EP0260198A1 - Support device for wide field of view helmet visors, servo controlled relative to the movement between a body and a structure - Google Patents

Support device for wide field of view helmet visors, servo controlled relative to the movement between a body and a structure Download PDF

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Publication number
EP0260198A1
EP0260198A1 EP87402004A EP87402004A EP0260198A1 EP 0260198 A1 EP0260198 A1 EP 0260198A1 EP 87402004 A EP87402004 A EP 87402004A EP 87402004 A EP87402004 A EP 87402004A EP 0260198 A1 EP0260198 A1 EP 0260198A1
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EP
European Patent Office
Prior art keywords
helmet
support
cylinders
reticles
relative
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Granted
Application number
EP87402004A
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German (de)
French (fr)
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EP0260198B1 (en
Inventor
Guy Le Parquier
Jean-Luc Pastre
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Thales SA
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Thomson CSF SA
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41WEAPONS
    • F41GWEAPON SIGHTS; AIMING
    • F41G3/00Aiming or laying means
    • F41G3/22Aiming or laying means for vehicle-borne armament, e.g. on aircraft
    • F41G3/225Helmet sighting systems

Definitions

  • the present invention relates to a support device slaved to the movement of a movable body relative to a surrounding structure, the body being a helmet worn by the head of an operator. More specifically, the invention makes it possible to subject the device to the movements of the head, which are exerted in a defined volume, so as to make the device support equipment normally mounted on the helmet and free the operator from the load. corresponding.
  • the use of the invention is more particularly envisaged in the avionics field to solve the problem of viewing video images in a wide field and with high resolution.
  • the pilot on board a chasing device is installed in a small passenger compartment and, more often than not, his position is lengthened, which hardly makes it easier for him to view the instruments of the dashboard.
  • a cathodic indicating device which would represent an elaborate video visualization is therefore perceived anyway only from a reduced angle and loses its effectiveness.
  • the collimated display mounted on a helmet restores a certain visual comfort for the pilot but it remains limited to small fields or for higher fields at a medium resolution, for example an image of 250 points per line and 250 lines.
  • the installation on headphones of a wide-field and high resolution display results in a prohibitive weight not compatible with the accelerations to be undergone, which can go up to approximately 8g.
  • the object of the invention is to remedy these drawbacks and limitations by using a support device mechanically decoupled from the pilot's helmet, placed at a short distance from the latter in a defined position and which is controlled by the movements of the head and so the helmet worn by the pilot.
  • This support device can thus play the role of the helmet to carry, in its place, the necessary optoelectric equipment and, in particular, it will be possible to install on this support device a high-resolution wide field display.
  • the pilot is freed from the weight of this equipment and can therefore move his head freely.
  • a support device which is slaved to the movements of a body movable relative to a surrounding structure, the body being a helmet worn by the head of an operator, this device comprising a support piece placed at a distance from the body from which it is mechanically decoupled, and position servo means for preserving a determined reference positioning of this part with respect to the moving body, so as to make the device support equipment normally mounted on the helmet,
  • these means control system including: - means for detecting the positioning of the part relative to the body; - a set of jacks mechanically coupling the support part to the structure; - means for calculating and controlling the jacks to calculate, from the signals detected by said detection means, the positioning errors of the part with respect to the body and developing corresponding control signals from the jacks to cancel these errors.
  • the device comprises a main part 1 which is placed at a distance from a movable body 2 represented by a conventional helmet placed on the pilot's head, and means for servo-positioning the part 1 in a given reference position relative to the body.
  • the body 2 is movable relative to a surrounding structure which is in the case considered, the airplane structure 3 partially symbolized by hatching.
  • the main part 1 is mechanically decoupled from the body 2 and it constitutes the support part for optronic equipment in place of the helmet 2.
  • the part 1 is held spatially in position vis-à-vis the helmet 2 using mechanical coupling means which connect it to the structure 3, these means being connected to a servo device to maintain the reference position between elements 1 and 2.
  • the mechanical coupling means 4 are intended to constitute a structure for maintaining the position of the part 1 around its six degrees of freedom, with tracking of the body 2, and which has great precision (of the order of a milliradian).
  • This controlled structure must also respond to a certain number of complementary and specific constraints in the context of the airborne use envisaged. These additional constraints are essentially of three kinds: small footprint given the limited space available; a very high resistance to accelerations, this resistance must be of the order of magnitude of that of the airplane structure, that is to say greater than 10 g; and a clearance both to allow the pilot to take place in the plane and later, if necessary, to control the ejection of the seat. To meet these constraints, the mechanical coupling is ensured with jacks 4 six in number to exercise action according to the six degrees of freedom. Three cylinders are shown in the figure numbered 4.1, 4.2 and 4.3.
  • the cylinders are advantageously chosen from the double-stroke type, that is to say the stroke is equal to twice the length minus that reduced necessary for guiding.
  • the other circuits shown comprise, for the position control, a circuit 5 for controlling the jacks, means 6-7 for detecting the positioning of the part 1 relative to the helmet 2 and an annex computer 8.
  • the position detection means can be produced in various ways which fall into two main categories, optoelectric solutions and magnetic solutions.
  • a known optoelectric solution can be constituted with at least one group of light-emitting diodes forming a triangle and which is associated with a set of elementary optoelectric sensors.
  • An on-board computer processes the detected signals to measure one (or more) reference directions linked to the moving body.
  • a solution of this kind is described in French patent 2 399 033.
  • Each elementary sensor is formed from a DTC array of photosensitive elements which is coupled to a slot to determine a plane passing through the emitting luminescent source.
  • An additional calculation makes it possible to locate the various planes then the triangle formed by the sources and consecutively, the direction to locate. This technique can be transposed in the present case by being modified as indicated in FIG.
  • the light-emitting diodes are replaced by so-called reticle designs R1, R2, R3 carried by the helmet 2 and remotely illuminated from a point source S1 carried by the support part 1.
  • the radiation returned by the reticles is received at least partially by the sensor device 7 which comprises a DTC matrix of elements arranged in X, Y.
  • the semi-reflecting mirror M1 at the rear of an O1 optic ensures the separation of the transmission and reception channels and the coaxiality.
  • the crosshairs R1 to R3 may present the drawing indicated as example, and be made of retroreflective material (glued elements or paint).
  • the signals detected SD by the DTC matrix of the sensor on which the image of the illuminated reticles is formed are a function of the position of the reticles relative to the sensor. These signals are processed by the computer 8 which provides the position data of the part 1 relative to the helmet 2. Data relating to the reference positioning, fixed in advance, are included in the memory of the computer to obtain these conditions d distance from the part 1 relative to the helmet 2. The computer 8 gives the position errors of the body 1 at all times and transforms these error data into control signals SC which are transmitted to the control circuit 5 which supplies the signals corresponding analogs required to control the six cylinders.
  • the proposed solution applied to a helmet visor brings many advantages which are listed below: - the device does not add any additional weight or discomfort to the pilot; - it can support important optics, necessary to realize high-resolution displays in high resolution and in color if necessary, as well as the associated electronics and integrated display screens; - the direction aimed by the pilot is automatically known with precision; - additional equipment normally not used in the helmet versions can be added, such as laser protection.
  • the means for locating the part 1 relative to the body 2 may consist of several assemblies 6,7, for example by doubling this material on either side of the helmet plane of symmetry.
  • the helmet thus carries laterally to the right and to the left a group of three reticles 6A on one side 6B on the other; substantially opposite the part 1 will include a first sensor device 7A on one side and a second sensor 7B on the other side.
  • the support part 1 can be toroidal in shape as shown in FIG. 1 with the equipment inside the torus optoelectric required. There is shown, by way of example a collimator optic 11 and on the outside a deflection mirror 12, these elements possibly being part of a high resolution wide field collimator device.
  • the angular resolution is one milliradian for a total field of 150 ° necessary for navigation and reading of the on-board instruments fictitious produced by the support device 1 equipped.
  • an angular resolution of 0.3 milliradian is obtained in a total field of 100 ° necessary to discover the objectives and identify them.
  • the display device has a better resolution, all of these performances are further improved.
  • a symbol generator 9 can be used to produce a determined display and to supply the collimator with corresponding signals SY, via the computer 8.
  • FIGS. 3 to 6 represent various combinations of movements of the jacks to respond to movements of the support device as a function of the movements of the head of the pilot or of the observer.
  • Each of the figures includes a first figure representing the movement in the vertical plane and a second figure representing the movement in the horizontal plane.
  • FIGS. 3A and 3B represent, by way of example, a movement resulting from the two translations L1 from top to bottom and L2 from the face position to the left.
  • the support piece passes from the initial rest position 1A to the final position 1B.
  • FIGS. 4A and 4B represent these same translational movements with, in addition, an azimuth rotation of 45 ° to the left.
  • Position 1C of the part already represents it with this 45 ° rotation.
  • FIGS. 5A and 5B relate to a third example according to which there is a translation L1 from top to bottom and a translation L3 from the position facing the reference towards the front.
  • Figure 6 shows the displacements L1 and L3 of Figure 5 with in addition a translation L2 from the face position to the left and an azimuth rotation of 45 °, also to the left.
  • Figures 7 to 10 correspond respectively to the same movements as Figures 3 to 6 but with higher points of articulation on the side of the structure (points B and C of the cylinders 4-2, 4-3, 4-4 and 4 -5). In this case the relative deflections are lower.
  • the points of articulation of the jacks, on the structure side 3, are located on the fixed part of the ejectable seat, parts which remain integral with the aircraft structure, or else are directly fixed to the aircraft structure at the rear of the seat and laterally by compared to this one.
  • the points of articulation on the support device side 1 are chosen so that there are at least three points of articulation at the ends of a triangle and so as not to disturb the pilot, that is to say that 'They should not be located forward, which would make the structure difficult, if not impossible, to achieve.
  • the attachment points to the part 1 of the jacks define a plane whose position in space is controlled by jacks 4.
  • Figure 11 shows schematically the retraction of the support part 1 to allow the ejection of the seat.
  • the ejection means comprise a control 10 (fig. 1) which, by means of the computer, will control the jacks so that the support part 1 come and take the retracted position 1E shown.
  • Part 20 represents the top of the ejection seat, part 21, the fixed amount of the seat secured to the aircraft structure 3.

Abstract

Dispositif permettant de supporter l'équipement optique et électronique normalement supporté par le casque, sans aucune charge pour la tête du pilote. Il comporte une pièce support (1) placée à distance du casque (2) et des moyens d'asservissement de position de cette pièce par rapport au casque à l'aide d'un ensemble de localisation spatiale (6-7) de la pièce par rapport au corps, d'un calculateur (8) qui détermine les erreurs de positionnement, d'un circuit de commande (5) qui produit des signaux correspondants à ces erreurs et d'un ensemble de vérins (4) alimentés par ces signaux pour modifier la position de la pièce support (1) par rapport à la structure avion (3) et annuler les erreurs de positionnement.Device for supporting the optical and electronic equipment normally supported by the helmet, without any load for the pilot's head. It comprises a support part (1) placed at a distance from the helmet (2) and means for controlling the position of this part relative to the helmet using a spatial location assembly (6-7) of the part. relative to the body, a computer (8) which determines the positioning errors, a control circuit (5) which produces signals corresponding to these errors and a set of jacks (4) supplied by these signals to modify the position of the support part (1) relative to the aircraft structure (3) and to cancel positioning errors.

Description

La présente invention concerne un dispositif support asservi au mouvement d'un corps mobile par rapport à une structure environ­nante, le corps étant un casque porté par la tête d'un opérateur. Plus précisément, l'invention permet d'asservir le dispositif aux mouve­ments de la tête, lesquels s'exercent dans un volume délimité, de manière à faire supporter par le dispositif des équipements norma­lement montés sur le casque et libérer l'opérateur de la charge correspondante.The present invention relates to a support device slaved to the movement of a movable body relative to a surrounding structure, the body being a helmet worn by the head of an operator. More specifically, the invention makes it possible to subject the device to the movements of the head, which are exerted in a defined volume, so as to make the device support equipment normally mounted on the helmet and free the operator from the load. corresponding.

L'utilisation de l'invention est plus particulièrement envisagée dans le domaine avionique pour résoudre le problème de visualisation d'image vidéo dans un grand champ et avec une haute résolution. En effet, le pilote à bord d'un appareil chasseur se trouve installé dans un habitacle de petites dimensions et, le plus souvent, sa position est allongée ce qui ne lui facilite guère la visualisation des appareils de la planche de bord. Un appareil indicateur cathodique qui représen­terait une visualisation vidéo élaborée n'est donc perçu de toute façon que sous un angle réduit et perd de son efficacité. La visualisation collimatée montée sur un casque restitue un certain confort visuel pour le pilote mais elle reste limitée à des petits champs ou pour des champs plus élevés à une résolution moyenne, par exemple une image de 250 points par ligne et de 250 lignes. L'installation sur casque d'une visualisation grand champ et à haute résolution (on entend par haute résolution supérieure à 1000 points par ligne) se traduit par un poids prohibitif non compatible avec les accélérations à subir pouvant aller jusqu'à 8g environ.The use of the invention is more particularly envisaged in the avionics field to solve the problem of viewing video images in a wide field and with high resolution. In fact, the pilot on board a chasing device is installed in a small passenger compartment and, more often than not, his position is lengthened, which hardly makes it easier for him to view the instruments of the dashboard. A cathodic indicating device which would represent an elaborate video visualization is therefore perceived anyway only from a reduced angle and loses its effectiveness. The collimated display mounted on a helmet restores a certain visual comfort for the pilot but it remains limited to small fields or for higher fields at a medium resolution, for example an image of 250 points per line and 250 lines. The installation on headphones of a wide-field and high resolution display (by high resolution means more than 1000 points per line) results in a prohibitive weight not compatible with the accelerations to be undergone, which can go up to approximately 8g.

Le but de l'invention est de remédier à ces inconvénients et limitations en utilisant un dispositif support découplé mécanique­ment du casque du pilote, placé à faible distance de celui-ci dans une position définie et qui est asservi aux mouvements de la tête et donc du casque porté par le pilote. Ce dispositif support peut ainsi jouer le rôle du casque pour porter, à sa place, le matériel opto­électrique nécessaire et, en particulier, on pourra installer sur ce dispositif support une visualisation grand champ à haute résolution. Le pilote est délivré du poids de ces équipements et peut ainsi mouvoir la tête librement.The object of the invention is to remedy these drawbacks and limitations by using a support device mechanically decoupled from the pilot's helmet, placed at a short distance from the latter in a defined position and which is controlled by the movements of the head and so the helmet worn by the pilot. This support device can thus play the role of the helmet to carry, in its place, the necessary optoelectric equipment and, in particular, it will be possible to install on this support device a high-resolution wide field display. The pilot is freed from the weight of this equipment and can therefore move his head freely.

Selon l'invention, il est réalisé un dispositif support asservi aux mouvements d'un corps mobile par rapport à une structure environ­nante, le corps étant un casque porté par la tête d'un opérateur, ce dispositif comportant une pièce support placée à distance du corps dont elle est découplée mécaniquement, et des moyens d'asservis­sement de position pour préserver un positionnement de référence déterminé de cette pièce par rapport au corps en mouvement, de manière à faire supporter par le dispositif des équipements normale­ment montés sur le casque, ces moyens d'asservissement compre­nant :
- des moyens de détection du positionnement de la pièce par rapport au corps ;
- un ensemble de vérins couplant mécaniquement la pièce support à la structure ;
- des moyens de calcul et de commande des vérins pour calculer, à partir des signaux détectés par lesdits moyens de détection, les erreurs de positionnement de la pièce par rapport au corps et élaborer des signaux de commande correspondants des vérins pour annuler ces erreurs.
According to the invention, a support device is produced which is slaved to the movements of a body movable relative to a surrounding structure, the body being a helmet worn by the head of an operator, this device comprising a support piece placed at a distance from the body from which it is mechanically decoupled, and position servo means for preserving a determined reference positioning of this part with respect to the moving body, so as to make the device support equipment normally mounted on the helmet, these means control system including:
- means for detecting the positioning of the part relative to the body;
- a set of jacks mechanically coupling the support part to the structure;
- means for calculating and controlling the jacks to calculate, from the signals detected by said detection means, the positioning errors of the part with respect to the body and developing corresponding control signals from the jacks to cancel these errors.

Les particularités et avantages de l'invention apparaîtront dans la description qui suit donnée à titre d'exemple à l'aide des figures annexées qui représentent ;

  • - Fig.1, un diagramme général d'un dispositif support conforme à l'invention appliqué au cas d'un viseur de casque ;
  • - Fig.2, un schéma de détail montrant un exemple de détection du positionnement de la pièce par rapport au corps ;
  • - Figs.3 à 6, des exemples de combinaison de mouvements des vérins pour produire divers déplacements possibles du dispositif support et montrer les débattements correspondants ;
  • - Figs. 7 à 10, les mêmes mouvements mais avec des points d'articulation plus hauts des vérins du côté structure ;
  • - Fig.11, un schéma de détail relatif à l'escamotage du dispositif support pour permettre l'éjection du siège.
The features and advantages of the invention will appear in the description which follows, given by way of example with the aid of the appended figures which represent;
  • - Fig.1, a general diagram of a support device according to the invention applied to the case of a helmet viewfinder;
  • - Fig.2, a detail diagram showing an example of detection of the positioning of the part relative to the body;
  • - Figs. 3 to 6, examples of combinations of movements of the jacks to produce various possible displacements of the support device and show the corresponding deflections;
  • - Figs. 7 to 10, the same movements but with higher points of articulation of the cylinders on the structure side;
  • - Fig.11, a detailed diagram relating to the retraction of the support device to allow the ejection of the seat.

En se reportant à la figure 1, le dispositif comporte une pièce principale 1 qui est placée à distance d'un corps mobile 2 représenté par un casque conventionnel posé sur la tête du pilote, et des moyens d'asservissement de position de la pièce 1 dans une position de référence donnée par rapport au corps.Referring to Figure 1, the device comprises a main part 1 which is placed at a distance from a movable body 2 represented by a conventional helmet placed on the pilot's head, and means for servo-positioning the part 1 in a given reference position relative to the body.

Le corps 2 est mobile par rapport à une structure environnante qui est dans le cas considéré, la structure avion 3 partiellement symbolisée par des hachures.The body 2 is movable relative to a surrounding structure which is in the case considered, the airplane structure 3 partially symbolized by hatching.

La pièce principale 1 est découplée mécaniquement du corps 2 et elle constitue la pièce support des équipements optroniques à la place du casque 2.The main part 1 is mechanically decoupled from the body 2 and it constitutes the support part for optronic equipment in place of the helmet 2.

La pièce 1 est maintenue spatialement en position vis-à-vis du casque 2 à l'aide de moyens de couplage mécanique qui la relient à la structure 3, ces moyens étant reliés à un dispositif d'asservisse­ment pour maintenir la position de référence entre les éléments 1 et 2.The part 1 is held spatially in position vis-à-vis the helmet 2 using mechanical coupling means which connect it to the structure 3, these means being connected to a servo device to maintain the reference position between elements 1 and 2.

Les moyens de couplage mécanique 4 sont destinés à consti­tuer une structure pour le maintien en position de la pièce 1 autour de ses six degrés de liberté, avec poursuite du corps 2, et qui présente une grande précision (de l'ordre du milliradian). Cette structure asservie doit également répondre à un certaine nombre de contraintes complémentaires et spécifiques dans le cadre de l'utili­sation aéroportée envisagée. Ces contraintes complémentaires sont essentiellement de trois sortes : un faible encombrement étant donné le peu de place disponible ; une tenue très élevée aux accélérations, cette tenue doit être de l'ordre de grandeur de celle de la structure avion, c'est-à-dire supérieure à 10g ; et un dégage­ment aussi bien pour permettre au pilote de prendre place dans l'avion que ultérieurement, s'il s'avère nécessaire, commander l'éjec­tion du siège. Pour répondre à ces contraintes, le couplage méca­nique est assuré avec des vérins 4 au nombre de six pour exercer l'action selon les six degrés de liberté. Trois vérins sont représentés sur la figure numérotés 4.1, 4.2 et 4.3.The mechanical coupling means 4 are intended to constitute a structure for maintaining the position of the part 1 around its six degrees of freedom, with tracking of the body 2, and which has great precision (of the order of a milliradian). This controlled structure must also respond to a certain number of complementary and specific constraints in the context of the airborne use envisaged. These additional constraints are essentially of three kinds: small footprint given the limited space available; a very high resistance to accelerations, this resistance must be of the order of magnitude of that of the airplane structure, that is to say greater than 10 g; and a clearance both to allow the pilot to take place in the plane and later, if necessary, to control the ejection of the seat. To meet these constraints, the mechanical coupling is ensured with jacks 4 six in number to exercise action according to the six degrees of freedom. Three cylinders are shown in the figure numbered 4.1, 4.2 and 4.3.

Les vérins sont avantageusement choisis du type à double course, c'est-à-dire dont la course est égale à deux fois la longueur moins celle réduite nécessaire au guidage.The cylinders are advantageously chosen from the double-stroke type, that is to say the stroke is equal to twice the length minus that reduced necessary for guiding.

Les autres circuits représentés comportent, pour l'asservisse­ment de position, un circuit 5 de commande des vérins, des moyens de détection 6-7 du positionnement de la pièce 1 par rapport au casque 2 et un calculateur annexe 8.The other circuits shown comprise, for the position control, a circuit 5 for controlling the jacks, means 6-7 for detecting the positioning of the part 1 relative to the helmet 2 and an annex computer 8.

Les moyens de détection de position peuvent être réalisés de diverses façons qui se répartissent suivant deux grandes catégories, les solutions optoélectriques et les solutions magnétiques. Une solution optoélectrique connue peut être constituée avec au moins un groupement de diodes électroluminescentes formant un triangle et qui est associé avec un ensemble de capteurs optoélectriques élémentaires. Un calculateur de bord traite les signaux détectés pour mesurer une (ou plusieurs) direction de référence liée au corps mobile. Une solution de ce genre est décrite dans le brevet français 2 399 033. Chaque capteur élémentaire est formé d'une barrette DTC d'éléments photosensibles qui est couplée à une fente pour déterminer un plan passant par la source luminescente émettrice. Un calcul annexe permet de localiser les différents plans puis le triangle formé par les sources et consécutivement, la direction à repérer. Cette technique est transposable dans le cas présent en étant modifiée comme indiqué sur la figure 2 pour alléger le casque et le débarrasser d'éléments actifs. Les diodes électroluminescentes sont remplacées par des dessins dits réticules R1,R2,R3 portés par le casque 2 et illuminés à distance à partir d'une source ponctuel­le S1 portée par la pièce support 1. Le rayonnement renvoyé par les réticules est reçu au moins partiellement par le dispositif capteur 7 qui comporte une matrice DTC d'éléments disposés en X,Y. Le miroir semi-réfléchissant M1 à l'arrière d'un optique O1 assure la séparation des voies d'émission et de réception et la coaxialité. Les réticules R1 à R3 pourront présenter le dessin indiqué à titre d'exemple, et être réalisés en matériau rétroréfléchissant (éléments collés ou peinture). Les signaux détectés SD par la matrice DTC du capteur sur laquelle se forme l'image des réticules éclairés, sont fonction de la position des réticules par rapport au capteur. Ces signaux sont traités par le calculateur 8 qui fournit les données de position de la pièce 1 par rapport au casque 2. Des données relatives au positionnement de référence, fixé à l'avance, sont incluses dans la mémoire du calculateur pour obtenir ces conditions d'éloignement de la pièce 1 par rapport au casque 2. Le calculateur 8 donne à chaque instant les erreurs de position du corps 1 et transforme ces données d'erreur en signaux de commande SC qui sont transmis au circuit de commande 5 qui fournit les signaux analogiques corres­pondants nécessaire à la commande des six vérins.The position detection means can be produced in various ways which fall into two main categories, optoelectric solutions and magnetic solutions. A known optoelectric solution can be constituted with at least one group of light-emitting diodes forming a triangle and which is associated with a set of elementary optoelectric sensors. An on-board computer processes the detected signals to measure one (or more) reference directions linked to the moving body. A solution of this kind is described in French patent 2 399 033. Each elementary sensor is formed from a DTC array of photosensitive elements which is coupled to a slot to determine a plane passing through the emitting luminescent source. An additional calculation makes it possible to locate the various planes then the triangle formed by the sources and consecutively, the direction to locate. This technique can be transposed in the present case by being modified as indicated in FIG. 2 to lighten the helmet and rid it of active elements. The light-emitting diodes are replaced by so-called reticle designs R1, R2, R3 carried by the helmet 2 and remotely illuminated from a point source S1 carried by the support part 1. The radiation returned by the reticles is received at least partially by the sensor device 7 which comprises a DTC matrix of elements arranged in X, Y. The semi-reflecting mirror M1 at the rear of an O1 optic ensures the separation of the transmission and reception channels and the coaxiality. The crosshairs R1 to R3 may present the drawing indicated as example, and be made of retroreflective material (glued elements or paint). The signals detected SD by the DTC matrix of the sensor on which the image of the illuminated reticles is formed, are a function of the position of the reticles relative to the sensor. These signals are processed by the computer 8 which provides the position data of the part 1 relative to the helmet 2. Data relating to the reference positioning, fixed in advance, are included in the memory of the computer to obtain these conditions d distance from the part 1 relative to the helmet 2. The computer 8 gives the position errors of the body 1 at all times and transforms these error data into control signals SC which are transmitted to the control circuit 5 which supplies the signals corresponding analogs required to control the six cylinders.

La solution proposée appliquée à un viseur de casque apporte de nombreux avantages qui sont répertoriés ci-après :
- le dispositif n'apporte aucun poids ni aucune gêne supplémentaire au pilote ;
- il peut supporter des optiques importantes, nécessaires pour réaliser des affichages grand champ à haute résolution et en couleur si nécessaire, ainsi que les électroniques associées et des écrans de visualisation intégrés ;
- la direction visée par le pilote est automatiquement connue avec précision ;
- des équipements complémentaires normalement non usités dans les versions casque peuvent être rajoutées, tel que la protection laser.
The proposed solution applied to a helmet visor brings many advantages which are listed below:
- the device does not add any additional weight or discomfort to the pilot;
- it can support important optics, necessary to realize high-resolution displays in high resolution and in color if necessary, as well as the associated electronics and integrated display screens;
- the direction aimed by the pilot is automatically known with precision;
- additional equipment normally not used in the helmet versions can be added, such as laser protection.

Les moyens de localisation de la pièce 1 relativement au corps 2 peuvent être constitués de plusieurs ensembles 6,7, par exemple en doublant ce matériel de part et d'autre du plan de symétrie du casque. Le casque porte ainsi latéralement à droite et à gauche un groupement de trois réticules 6A d'un côté 6B de l'autre ; sensiblement en vis-à-vis la pièce 1 comportera un premier dispo­sitif capteur 7A d'un côté et un second capteur 7B de l'autre côté.The means for locating the part 1 relative to the body 2 may consist of several assemblies 6,7, for example by doubling this material on either side of the helmet plane of symmetry. The helmet thus carries laterally to the right and to the left a group of three reticles 6A on one side 6B on the other; substantially opposite the part 1 will include a first sensor device 7A on one side and a second sensor 7B on the other side.

La pièce support 1 peut être de forme torique comme repré­sentée sur la figure 1 avec à l'intérieur du tore les équipements optoélectriques nécessaires. On a représenté, à titre d'exemple une optique collimatrice 11 et à l'extérieur un miroir de renvoi 12, ces éléments pouvant faire partie d'un dispositif collimateur grand champ à haute résolution.The support part 1 can be toroidal in shape as shown in FIG. 1 with the equipment inside the torus optoelectric required. There is shown, by way of example a collimator optic 11 and on the outside a deflection mirror 12, these elements possibly being part of a high resolution wide field collimator device.

Le fait que la partie visualisée de l'espace change avec la rotation de la tête permet de représenter un champ total de trois à six fois celui du dispositif de visualisation.The fact that the visualized part of the space changes with the rotation of the head makes it possible to represent a total field of three to six times that of the display device.

A titre d'exemple si le dispositif de visualisation présente un champ de 50° et une résolution de 1000 points par ligne, la résolution angulaire est de un milliradian pour un champ total de 150° nécessaire pour la navigation et la lecture des instruments de bord fictifs produits par le dispositif support 1 équipé. Avec une visualisation de champ 15° et également 1000 points par ligne on obtient une résolution angulaire de 0,3 milliradian dans un champ total de 100° nécessaire pour découvrir les objectifs et les identi­fier. Bien entendu, si le dispositif de visualisation présente une résolution meilleure toutes ces performances sont encore amélio­rées.For example, if the display device has a field of 50 ° and a resolution of 1000 points per line, the angular resolution is one milliradian for a total field of 150 ° necessary for navigation and reading of the on-board instruments fictitious produced by the support device 1 equipped. With a 15 ° field visualization and also 1000 points per line, an angular resolution of 0.3 milliradian is obtained in a total field of 100 ° necessary to discover the objectives and identify them. Of course, if the display device has a better resolution, all of these performances are further improved.

Un générateur de symboles 9 peut être utilisé pour produire un affichage déterminé et pour alimenter le collimateur par des signaux SY correspondants, par l'intermédiaire du calculateur 8.A symbol generator 9 can be used to produce a determined display and to supply the collimator with corresponding signals SY, via the computer 8.

Les figures 3 à 6 représentent diverses combinaisons de mouvements des vérins pour répondre à des déplacements du disposi­tif support en fonction des déplacements de la tête du pilote ou de d'observateur. On a considéré des débattements par translation L1 dans le sens vertical pouvant s'effectuer vers le "bas" ou vers le "haut" , L2 dans le sens horizontal en partant de la position initiale de référence dite de "face", ce mouvement L2 étant effectué soit vers la "gauche" soit vers la "droite" ; un autre débattement par translation L3 est considéré de la position de "face" vers l'"avant" ; enfin un débattement angulaire est considéré par une rotation en azimut de ± 45°. Chacune des figures comporte une première figure représentant le mouvement dans le plan vertical et une deuxième figure représentant le mouvement dans le plan horizontal.FIGS. 3 to 6 represent various combinations of movements of the jacks to respond to movements of the support device as a function of the movements of the head of the pilot or of the observer. We considered displacement by translation L1 in the vertical direction which can be carried out towards the "bottom" or towards the "up", L2 in the horizontal direction starting from the initial position of reference known as of "face", this movement L2 being carried out either to the "left" or to the "right"; another displacement by translation L3 is considered from the "face" position towards the "front"; finally an angular movement is considered by an azimuth rotation of ± 45 °. Each of the figures includes a first figure representing the movement in the vertical plane and a second figure representing the movement in the horizontal plane.

Ainsi, les figures 3A et 3B représentent, à titre d'exemple, un mouvement résultant des deux translations L1 de haut en bas et L2 de la position de face vers la gauche. La pièce support passe de la position de repos initiale 1A à la position finale 1B.Thus, FIGS. 3A and 3B represent, by way of example, a movement resulting from the two translations L1 from top to bottom and L2 from the face position to the left. The support piece passes from the initial rest position 1A to the final position 1B.

Les figures 4A et 4B représentent ces mêmes mouvements de translation avec en sus une rotation en azimut de 45° vers la gauche. La position 1C de la pièce la représente déjà avec cette rotation de 45°.FIGS. 4A and 4B represent these same translational movements with, in addition, an azimuth rotation of 45 ° to the left. Position 1C of the part already represents it with this 45 ° rotation.

Les figures 5A et 5B sont relatives à un troisième exemple suivant lequel il y a une translation L1 de haut en bas et une translation L3 de la position face de référence vers l'avant.FIGS. 5A and 5B relate to a third example according to which there is a translation L1 from top to bottom and a translation L3 from the position facing the reference towards the front.

La figure 6 reprend les déplacements L1 et L3 de la figure 5 avec en sus une translation L2 de la position face vers la gauche et une rotation en azimut de 45°, vers la gauche également.Figure 6 shows the displacements L1 and L3 of Figure 5 with in addition a translation L2 from the face position to the left and an azimuth rotation of 45 °, also to the left.

Les figures 7 à 10 correspondent respectivement aux mêmes mouvements que les figures 3 à 6 mais avec des points d'articulation plus hauts du côté de la structure (points B et C des vérins 4-2, 4-3, 4-4 et 4-5). Dans ce cas les débattements relatifs sont plus faibles.Figures 7 to 10 correspond respectively to the same movements as Figures 3 to 6 but with higher points of articulation on the side of the structure (points B and C of the cylinders 4-2, 4-3, 4-4 and 4 -5). In this case the relative deflections are lower.

Les points d'articulation des vérins, du côté structure 3, sont situés sur la partie fixe du siège éjectable, parties qui restent solidaires de la structure avion, ou bien sont directement fixés sur la structure avion à l'arrière du siège et latéralement par rapport à celui-ci. Les points d'articulation du côté dispositif support 1 sont choisis en sorte qu'il y ait au moins trois points d'articulation aux extrémités d'un triangle et de manière à ne pas gêner le pilote, c'est-à-dire qu'ils ne doivent pas être situés vers l'avant, ce qui rendrait d'ailleurs la structure difficile, voire impossible à réaliser. Les points d'attache à la pièce 1 des vérins définissent un plan dont la position dans l'espace est contrôlée par des vérins 4.The points of articulation of the jacks, on the structure side 3, are located on the fixed part of the ejectable seat, parts which remain integral with the aircraft structure, or else are directly fixed to the aircraft structure at the rear of the seat and laterally by compared to this one. The points of articulation on the support device side 1 are chosen so that there are at least three points of articulation at the ends of a triangle and so as not to disturb the pilot, that is to say that 'They should not be located forward, which would make the structure difficult, if not impossible, to achieve. The attachment points to the part 1 of the jacks define a plane whose position in space is controlled by jacks 4.

La figure 11 schématise l'escamotage de la pièce support 1 pour permettre l'éjection du siège. Les moyens d'éjection compor­tent une commande 10 (fig.1) qui, par l'intermédiaire du calculateur, va commander les vérins de manière à ce que la pièce support 1 vienne prendre la position d'escamotage 1E représentée. La partie 20 représente le haut du siège éjectable, la partie 21, le montant fixe du siège solidaire de la structure avion 3.Figure 11 shows schematically the retraction of the support part 1 to allow the ejection of the seat. The ejection means comprise a control 10 (fig. 1) which, by means of the computer, will control the jacks so that the support part 1 come and take the retracted position 1E shown. Part 20 represents the top of the ejection seat, part 21, the fixed amount of the seat secured to the aircraft structure 3.

Claims (7)

1. Dispositif support asservi au mouvement d'un corps mobile par rapport à une structure environnante, le corps étant un casque porté par la tête de l'opérateur, caractérisé en ce qu'il comporte une pièce support (1) placée à distance du corps (2) dont elle est découplée mécaniquement, et des moyens d'asservissement de posi­tion (4 à 8) pour préserver un positionnement de référence déter­minée de cette pièce par rapport au corps en mouvement, de manière à faire supporter par le dispositif des équipements norma­lement montés sur le casque, ces moyens d'asservissement com­prenant :
- des moyens de détection (6,7) du positionnement de la pièce par rapport au corps ;
- un ensemble (4) de vérins couplant mécaniquement la pièce support à la structure (3) ;
- et des moyens de calcul (8) et de commande (5) des vérins pour calculer, à partir des signaux détectés par lesdits moyens de détection, les erreurs de positionnement de la pièce par rapport au corps et élaborer des signaux de commande correspondants des vérins pour annuler ces erreurs.
1. Support device subject to the movement of a movable body with respect to a surrounding structure, the body being a helmet worn by the operator's head, characterized in that it comprises a support part (1) placed at a distance from the body (2) from which it is mechanically decoupled, and position control means (4 to 8) to preserve a determined reference position of this part with respect to the moving body, so as to make the device support equipment normally mounted on the helmet, these control means comprising:
- Detection means (6,7) for positioning the part with respect to the body;
- a set (4) of cylinders mechanically coupling the support part to the structure (3);
- And calculation means (8) and control (5) of the cylinders to calculate, from the signals detected by said detection means, the positioning errors of the part relative to the body and develop corresponding control signals of the cylinders to cancel these errors.
2. Dispositif selon la revendication 1, caractérisé en ce qu'il comporte six vérins (4.1,4.2,4.3 ....) pour agir selon les six degrés de liberté.2. Device according to claim 1, characterized in that it comprises six cylinders (4.1,4.2,4.3 ....) to act according to the six degrees of freedom. 3. Dispositif selon la revendication 2, caractérisé en ce que les vérins (4) sont du type à double course.3. Device according to claim 2, characterized in that the jacks (4) are of the double stroke type. 4. Dispositif selon l'une quelconque des revendications précé­dentes, caractérisé en ce que les moyens de détection (6, 7) sont du type optoélectrique, comprenant au moins un ensemble composé d'un groupement (6) de réticules (R1,R2,R3) porté par la pièce (1), d'un dispositif capteur photo-électrique (7) associé qui est monté sur le corps (2) ainsi qu'une source (S1) pour illuminer les réticules.4. Device according to any one of the preceding claims, characterized in that the detection means (6, 7) are of the optoelectric type, comprising at least one assembly composed of a group (6) of reticles (R1, R2, R3) carried by the part (1), an associated photoelectric sensor device (7) which is mounted on the body (2) as well as a source (S1) to illuminate the reticles. 5. Dispositif selon la revendication 4, caractérisé en ce que les réticules (R1,R2,R3) sont en matériau rétroréfléchissant.5. Device according to claim 4, characterized in that the reticles (R1, R2, R3) are made of retroreflective material. 6. Dispositif selon l'une quelconque des revendications précé­dentes, caractérisé en ce que la pièce support (1) a la forme d'un tore.6. Device according to any one of the preceding claims, characterized in that the support part (1) has the shape of a torus. 7. Dispositif selon la revendication 6, utilisé pour réaliser un viseur de casque par un pilote d'aéronef, caractérisé en ce que ladite pièce (1) supporte des moyens optroniques permettant d'obtenir un viseur à grand champ et à haute résolution.7. Device according to claim 6, used to make a helmet viewfinder by an aircraft pilot, characterized in that said part (1) supports optronic means making it possible to obtain a viewfinder with a large field and at high resolution.
EP87402004A 1986-09-12 1987-09-08 Support device for wide field of view helmet visors, servo controlled relative to the movement between a body and a structure Expired - Lifetime EP0260198B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8612816 1986-09-12
FR8612816A FR2603974B1 (en) 1986-09-12 1986-09-12 SUPPORT DEVICE SERVED BY THE MOVEMENT OF A MOBILE BODY RELATIVE TO A STRUCTURE, USEFUL FOR LARGE-FIELD HELMET VIEWFINDERS

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EP0260198A1 true EP0260198A1 (en) 1988-03-16
EP0260198B1 EP0260198B1 (en) 1990-08-08

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EP87402004A Expired - Lifetime EP0260198B1 (en) 1986-09-12 1987-09-08 Support device for wide field of view helmet visors, servo controlled relative to the movement between a body and a structure

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US (1) US4792697A (en)
EP (1) EP0260198B1 (en)
DE (1) DE3764222D1 (en)
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EP0413525A2 (en) * 1989-08-15 1991-02-20 Paliac Aktiengesellschaft Aiming system
FR2700845A1 (en) * 1993-01-28 1994-07-29 Schegerin Robert Method for determining the position of a helmet fastened on the head of a wearer

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US7202852B2 (en) * 2004-01-23 2007-04-10 Harvie Mark R Active laser protection system
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FR2993371B1 (en) * 2012-07-13 2014-08-15 Thales Sa OPTICAL ORIENTATION AND POSITION MEASUREMENT SYSTEM WITHOUT PICTURE SOURCE IMAGE FORMATION AND MASK

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Publication number Priority date Publication date Assignee Title
EP0294101A2 (en) * 1987-06-01 1988-12-07 El-Op Electro-Optics Industries Limited System for measuring the angular displacement of an object
EP0294101A3 (en) * 1987-06-01 1990-06-27 El-Op Electro-Optics Industries Limited System for measuring the angular displacement of an object
EP0413525A2 (en) * 1989-08-15 1991-02-20 Paliac Aktiengesellschaft Aiming system
EP0413525A3 (en) * 1989-08-15 1991-08-07 Paliac Aktiengesellschaft Aiming system
FR2700845A1 (en) * 1993-01-28 1994-07-29 Schegerin Robert Method for determining the position of a helmet fastened on the head of a wearer

Also Published As

Publication number Publication date
FR2603974A1 (en) 1988-03-18
DE3764222D1 (en) 1990-09-13
FR2603974B1 (en) 1988-11-04
EP0260198B1 (en) 1990-08-08
US4792697A (en) 1988-12-20

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