, in particular in the direction of the at least one neuromorphic camera or in the direction of the mirror, and / or is configured to emit the plurality of coherent light beams as a spatial pattern in the form of a light pattern comprising the plurality of coherent light beams, in particular in the direction of the at least one neuromorphic camera or in the direction of the mirror.

[0036] According to a further embodiment, the at least one clocked light source has a first mode in which the at least one clocked light source is configured to generate and emit the coherent light beam, and a second mode in which the at least one clocked light source is configured to generate the plurality of coherent light beams and to emit them in the predetermined pattern, wherein the at least one clocked light source has a switching unit configured to switch between the first and the second mode.

[0037] This embodiment has the advantage that it can be switched

[0038] Unit is possible to switch to the first or second mode depending on the movement dynamics or camouflage requirements, especially when the device is attached to a vehicle or a trailer.

[0039] Particularly in the case of highly dynamic movement of the device, there is a greater probability that the coherent light beams will miss the mirror or the neuromorphic camera and can thus be more easily detected by adversary (hostile) entities (units). If initially in the first mode only a single, centrally directed coherent light beam is emitted, in particular in the direction of the at least one neuromorphic camera or in the direction of the mirror, the angular deviation can be detected in a first step with reduced accuracy. In a second step, after correction with reduced accuracy, a fine correction can be carried out after the plurality of coherent light beams emitted in the second mode have hit the mirror and then the detector matrix of the neuromorphic camera or directly the detector matrix of the neuromorphic camera.This increases the accuracy and thus the reliability of the device in determining the angular deviation.

[0040] In the case of increased camouflage requirements for the device, this embodiment makes it possible, in particular in the case of a stronger, not yet detected and corrected field adjustment with only one coherent light beam, to first emit this in the first mode in the direction of the mirror or the neuromorphic camera and then to carry out a fine correction in the second mode by means of the emitted plurality of coherent light beams.

[0041] In particularly dynamic scenarios, where camouflage of the device's own position is no longer important, a plurality of coherent light beams can be emitted directly in the second mode with an expected larger angular deviation. This expected larger angular deviation requires, in particular, a wider distribution of the emitted coherent light beams due to the high movement dynamics of the vehicle and / or the gun.

[0042] According to a further embodiment, the device is further characterized by: a control unit which is configured to control at least one actuator of the barrel weapon for correcting the orientation of the barrel weapon in azimuth and / or elevation as a function of the determined correction value.

[0043] Preferably, the control unit is connected at least to the clocked light source, the neuromorphic camera and the computing unit for transmitting data and / or electrical signals.

[0044] In particular, the control unit is configured to control one or more actuators of the barrel weapon to correct the alignment of the barrel weapon in azimuth and / or elevation depending on a specific absolute value of the correction value.

[0045] According to a further embodiment, the control unit is designed as a fire control computer, wherein the fire control computer is configured to control the barrel weapon in such a way that the barrel weapon fires one projectile or a plurality of projectiles.

[0046] An actuator is designed, in particular, as a motor for moving and / or adjusting the barrel weapon in azimuth and / or elevation. The motor is preferably controlled by the fire control computer.

[0047] According to a further embodiment, the at least one neuromorphic

[0048] The camera is further configured to track a trajectory of the projectile fired by the barrel weapon to obtain current calibration data, wherein the computing unit is configured to update the at least one specific base calibration value at least as a function of the current calibration data.

[0049] According to a further embodiment, the at least one neuromorphic camera is further configured to track a respective trajectory of a respective projectile fired by the barrel weapon from the plurality of projectiles fired by the barrel weapon to obtain respective current calibration data, wherein the computing unit is configured to update the at least one specific base calibration value after each projectile fired by the barrel weapon depending on the respective calibration data obtained.

[0050] The neuromorphic camera acts as a detector and performs several tasks:

[0051] On the one hand, the neuromorphic camera is further configured to provide detection data based on received coherent light beams before a projectile is fired and to make these available to the computing unit, so that the computing unit is configured to determine the correction value before, during and / or after the projectile is fired by the gun.

[0052] Additionally, the neuromorphic camera, thanks to its high temporal and spatial resolution, is configured to track the trajectory of the projectile fired by the barrel weapon or a respective trajectory of a respective projectile fired by the barrel weapon from the plurality of projectiles fired by the barrel weapon in order to obtain current cabling data. Furthermore, the neuromorphic camera is configured as a detector to detect objects configured as target objects, such as drones. Tracking particularly includes determining an impact point of the fired projectile in or near a target object, which may be configured, for example, as an enemy tank, an enemy watercraft, or an enemy aircraft. Additionally, the neuromorphic camera can subsequently be configured to evaluate the impact point to determine a hit probability.The neuromorphic camera is also designed as a detector to detect the time of impact of the projectile and the consequences of the impact or if the target object is missed.

[0053] This has the advantage that, when the device is moved, particularly when it is mounted on a vehicle or a trailer, vibrations of the gun and / or vibrations of the gun due to a firing or movement of the gun are recorded, and changes in the environment occurring between the projectiles to be fired are taken into account by tracking the trajectory when determining the angular deviation.

[0054] After each projectile is fired, changes in the environment, such as a change in wind direction or speed, can be used as current calibration data. This current calibration data is then used, in particular, to update the specific base calibration value, in particular to update a reference position of the specific base calibration value. Thus, before firing another projectile, the specific base calibration value can be reset using the current or updated calibration data. This increases the accuracy in determining the angular deviation in the field. This also advantageously increases the accuracy when firing a sequence of projectiles with the barrel weapon.According to a further embodiment, the at least one specific base calibration value comprises at least one reference position which is indicative of a specific reference angular position of the muzzle of the weapon barrel of the gun, and the provided detection data comprises at least one specific entry position of the light beam received by the at least one neuromorphic camera in the neuromorphic camera, wherein the specific entry position is indicative of a specific angular position of the muzzle of the weapon barrel of the gun, wherein the computing unit is configured to determine the correction value by applying a mathematical operation to the at least one reference position and the specific entry position.

[0055] The following explains the relationships between the terms angular deviation, reference position, provided detection data, specific entry position and specific correction value.

[0056] The computing unit is configured to determine the angular deviation between the line of sight and the line of fire of the barrel weapon. For this purpose, the computing unit is preferably configured to determine the angle or angular position of the muzzle of the barrel of the barrel weapon before and after each projectile fired from the barrel weapon or upon exit of a projectile from the barrel weapon. The determined angular position of the muzzle includes, in particular, an azimuth angle and an elevation angle.

[0057] Indicative of the specific reference angular position means in particular that the specific reference angular position of the muzzle of the weapon barrel of the gun can be derived or calculated based on the reference position. The specific reference angular position specifies in particular an angular position of the muzzle of the weapon barrel of the gun in azimuth and elevation at which the angular deviation between LOS and LOF of the gun is zero. The specific reference angular position can be statically defined using one-time, fixed values ​​or can be dynamically updated using current calibration data. In this case, the computing unit is in particular configured to update the specific reference angular position of the specific base calibration value depending on current calibration data.The determined reference angular position includes further values ​​and calibration data which can be included in the determination of the correction value either through the determined reference angular position or can be integrated as further parameters in the determination of the correction value directly into the mathematical operation, in particular^ target object distance, air temperature and air pressure, ammunition type and powder temperature (ballistic data), wind conditions, curvature of the earth, gravity, general system errors, own vehicle speed, canting when the projectile exits, target speed estimate, air humidity and / or the Coriolis effect.

[0058] The neuromorphic camera is particularly configured to transmit the provided detection data at least to the computing unit. Providing the detection data to the neuromorphic camera preferably comprises generating the detection data at least from the received light beam or from the light beam reflected and received by the mirror (received reflected light beam).

[0059] Indicative of the specific angular position of the muzzle means in particular that the specific angular position of the muzzle of the weapon barrel of the gun at a specific point in time can be derived or calculated based on the specific entry position of the received or reflected light beam. The specific point in time preferably comprises a point in time before, during and / or after a projectile is fired from the gun. The specific entry position is preferably the position at which at least one coherent light beam received by the neuromorphic camera enters the detector matrix of the neuromorphic camera or a coherent light beam reflected by the mirror and received by the neuromorphic camera enters the detector matrix of the neuromorphic camera. From this specific entry position together with the reference position, an offset orA correction value between these two positions can be determined. Based on the correction value, which indicates a deviation between the angular position of the muzzle of the gun barrel and the determined reference angular position, the determined angular deviation can then be corrected.

[0060] A mathematical operation particularly comprises subtracting the determined entry position from the reference position to determine the correction value. The mathematical operation may also include a correlation method by which at least one correlation is calculated across the plurality of received light beams to determine the correction value. Likewise, the number of received light beams can be determined by means of the mathematical operation.

[0061] If the result of this subtraction is, for example, zero, then there is no angular deviation between the line of sight and the line of fire of the barreled weapon. However, if the result of this subtraction is not zero, then there is preferably an angular deviation. The magnitude of this specific angular deviation, or the value of the angular deviation, is indicated by the correction value.

[0062] The specific correction value is entered into the control unit as an input parameter, after which the control unit is configured to correct the angular deviation between the LOS and LOF of the barrel weapon based on the entered correction value. In other words, the control unit is configured to correct the angle of the barrel weapon's muzzle by this specific correction value, so that for a subsequent firing of a projectile with the barrel weapon, it is correctly calibrated or adjusted again and, in particular, has an angular deviation of zero.

[0063] For example, the above values ​​and calibration data are stored in advance in the computing unit or in a memory of the device connected to the computing unit. Preferably, a specific reference angular position, comprising specific values ​​and calibration data, is stored in the memory or computing unit for a specific firing distance, i.e., a distance from the device or the muzzle of the gun to a target object.

[0064] According to a further embodiment, the at least one neuromorphic camera has an optical aperture and a detector matrix which are formed in an optical path of the neuromorphic camera, wherein the at least one neuromorphic camera is configured to receive the at least one emitted light beam through the optical path on the detector matrix, wherein the optical aperture has an aspheric lens which is designed in particular as a metal lens or by means of a plurality of DOEs (Digital Optical Elements).

[0065] According to a further embodiment, the device is further characterized by: a mirror arranged at the muzzle of the weapon barrel of the barrel weapon, wherein the at least one clocked light source is configured to emit the generated coherent light beam in the direction of the mirror and the neuromorphic camera is configured to receive at least the light beam reflected by the mirror and is further configured to provide detection data at least from the received reflected light beam.

[0066] The muzzle is the exit point of the projectile from the barreled weapon. The mirror is preferably arranged on a right or left side of an outer casing of the weapon barrel at the muzzle. Most preferably, the mirror is arranged on an upper side of the outer casing of the weapon barrel at the muzzle. This arrangement of the mirror at the muzzle and the distance from the neuromorphic camera allow for reliable reflection of emitted coherent light beams to the neuromorphic camera.

[0067] The mirror has reflective properties, so that the at least one coherent light beam emitted by the clocked light source is reflected by the mirror, in particular according to the law of reflection, and is sent back as a reflected light beam from the mirror to the neuromorphic camera.

[0068] According to a further embodiment, the at least one specific base calibration value comprises at least one reference position which is indicative of a specific reference angular position of the muzzle of the weapon barrel of the gun, and the provided detection data comprise at least one specific entry position of the light beam reflected by the mirror and received by the neuromorphic camera in the neuromorphic camera, wherein the specific entry position is indicative of a specific angular position of the muzzle of the weapon barrel of the gun, wherein the computing unit is configured to determine the correction value by applying a mathematical operation to the at least one reference position and the specific entry position.According to a further embodiment, the at least one clocked light source and the at least one neuromorphic camera are each arranged at one end of the weapon barrel of the tube weapon, which is opposite to the muzzle of the weapon barrel of the tube weapon.

[0069] The end of the weapon barrel of the barreled weapon is connected, in particular, to a base of a fixed, stationary weapon system or a vehicle that may incorporate the device. If the vehicle is designed as a battle tank, the base is designed, in particular, as a tank turret.

[0070] According to a further embodiment, the at least one clocked light source is arranged at the end of the weapon barrel of the gun and the at least one neuromorphic camera is arranged at the muzzle of the weapon barrel of the gun.

[0071] The at least one clocked light source and the neuromorphic camera are arranged opposite each other at different ends of the barrel of the gun. The at least one clocked light source is configured, in particular, to generate the at least one coherent light beam and to emit it toward the neuromorphic camera at the muzzle of the barrel.

[0072] According to a further embodiment, the at least one clocked light source and / or the neuromorphic camera are arranged in an optical channel, in particular in a periscope, a gunner for the gun, or at the base of the vehicle on an outer shell of the vehicle.

[0073] The gunner is, in particular, the operator of the vehicle, in particular the operator of a control unit for controlling the vehicle's gun. According to a further embodiment, the at least one neuromorphic camera has an optical aperture and a detector matrix formed in an optical path of the neuromorphic camera, wherein the at least one neuromorphic camera is configured to receive the at least one light beam reflected by the mirror through the optical path on the detector matrix, wherein the optical aperture has an aspheric lens, which is designed, in particular, as a metal lens or by means of a plurality of DOEs (Digital Optical Elements).

[0074] The neuromorphic camera, in particular, has a detector matrix for detecting or receiving emitted coherent light beams. The neuromorphic camera preferably comprises an optical aperture formed in the optical path of the neuromorphic camera configured as an image sensor, and through which the received and / or reflected coherent light beams arrive at the detector matrix. The neuromorphic camera is, in particular, arranged in a first housing, while the clocked light source is arranged in a second housing. The at least one neuromorphic camera and the at least one clocked light source can also be arranged in a common housing, in particular if the at least one neuromorphic camera and the at least one clocked light source are arranged at the end of the weapon barrel of the gun, which is opposite the muzzle of the gun.

[0075] An aspheric lens is, in particular, a lens with at least one refractive surface that deviates from a spherical or flat shape. The advantage of an aspheric lens is preferably its freely formable surface, which can reduce imaging errors that, in contrast, are present in spherical lenses. By using the aspheric lens in the neuromorphic camera, the distance between the plurality of coherent light beams received by the neuromorphic camera on the detector matrix of the neuromorphic camera preferably changes, which can be taken into account by computational measures. By using this aspheric lens in the neuromorphic camera, high spatial resolutions can advantageously be generated with a narrow field of view in the center of the detector matrix, and larger fields of view with lower spatial resolution can be generated in peripheral fields of view at the edge of the detector matrix.

[0076] In a particularly advantageous embodiment, the aspheric lens is designed as a metal lens or by means of a plurality of DOEs (Digital Optical Elements), which enable individual field-of-view (FOV) resolution adjustment in order to create, as already explained in the above paragraph, an aspheric field of view with high spatial resolution in the center of the detector matrix and a large FOV with lower resolution at the edges of the detector matrix.

[0077] According to a further embodiment, the device is further characterized by: a plurality of neuromorphic cameras, wherein each neuromorphic camera of the plurality is configured to receive at least the emitted light beam.

[0078] This embodiment has the advantage of increasing the probability that at least one emitted coherent light beam can be received and detected by at least one neuromorphic camera of the plurality of neuromorphic cameras, even when a larger angular deviation is present. This advantageously increases the reliability of the device.

[0079] In particular, in one embodiment, an arrangement of at least two neuromorphic cameras and a clocked light source can be formed at the end of the weapon barrel of the barrel weapon, which is opposite the muzzle of the barrel weapon. Here, for example, the clocked light source is arranged centrally, and to the left and right of it, a respective neuromorphic camera is arranged, of which at least one of the two neuromorphic cameras is configured to receive the at least one reflected coherent light beam. Also, in one embodiment, at least one clocked light source can be formed at the end of the weapon barrel of the barrel weapon, which is opposite the muzzle of the barrel weapon, and an arrangement of at least two neuromorphic cameras can be formed opposite at the muzzle of the barrel weapon.

[0080] Preferably, each neuromorphic camera of the plurality is configured to receive at least the light beam reflected by the mirror.

[0081] According to a second aspect, a vehicle, in particular a military or a civilian vehicle, is proposed with a device according to the first aspect or an embodiment of the first aspect.

[0082] According to a further embodiment, the vehicle according to the second aspect is designed as an unarmored vehicle, as an armored vehicle, in particular as a tracked vehicle, such as a battle tank or a wheeled armored vehicle, as a watercraft, in particular as a warship, and / or as an amphibious vehicle, in particular as a military or civilian amphibious vehicle.

[0083] The device can be arranged on the vehicle or on a trailer. The vehicle also includes a vehicle with a trailer. Both the vehicle and the trailer can be used in the military or civilian sector. The trailer can have a carriage in which the device, in particular the gun barrel of the gun, is mounted. For example, the vehicle is also designed as a police vehicle or a coast guard vessel. The vehicle can be designed as a patrol boat, in particular as a patrol boat of the navy, coast guard, police, or customs.

[0084] The device can also be part of a permanently installed, in particular stationary, weapon system. A permanently installed weapon system is designed, in particular, as a defense system, preferably a military defense system, which can have at least one device with the barrel weapon. The permanently installed weapon system can also have a plurality of devices, each of which is arranged at different positions or locations within the permanently installed weapon system.

[0085] A barrel weapon is designed, for example, as a gun, particularly as a cannon of a combat tank, as a permanently installed barrel weapon of a weapon system, or as a naval gun. The barrel weapon preferably has a caliber of at least 20 millimeters.

[0086] For example, a command center of the vehicle includes the fire control computer, by means of which the gun can be operated or remotely controlled.

[0087] According to a third aspect, a method for determining an angular deviation between a line of sight and a line of fire of a barrel weapon is proposed. The method comprises the steps: a) generating, by means of at least one clocked light source, at least one coherent light beam and emitting the at least one generated coherent light beam; b) receiving, by means of at least one neuromorphic camera, at least the at least one emitted coherent light beam and providing detection data at least from the received light beam; and c) determining the angular deviation based on a correction value indicative of the angular deviation, wherein the correction value is determined as a function of at least one specific base calibration value and the provided detection data.

[0088] The embodiments and features described for the proposed device according to the first aspect apply accordingly to the proposed method according to the third aspect.

[0089] According to a fourth aspect, a computer program product is proposed, comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to the third aspect.

[0090] A computer program product, such as a computer program means, can be provided or delivered, for example, as a storage medium, such as a memory card, USB stick, CD-ROM, DVD, or in the form of a downloadable file from a server in a network. This can be done, for example, in a wireless communications network by transmitting a corresponding file with the computer program product or the computer program means.

[0091] Further possible implementations of the invention also include combinations of features or embodiments described above or below with respect to the exemplary embodiments not explicitly mentioned. In this case, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the invention.

[0092] Further advantageous embodiments and aspects of the invention are the subject of the dependent claims and the exemplary embodiments of the invention described below. The invention is explained in more detail below using preferred embodiments with reference to the accompanying figures.

[0093] Fig. 1 shows a schematic block diagram of an embodiment of a device for determining an angular deviation;

[0094] Fig. 2 shows a schematic flow diagram of an embodiment of a method for determining an angular deviation; and

[0095] Fig. 3a to 3c each show schematically a detector matrix of a neuromorphic camera in different embodiments.

[0096] In the figures, identical or functionally equivalent elements have been given the same reference numerals unless otherwise stated.

[0097] Fig. 1 shows a schematic block diagram of an embodiment of a device 100 for determining an angular deviation between a line of sight and a line of fire of a barreled weapon 50. In the embodiment of Fig. 1, the device 100 is part of a vehicle 200. In other embodiments, the device 100 is not part of a vehicle 200 (not shown). For example, the device 100, in particular the barreled weapon 50, can be permanently installed in a stationary weapon system. In Fig. 1, the vehicle 200 is designed as a battle tank. In embodiments, the vehicle 200 can be designed as a watercraft, in particular as a warship, or as an amphibious vehicle. Furthermore, references to method steps S100 to S102 of Fig. 2, which shows a schematic flow diagram of an embodiment of a method for determining an angular deviation, can be found in the following explanations of Fig.1 is indicated in brackets.

[0098] In Fig. 1, the device 100 comprises at least one clocked light source 10, a neuromorphic camera 20, a mirror 30, a computing unit 40, a barrel weapon 50, and a control unit 60. The at least one clocked light source 10 and the neuromorphic camera 20 are arranged in a common housing 35 in Fig. 1. Furthermore, in Fig. 1, the housing 35, the computing unit 40, the control unit 60, and an actuator 65 for transmitting data are physically connected to one another. The actuator 65 is connected to the barrel weapon 50. The device 100 can also be implemented without the mirror 30 (not shown).In this case, the clocked light source 10 transmits at least one generated coherent light beam Ltx toward the neuromorphic camera 20. In this case, the clocked light source 10 is arranged, for example, at a base of the vehicle 200, and the neuromorphic camera 20 is arranged at the muzzle 55 of the weapon barrel of the gun 50 instead of the mirror 30. Here, the clocked light source 10 and the neuromorphic camera 20 are arranged opposite one another (not shown).

[0099] In Fig. 1, the at least one clocked light source 10 is configured to generate at least one coherent light beam Ltx with a wavelength in the near-infrared range, for example with a wavelength of 880 nm (nanometers), and to emit the generated coherent light beam Ltx, in particular in the direction of the mirror 30 (see step S100 of Fig. 2). This generation and emission of the at least one coherent light beam Ltx is referred to as a first mode of the clocked light source 10. In Fig. 1, the clocked light source 10 is designed as a surface emitter. The mirror 30 is arranged at a muzzle 55 of the weapon barrel of the gun barrel 50.The neuromorphic camera 20 is configured to receive at least the emitted light beam Ltx or the light beam Lreflex reflected by the mirror 30 and to provide detection data at least from the received and / or reflected light beam Lrx, Lreflex (see step S101 of Fig. 2). In embodiments, the device 100 comprises a plurality (not shown) of neuromorphic cameras 20. Each neuromorphic camera 20 of the plurality is configured to receive at least the emitted light beam Ltx. Furthermore, at least one of the neuromorphic cameras 20 of the plurality has an optical aperture (not shown) and a detector matrix 25 (see Fig. 3), which are formed in an optical path of the neuromorphic camera 20.The at least one neuromorphic camera 20 is configured to receive the at least one emitted light beam Ltx or the at least one light beam Lreflex reflected by the mirror 30 through the optical path on the detector matrix 25. In one embodiment, the optical aperture is an aspherical lens, which is designed in particular as a metal lens or by means of a plurality of DOEs (Digital Optical Elements).

[0100] In Fig. 1, the clocked light source 10 and the neuromorphic camera 20 are each arranged at one end of the weapon barrel of the gun 50, which is opposite the muzzle 55 of the weapon barrel of the gun 50. This corresponds to an exemplary embodiment of the device 100 when it has the mirror 30.

[0101] The computing unit 40 is then configured to determine the angular deviation based on a correction value indicative of the angular deviation. The computing unit 40 is configured to determine the correction value as a function of at least one specific base calibration value and the provided detection data (see step S102 of Fig. 2). Furthermore, the clocked light source 10 of Fig. 1 is also configured to generate a plurality of coherent light beams Ltx and to emit them in a predetermined pattern toward the mirror 30 or the neuromorphic camera 20. This generation and emission of the plurality of coherent light beams Ltx is referred to as a second mode of the clocked light source 10. For this purpose, the clocked light source 10 has a switching unit (not shown) configured to switch between the first and second modes.The predetermined pattern has a temporal pattern and a spatial pattern.

[0102] The control unit 60 of the device 100 in Fig. 1 is configured to control the at least one actuator 65 of the barrel weapon 50 to correct the orientation of the barrel weapon 50 in azimuth and / or elevation depending on the determined correction value. In Fig. 1, the control unit 60 is designed as a fire control computer. The fire control computer is configured to control the barrel weapon 50 such that the barrel weapon 50 fires one projectile or a plurality of projectiles.

[0103] Furthermore, the neuromorphic camera 20 of Fig. 1 has a further function. It is further configured to track the trajectory of the projectile fired by the barrel weapon 50 to obtain current calibration data. In the course of this, the computing unit 40 is configured to update the at least one specific base calibration value at least as a function of the current calibration data.

[0104] The neuromorphic camera 20 of Fig. 1 is also configured to track the respective trajectory of a respective projectile fired by the barrel weapon 50 from the plurality of projectiles fired by the barrel weapon 50 to obtain respective current calibration data. Here, the computing unit 40 is configured to update the at least one specific base calibration value after each projectile fired by the barrel weapon 50 depending on the respective calibration data obtained.

[0105] Fig. 2 shows a flowchart illustrating the steps of the method for determining an angular deviation according to one exemplary embodiment. The method comprises steps S100 to S102. The respective method steps S100 to S102 have already been explained with reference to Fig. 1, which is why the method steps S100 to S102 will not be described again to avoid repetition.

[0106] Figs. 3a to 3c each schematically show an embodiment of the detector matrix 25 of a neuromorphic camera 20 (see Fig. 1). The detector matrix 25 is integrated into the neuromorphic camera 20, and the coherent light beams Lreflex (see Fig. 1) reflected by the mirror 30 (see Fig. 1) or the coherent light beams Ltx (see Fig. 1) emitted by the clocked light source 10 in the direction of the neuromorphic camera 20 impinge on the detector matrix 25.

[0107] The detector matrix 25 in each of Figs. 3a to 3c has nine pixels P each. A detector matrix 25 can also have more or fewer than nine pixels P. The pixel P in the center of the detector matrix 25 is referred to as the reference position RP. The specific base calibration value includes the reference position RP. The reference position RP is indicative of a specific reference angular position of the muzzle 55 (see Fig. 1) of the weapon barrel of the gun 50 (see Fig. 1).

[0108] In Fig. 3a, a specific entry position EP of the light beam Ltx received by the neuromorphic camera 20 or of the light beam Lreflex, Lrx reflected by the mirror 30 and received by the neuromorphic camera 20 is represented by a cross in the detector matrix 25 of the neuromorphic camera 20. The provided detection data includes the at least one specific entry position EP. Furthermore, the specific entry position EP is indicative of a specific angular position of the muzzle 55 of the weapon barrel of the gun 50.

[0109] In Fig. 3a, the determined entry position EP is located in the same pixel P of the detector matrix 25 as the pixel P in which the reference position RP is located. If the computing unit 40 (see Fig. 1) is then configured to determine the correction value by applying a mathematical operation to the at least one reference position RP and the determined entry position EP, the correction value in the case of Fig. 3a is zero. This is because the pixel P of the reference position RP and the pixel P of the determined entry position EP overlap. Thus, the light beam Lrx received in the detector matrix 25 has the same pixel as the entry position EP as such a pixel P that was previously determined for the reference position RP. The reference position RP is determined in particular as a function of an emission position and / or an emission angle of the light emitted by the clocked light source 10 (see Fig.1) generated and emitted coherent light beam Ltx (see Fig. 1). Thus, the angular deviation in Fig. 3a has the value zero.

[0110] In Fig. 3b, the cross of the determined entry position EP is arranged in a pixel P to the left of the pixel P of the reference position RP. If the computing unit 40 is subsequently configured to determine the correction value analogously to Fig. 3a, the resulting correction value in the case of Fig. 3b is not zero. Thus, an angular deviation exists. The control unit 60 (see Fig. 1) is thus configured to correct the alignment of the barrel weapon 50 by means of the actuator 65 (see Fig. 1) depending on the magnitude of the correction value. Three reference positions RP are shown in Fig. 3c.Three reference positions RP are shown here because the clocked light source 10 is configured to emit the plurality of coherent light beams Ltx as a spatial pattern in the form of a light pattern comprising the plurality of coherent light beams Ltx in the direction of the mirror 30 or in the direction of the at least one neuromorphic camera 20. Alternatively, the clocked light source 10 is configured to emit the plurality of coherent light beams Ltx as a temporal pattern at a predetermined clock frequency in the direction of the mirror 30 or in the direction of the at least one neuromorphic camera 20. Thus, Fig. 3c also shows three specific entrance positions EP, which are assigned to the respective three reflected coherent light beams Lreflex and arrive at the detector matrix 25.If an angular deviation were too large, one of the three emitted coherent light beams Ltx would also fail to reach the detector matrix 25 (not shown). As can be seen from Fig. 3c, the three crosses (three pixels) of the determined entry positions EP are each superimposed on the three pixels of the three reference positions RP. If the computing unit 40 is configured to determine the correction value by applying a mathematical operation to the three reference positions RP and the determined entry positions EP, the resulting correction value in the case of Fig. 3c is zero. Thus, there is no angular deviation.

[0111] Although the present invention has been described using exemplary embodiments, it is capable of being modified in many ways.

[0112] 10 clocked light sources

[0113] 20 neuromorphic camera

[0114] 25 detector matrix

[0115] 30 mirrors

[0116] 35 housings

[0117] 40 computing units

[0118] 50 barrel weapon

[0119] 55 Mouth

[0120] 60 control unit

[0121] 65 Actuator

[0122] 100 device

[0123] 200 vehicles

[0124] EP entry position

[0125] Ltx emitted light beam

[0126] Lreflex reflected light beam

[0127] Lrx received light beam

[0128] P pixels

[0129] RP reference position

[0130] S 100 V process step

[0131] S 101 Process step

[0132] S 102 Process step

Claims

PATENT CLAIMS 1. A device (100) for determining an angular deviation between a line of sight and a line of fire of a barrel weapon (50), comprising: at least one clocked light source (10) for generating at least one coherent light beam (Ltx) and for emitting the at least one generated coherent light beam (Ltx), at least one neuromorphic camera (20) for receiving at least the at least one emitted coherent light beam (Ltx) and for providing detection data at least from the received light beam (Lrx), and a computing unit (40) for determining the angular deviation based on a correction value indicative of the angular deviation, wherein the computing unit (40) is configured to determine the correction value as a function of at least one specific base calibration value and the provided detection data.

2. Device according to claim 1, characterized in that the at least one clocked light source (10) is designed as a surface emitter.

3. Device according to claim 1 or 2, characterized in that the at least one clocked light source (10) is designed to generate the at least one coherent light beam (Ltx) with a wavelength in the near-infrared range, in particular with a wavelength of 880 nm, 940 nm or 1550 nm.

4. Device according to one of claims 1 to 3, further characterized by: the tube weapon (50) with a weapon barrel, wherein the weapon barrel has a muzzle (55).

5. Device according to one of claims 1 to 4, characterized in that the at least one clocked light source (10) is designed to generate a plurality of coherent light beams (Ltx) and to emit them in a predetermined pattern.

6. Device according to claim 5, characterized in that the predetermined pattern has a temporal pattern and / or a spatial pattern, wherein the at least one clocked light source (10) is configured to emit the plurality of coherent light beams (Ltx) with a predetermined clock frequency as a temporal pattern and / or is configured to emit the plurality of coherent light beams (Ltx) in the form of a light pattern having the plurality of coherent light beams (Ltx) as a spatial pattern.

7. Device according to claim 5 or 6, characterized in that the at least one clocked light source (10) has a first mode in which the at least one clocked light source (10) is designed to generate and emit the coherent light beam (Ltx), and a second mode in which the at least one clocked light source (10) is designed to generate the plurality of coherent light beams (Ltx) and to emit them in the predetermined pattern, wherein the at least one clocked light source (10) has a switching unit which is arranged to switch between the first and the second mode.

8. Device according to one of claims 4 to 7, further characterized by: a control unit (60) which is configured to control at least one actuator (65) of the barrel weapon (50) for correcting the orientation of the barrel weapon (50) in azimuth and / or elevation as a function of the determined correction value.

9. Device according to claim 8, characterized in that the control unit (60) is designed as a fire control computer, wherein the fire control computer is set up to control the barrel weapon (50) in such a way that the barrel weapon (50) fires one projectile or a plurality of projectiles.

10. Device according to claim 9, characterized in that the at least one neuromorphic camera (20) is further configured to track a trajectory of the projectile fired by the gun (50) to obtain current calibration data, wherein the computing unit (40) is configured to update the at least one specific base calibration value at least as a function of the current calibration data.

11. Device according to claim 9 or 10, characterized in that the at least one neuromorphic camera (20) is further configured to record a respective trajectory of a respective missile fired by the barrel weapon (50). Projectile from the plurality of projectiles fired by the tube weapon (50) to obtain respective current calibration data, wherein the computing unit (40) is configured to update the at least one specific base calibration value after each projectile fired by the tube weapon (50) in dependence on the respective obtained calibration data.

12. Device according to one of claims 4 to 11, characterized in that the at least one specific base calibration value comprises at least one reference position (RP) which is indicative of a specific reference angular position of the muzzle (55) of the weapon barrel of the gun (50), and in that the provided detection data comprise at least one specific entry position (EP) of the light beam (Lrx) received by the at least one neuromorphic camera (20) in the neuromorphic camera (20), wherein the specific entry position (EP) is indicative of a specific angular position of the muzzle (55) of the weapon barrel of the gun (50), wherein the computing unit (40) is configured to determine the correction value by applying a mathematical operation to the at least one reference position (RP) and the specific entry position (EP).

13. Device according to one of claims 1 to 12, characterized in that the at least one neuromorphic camera (20) has an optical aperture and a detector matrix (25) which are formed in an optical path of the neuromorphic camera (20), wherein the at least one neuromorphic camera (20) is designed to receive the at least one emitted light beam (Ltx) through the optical path on the detector matrix (25), wherein the optical aperture is an aspheric lens, which in particular is designed as a Metal lens or by means of a plurality of DOE (Digital Optical Element).

14. Device according to one of claims 4 to 11, further characterized by: a mirror (30) arranged at the muzzle (55) of the weapon barrel of the barrel weapon (50), wherein the at least one clocked light source (10) is configured to emit the generated coherent light beam (Ltx) in the direction of the mirror (30), and the at least one neuromorphic camera (20) is configured to receive at least the light beam (Lreflex) reflected by the mirror (30), and is further configured to provide detection data at least from the received reflected light beam (Lrx, Lreflex).

15. Device according to claim 14, characterized in that the at least one specific base calibration value comprises at least one reference position (RP) which is indicative of a specific reference angular position of the muzzle (55) of the weapon barrel of the gun (50), and in that the provided detection data comprise at least one specific entry position (EP) of the light beam (Lreflex, Lrx) reflected by the mirror (30) and received by the at least one neuromorphic camera (20) in the neuromorphic camera (20), wherein the specific entry position (EP) is indicative of a specific angular position of the muzzle (55) of the weapon barrel of the gun (50), wherein the computing unit (40) is configured to determine the correction value by applying a mathematical operation to the at least one reference position (RP) and the specific entry position (EP).

16. Device according to claim 14 or 15, characterized in that that the at least one clocked light source (10) and the at least one neuromorphic camera (20) are each arranged at one end of the weapon barrel of the tube weapon (50), which is opposite the muzzle (55) of the weapon barrel of the tube weapon (50).

17. Device according to one of claims 14 to 16, characterized in that the at least one neuromorphic camera (20) has an optical aperture and a detector matrix (25) which are formed in an optical path of the neuromorphic camera (20), wherein the at least one neuromorphic camera (20) is configured to receive the at least one light beam (Lreflex) reflected by the mirror (30) through the optical path on the detector matrix (25), wherein the optical aperture has an aspheric lens, which is designed in particular as a metal lens or by means of a plurality of DOEs (Digital Optical Elements).

18. Device according to one of claims 1 to 17, further characterized by: a plurality of neuromorphic cameras (20), wherein each neuromorphic camera (20) of the plurality is arranged to receive at least the emitted light beam (Ltx).

19. Vehicle (200), in particular a military or a civilian vehicle, with a device (100) according to one of claims 1 to 18.

20. Vehicle according to claim 19, characterized in that the vehicle (200) is designed as an unarmored vehicle, as an armored vehicle, in particular as a tracked vehicle, such as a battle tank or a wheeled tank, as a watercraft, in particular as a warship, and / or as an amphibious vehicle.

21. A method for determining an angular deviation between a line of sight and a line of fire of a barrel weapon (50), comprising the steps :a) generating (S100) at least one coherent light beam (Ltx) by means of at least one clocked light source (10) and emitting the at least one generated coherent light beam (Ltx), b) receiving (S101) at least the at least one emitted coherent light beam (Ltx) by means of at least one neuromorphic camera (20) and providing detection data at least from the received light beam (Lrx), and c) determining (S102) the angular deviation based on a correction value indicative of the angular deviation, wherein the correction value is determined as a function of at least one specific base calibration value and the provided detection data.

22. A computer program product comprising instructions which, when executed by a computer, cause the computer to carry out the method according to claim 21.

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