EP3350536B1 - Tourelle téléopérée et procédé de commande d'une tourelle téléopérée - Google Patents

Tourelle téléopérée et procédé de commande d'une tourelle téléopérée Download PDF

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Publication number
EP3350536B1
EP3350536B1 EP16767220.3A EP16767220A EP3350536B1 EP 3350536 B1 EP3350536 B1 EP 3350536B1 EP 16767220 A EP16767220 A EP 16767220A EP 3350536 B1 EP3350536 B1 EP 3350536B1
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EP
European Patent Office
Prior art keywords
weapon
impact point
point
target
projectile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16767220.3A
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German (de)
English (en)
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EP3350536A1 (fr
EP3350536B8 (fr
Inventor
Dennis Meyer
Ralf MÜLLENBACH
Volker Stumpf
Johannes Beike
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Rheinmetall Electronics GmbH
Original Assignee
Rheinmetall Defence Electronics GmbH
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Publication date
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Publication of EP3350536A1 publication Critical patent/EP3350536A1/fr
Application granted granted Critical
Publication of EP3350536B1 publication Critical patent/EP3350536B1/fr
Publication of EP3350536B8 publication Critical patent/EP3350536B8/fr
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/14—Indirect aiming means
    • F41G3/142—Indirect aiming means based on observation of a first shoot; using a simulated shoot
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/14—Indirect aiming means
    • F41G3/16—Sighting devices adapted for indirect laying of fire
    • F41G3/165—Sighting devices adapted for indirect laying of fire using a TV-monitor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/06—Aiming or laying means with rangefinder

Definitions

  • the present invention relates to a remotely controllable weapon station with a weapon, which is mounted in a mount so that it can be directed in azimuth and elevation, for fighting a target object.
  • the present invention also relates to a military vehicle with such a remotely controllable weapon station and a method for operating a remotely controllable weapon station.
  • Military vehicles such as ships or land vehicles, are often equipped with a weapon which is arranged on the outer shell of the vehicle and which is mounted in a mount such that it can be directed in azimuth and elevation.
  • mounts are often designed as remote-controlled weapon stations that can be actuated from the ballistically protected interior of the vehicle.
  • Such remotely controllable weapon stations are for example from the DE 10 2011 050 277 A1 known. Individual shots or volleys can be fired with the remote-controlled weapon station.
  • a remotely controllable weapon station which comprises a control device with a display device and a memory device.
  • the display device shows a stored view of a target device and the storage device stores the information about the filing between the line of fire (LOF) and the line of sight (LOS).
  • LEF line of fire
  • LOS line of sight
  • a method for aiming the weapon of a weapon system with a target system and a thermal imaging device is known, taking into account external influences on the projectiles to be fired in a target area.
  • the amount of lateral deviation of the point of impact of the projectile from a predetermined target point of the weapon is determined by measuring or tracking the tracer of the projectile by the thermal imaging device. The amount of lateral deviation determined in this way is then compensated for during the subsequent firing by a corresponding lateral target correction of the weapon.
  • a weapon system for performing the method is also disclosed.
  • US 2011/315767 A1 an apparatus for viewing, imaging and processing the track of a projectile aimed at a desired target at high speed, including apparatus for displaying and reviewing the track image to more accurately determine the path of the projectile and its actual or intended point of impact.
  • the processed information can be used to determine or directly measure the missing distance between the desired target point and what the point of impact of the projectile is or would be.
  • the mis-range information can be used to assist in automatically aiming the weapon which fires the bullet to compensate for the mis-range.
  • a method is known in which the target is aimed with an optical sight during the entire course of the fired projectile, a point representative of the optical axis of the sight passing through the target being permanently formed on a detection surface, the projectile is fired and illuminated with a pulse of light from a laser rangefinder to obtain a reflection from the projectile, and the reflected pulse is used to form a point on the detection surface from the position of the projectile, the deviation of that point from that for the optical axis representative point is measured and the result of this measurement is used to control the next shot.
  • This affects any weapon that fires a projectile with a flat trajectory.
  • a remotely controllable weapon station with a weapon for fighting a target object is proposed, which is mounted in a mount such that it can be directed in azimuth and elevation.
  • the remotely controllable weapon station comprises a display system for the visual display of a target area of the weapon, a first unit for determining a target meeting point for a projectile of the weapon shown on the display system, a second unit for determining an actual point of impact of the projectile of the weapon shown on the display system and a third unit for determining a new target point of impact for the projectile of the weapon by point reflection of the determined actual point of impact at the determined point of impact.
  • the new actual meeting point resulting from the setting of the new target meeting point corresponds to the location of the target object of the weapon.
  • the interaction of the first unit, the second unit and the third unit makes it possible for the present remotely controllable weapon station to shift the line of fire (LOF) with respect to the line of sight (LOS).
  • LEF line of fire
  • LOS line of sight
  • the correction of the placement or the placement error can take place either between two individual shots or also during the delivery of a volley of shots from the remotely controllable weapon station.
  • the operation of the first unit, the second unit and the third unit of the present remotely controllable weapon station is illustrated. Due to external circumstances, for example due to missing or incorrect wind data or an incorrectly recorded vehicle speed, it can happen that the targeted object is not hit, but at the same time the shelf is so small that the projectiles still hit the water, for example can be recognized by the display system or vision system.
  • the operator or user would include this visible error for the subsequent shot or shots in the alignment of the manually operated weapon station.
  • this is not possible, as a result of which the hit performance of the remote-controlled weapon station can decrease considerably in the aforementioned situation.
  • the first unit, the second unit and the third unit of the present remotely controllable weapon station begin to allow the operator or user to manually make quick corrections in order to correct the placement or hit placement and to hit the target object.
  • the user does not need any mathematical skills or experience in the field of ballistics for this purpose, since the correction can be made purely via visual impressions and information on the display system.
  • the remotely controllable weapon station is arranged in particular on a military vehicle.
  • the military vehicle is a warship.
  • the command center of the warship includes a fire control computer by means of which the weapon station can be remotely controlled.
  • the first unit, the second unit and the third unit are integrated in particular in a fire control computer which can be connected to the weapon via a communication link. Furthermore, the fire control computer can store various data, such as the speed of the vehicle and the direction of the vehicle, the target speed of the projectile, the target distance, the target direction and meteorological data, such as the temperature or the wind direction, to determine the new target meeting point to include.
  • various data such as the speed of the vehicle and the direction of the vehicle, the target speed of the projectile, the target distance, the target direction and meteorological data, such as the temperature or the wind direction, to determine the new target meeting point to include.
  • the target object is, for example, an enemy military vehicle, such as an enemy warship.
  • the weapon is, for example, a naval gun.
  • the respective unit for example the first unit, can be implemented in terms of hardware and / or also in terms of software.
  • the respective unit can be designed as a device or as part of a device, for example as a computer or as a microprocessor or as a fire control computer.
  • the respective unit can be designed as a computer program product, as a function, as a routine, as part of a program code or as an executable object.
  • the display system comprises in particular a screen, for example a touchscreen, and a user interface with input means for entering commands for the remotely controllable weapon station, in particular for the display system.
  • the display system is connected in particular to a number of cameras which record the surroundings of the weapon.
  • the third unit is set up to determine the new target point of impact for the projectile of the weapon by mirroring the determined actual point of impact at the determined point of impact as a function of a determined position of the weapon.
  • the new target meeting point can be determined in a second step.
  • the weapon station includes a recording device for recording image data of the actual point of impact of the projectile of the weapon, the second unit being set up to determine the actual point of impact of the projectile of the weapon shown on the display system as a function of the recorded image data.
  • the second unit is set up to determine the actual meeting point on the display system based on a pattern recognition using the image data recorded by the recording device and reference templates for projectile impacts stored in a database.
  • the recording device comprises a camera, a thermal imaging camera, a radar device and / or a sonar device.
  • the target meeting point on the display system comprises a pixel or an area from a plurality of pixels.
  • the actual meeting point on the display system comprises a pixel or an area from a plurality of pixels.
  • the display system has a user interface with a number of input means which are set up to move a crosshair shown on a screen of the display system to determine the actual meeting point as a function of commands entered by the user using the input means.
  • the display system has a user interface with a number of input means, which are set up to use a crosshair shown on a screen of the display system to determine the target meeting point and the new target meeting point as a function of the input means by the user to move commands entered.
  • the user or operator can therefore determine the target meeting point, the actual meeting point and / or the new target meeting point via the display system by shifting the crosshairs.
  • purely visual information can be processed by the operator of the remote-controlled weapon station in order to determine the new target meeting point in the section area of the display system or vision system.
  • the input means comprise mechanical arrow keys, virtual arrow keys displayed on the screen, a keyboard and / or a joystick.
  • the input means can also comprise a trackball controller and / or mouse input devices. These can be used to position a cursor point or a crosshair on the vision system or display system.
  • the display system can be equipped with a touch-sensitive display monitor, in which case the cursor point can then be moved by selecting it with a finger pointing and moving it through the finger placement point on the touch-sensitive display monitor.
  • the display system or vision system is equipped with a touch-sensitive display monitor and the operator identifies the location of the visual hit storage by selecting it with the touch of a finger. The location of the new target meeting point is then generated automatically by mirroring at the center of the crosshairs.
  • the weapon station includes a range finder, in particular a laser range finder, for determining the target distance of a target object to the weapon, the first unit being set up to determine the target point of impact of the projectile of the weapon shown on the display system as a function of the determined target distance To determine the target object.
  • a range finder in particular a laser range finder
  • the determination of the target point of impact of the weapon can be improved by using the target distance of the target object.
  • the weapon station comprises a tracker which is set up to detect and track the target object while providing tracker data, the first unit being set up to determine the target meeting point of the projectile shown on the display system as a function of the tracker data provided to determine.
  • the determination of the actual meeting point can be improved by using the tracker data.
  • the third unit is designed as a calculation unit which is set up to automatically calculate the new target point of impact for the projectile of the weapon by point reflection of the determined actual point of impact at the determined point of impact.
  • the third unit is set up to determine the new target point of impact for the projectile of the weapon by means of a two-dimensional point reflection of the determined actual point of impact at the determined point of impact for angle correction of the weapon.
  • an angle correction of the weapon can advantageously be carried out.
  • the third unit is set up to determine the new target point of impact for the projectile of the weapon by means of a three-dimensional point reflection of the determined actual point of impact at the determined point of impact for angle correction and depth correction of the weapon.
  • both an angle correction of the weapon and a depth correction of the weapon can be carried out by means of a three-dimensional point reflection.
  • a warship which has a number N of remotely controllable weapon stations according to the first aspect, with N 1.
  • a computer program product which causes the method as explained above according to the third aspect to be carried out on a program-controlled device.
  • a computer program product such as a computer program means, for example, as a storage medium, e.g. Memory card, USB stick, CD-ROM, DVD, or also in the form of a downloadable file from a server in a network. This can be done, for example, in a wireless communication network by transmitting a corresponding file with the computer program product or the computer program means.
  • a remotely controllable weapon station which comprises a weapon which is mounted in a mount so that it can be directed in azimuth and elevation, and a display device with a cutout area of a vision system for displaying an old target meeting point and a location of the visual hit location, whereby Operating means a new target meeting point can be generated on the display device of the viewing system, which essentially can be generated by point reflection of the old target meeting point at the center of the crosshairs.
  • Fig. 1 a schematic block diagram of a first embodiment of a remotely controllable weapon station 1 is shown.
  • the remotely controllable weapon station 1 comprises a weapon 2 for combating a target object, which is mounted in a mount 3 so that it can be directed in azimuth and elevation.
  • the remote-controlled weapon station 1 is installed on a warship.
  • the military vehicle can comprise a plurality of remotely controllable weapon stations 1.
  • the remotely controllable weapon station 1 comprises a display system 4 with a screen 12 for the optical representation of a target area of the weapon 2.
  • the remotely controllable weapon station 1 comprises a first unit 5, a second unit 6 and a third unit 7.
  • the functionalities of the first unit 5, the second unit 6 and the third unit 7 are described with reference to Fig. 2 , 3 and 4th explained.
  • It shows Fig. 2 a schematic view of the display system 4 with a shelf A between a target meeting point T1 and an actual meeting point T2.
  • the Fig. 3 shows the schematic view of the display system 4 with the target meeting point T1 and the actual meeting point T2 from FIG Fig. 2 as well as a new target meeting point T3.
  • the Fig. 4 a schematic view of the display system 4 with the new target meeting point T3 from FIG Fig. 3 and a new actual meeting point T4.
  • the first unit 5 is set up to determine a target meeting point T1, shown on the display system 4, for a projectile of the weapon 2.
  • a target meeting point T1 the user or operator can in particular use a crosshair FK, which he can move on the screen 12 of the display system 4.
  • the second unit 6 is set up to determine an actual meeting point T2 of the projectile of the weapon 2 shown on the display system 4.
  • the user can preferably use the crosshairs FK in accordance with Fig. 2 use.
  • the third unit 7 is provided for correcting the shelf A.
  • the third unit 7 is set up to determine a new target meeting point T3 for the projectile of the weapon 2 by means of a point reflection PS of the determined actual meeting point T2 at the determined target meeting point T1.
  • the target meeting point T1 determined by the first unit 5 represents the mirror point or the center of the point reflection PS.
  • the new target meeting point T3 corresponds to the image point for the actual meeting point T2, which is determined by the connection route T2-T3 is halved by point T1.
  • the third unit 7 is preferably designed as a calculation unit which is set up to automatically calculate the new target meeting point T3 for the projectile of the weapon 2 by the point reflection PS of the determined actual meeting point T2 at the determined target meeting point T1.
  • the point reflection PS can be designed as a two-dimensional point reflection for correcting the angle of the weapon 2.
  • the point mirroring PS can, however, also be a three-dimensional point mirroring PS for angle correction and for depth correction the weapon 2 be trained. Details are provided with reference to Fig. 5 described.
  • Fig. 5 shows a schematic block diagram of a second embodiment of a remotely controllable weapon station 1.
  • the second embodiment of the weapon station 1 according to FIG Fig. 5 includes all features of the first exemplary embodiment according to Fig. 1 .
  • the weapon station 1 includes the Fig. 5 a recording device 8 for recording image data BD of the actual meeting point T2 of the projectile of the weapon 2.
  • the second unit 6 is set up to the actual meeting point T2 of the projectile of the weapon 2 shown on the display system 4 depending on the recorded image data BD determine.
  • the recording device 8 comprises, for example, a camera, a thermal imaging camera, a radar device and / or a sonar device.
  • the display system 4 can have a user interface 10 with a number of input means 11.
  • the input means 11 are designed, for example, as mechanical arrow keys. Alternatively, virtual arrow keys and / or a joystick (not shown) shown on the screen 12 can also be provided.
  • the user or operator can use the crosshairs FK shown on the screen 12 of the display system 4 (see FIG Figs. 2-4 ) to determine the target meeting point T1, to determine the actual meeting point T2, to determine the new target meeting point T3 and / or to determine the new actual meeting point T4.
  • the remotely controllable weapon station 1 comprises Fig. 5 preferably a laser range finder 13 for determining a target distance ZE of a target object to the weapon 2.
  • the first unit 5 is preferably set up to determine the target meeting point T1 of the projectile of the weapon 2 shown on the display system 4 as a function of the determined target distance ZE of the target object to determine.
  • the remotely controllable weapon station 1 can comprise a tracker 14.
  • the tracker 14 is set up to detect the target object while providing tracker data TD and to take place.
  • the first unit 5 can then be set up to determine the target meeting point T1 of the floor shown on the display system 4 as a function of the tracker data TD provided.
  • the first unit 5, the second unit 6 and the third unit 7 are integrated in particular in a fire control computer 9 for the remotely controllable weapon station 1.
  • the fire control computer 9 and the weapon 2 are coupled in particular via a communication link 15.
  • Fig. 6 shows a schematic flowchart of an embodiment of a method for operating a remotely controllable weapon station 1, which comprises a weapon 2, which is mounted in a mount 3 in azimuth and elevation, for attacking a target object and a display system 4 for the optical representation of a target area of the weapon 2 .
  • Examples of the remote-controlled weapon station 1 are in Fig. 1 and 5 shown.
  • the embodiment of the method according to Fig. 6 comprises the following steps 601, 602 and 603.
  • step 601 a target meeting point T1, shown on the display system 4, for a projectile of the weapon 2 is determined.
  • step 602 an actual meeting point T2 of the projectile of the weapon 2, shown on the display system 4, is determined.
  • a new target meeting point T3 for the projectile of the weapon 2 is determined by a point reflection PS of the determined actual meeting point T2 at the determined target meeting point T1.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Claims (14)

  1. Station d'armement (1) télécommandable conçue pour être utilisée sur un navire de guerre, comprenant une arme (2) montée dans un affût (3) de manière à pouvoir être réglée en azimut et en élévation pour combattre un objet cible, comprenant :
    un système d'affichage (4) pour l'affichage visuel d'une zone cible de l'arme (2),
    une première unité (5) permettant de déterminer un point d'impact cible (T1) pour un projectile de l'arme (2) affiché sur le système d'affichage (4),
    une deuxième unité (6) pour déterminer un point d'impact réel (T2) du projectile de l'arme (2) affiché sur le système d'affichage (4), et
    une troisième unité (7) pour déterminer, au moyen d'un traitement d'informations purement visuelles, un nouveau point d'impact cible (T3) pour le projectile de l'arme (2) par une réflexion ponctuelle (PS) du point d'impact réel (T2) déterminé sur le point d'impact cible (T1) déterminé de sorte que la distance de liaison entre le point d'impact réel (T2) et le nouveau point d'impact cible (T3) soit réduite de moitié par le premier point d'impact cible (T1).
  2. Station d'armement selon la revendication 1,
    caractérisé en ce que
    la troisième unité (7) est configurée pour déterminer le nouveau point d'impact cible (T3) pour le projectile de l'arme (2) au moyen d'une réflexion ponctuelle (PS) du point d'impact réel (T2) déterminé sur le point d'impact cible (T1) déterminé en fonction d'une déviation (A) déterminée de l'arme (2).
  3. Station d'armement selon la revendication 1 ou 2,
    caractérisé par
    une unité d'enregistrement (8) pour l'enregistrement de données image (BD) du point d'impact réel (T2) du projectile de l'arme (2), la deuxième unité (6) étant configurée pour déterminer le point d'impact réel (T2) du projectile de l'arme (2) affiché sur le système d'affichage (4) en fonction des données image (BD) enregistrées.
  4. Station d'armement selon la revendication 1 ou 2,
    caractérisé en ce que
    le système d'affichage (4) comprend une interface utilisateur (10) avec un certain nombre de moyens de saisie (11) qui sont configurés pour déplacer un pointeur (FK) affiché sur un écran (12) du système d'affichage (4), afin de déterminer le point d'impact réel (T2) en fonction des commandes entrées par l'utilisateur au moyen des moyens de saisie (11).
  5. Station d'armement selon l'une des revendications 1 à 4,
    caractérisé en ce que
    le système d'affichage (4) comprend une interface utilisateur (10) avec un certain nombre de moyens de saisie (11) qui sont configurés pour déplacer un pointeur (FK) affiché sur un écran (12) du système d'affichage (4), afin de déterminer le point d'impact cible (T1) et le nouveau point d'impact cible (T3) en fonction des commandes entrées par l'utilisateur au moyen des moyens de saisie (11).
  6. Station d'armement selon la revendication 4 ou 5,
    caractérisé en ce que
    les moyens de saisie (11) comprennent des touches fléchées mécaniques, des touches fléchées virtuelles affichées à l'écran (12) et/ou un joystick.
  7. Station d'armement selon l'une des revendications 1 à 6,
    caractérisé par
    un télémètre à laser (13) pour déterminer une distance de cible (ZE) d'un objet cible par rapport à l'arme (2), dans lequel la première unité (5) est réglée pour déterminer le point d'impact cible (T1) du projectile de l'arme (2) affiché sur le système d'affichage (4) en fonction de la distance de cible (ZE) déterminée de l'objet cible.
  8. Station d'armement selon l'une des revendications 1 à 7,
    caractérisé par
    un traqueur (14) configuré pour détecter et suivre l'objet cible dans le but de fournir des données de traqueur (TD), la première unité (5) étant configurée pour déterminer le point d'impact cible (T1) du projectile affiché sur le système d'affichage (4) en fonction des données de traqueur (TD) fournies.
  9. Station d'armement selon l'une des revendications 1 à 8,
    caractérisé en ce que
    la troisième unité (7) est constituée par une unité de calcul configurée pour calculer automatiquement le nouveau point d'impact cible (T3) pour le projectile de l'arme (2) par la réflexion ponctuelle (PS) du point d'impact réel (T2) déterminé sur le point d'impact cible (T1) déterminé.
  10. Station d'armement selon l'une des revendications 1 à 9,
    caractérisé en ce que
    la troisième unité (7) est mise en place pour déterminer le nouveau point d'impact cible (T3) pour le projectile de l'arme (2) au moyen d'une réflexion ponctuelle bidimensionnelle (PS) du point d'impact réel (T2) déterminé sur le point d'impact cible (T1) déterminé pour la correction angulaire de l'arme (2).
  11. Station d'armement selon l'une des revendications 1 à 9,
    caractérisé en ce que
    la troisième unité (7) est mise en place pour déterminer le nouveau point d'impact cible (T3) pour le projectile de l'arme (2) au moyen d'une réflexion ponctuelle tridimensionnelle (PS) du point d'impact réel (T2) déterminé sur le point d'impact cible (T1) déterminé pour la correction angulaire et la correction de profondeur de l'arme (2).
  12. Navire de guerre comportant un nombre N de stations d'armement (1) télécommandables selon l'une des revendications 1 à 11, avec N ≥ 1.
  13. Procédé d'opération d'une station d'armement (1) télécommandable conçue pour être utilisée sur un navire de guerre, avec une arme (2) montée dans un affût (3) de manière à pouvoir être réglée en azimut et en élévation pour combattre un objet cible, et avec un système d'affichage (4) pour l'affichage visuel d'une zone cible de l'arme (2), comprenant :
    la détermination d'un point d'impact cible (T1) pour un projectile de l'arme (2) affiché sur le système d'affichage (4),
    la détermination d'un point d'impact réel (T2) du projectile de l'arme (2) affiché sur le système d'affichage (4), et
    la détermination, par un traitement d'informations purement visuelles, d'un nouveau point d'impact cible (T3) pour le projectile de l'arme (2) par une réflexion ponctuelle (PS) du point d'impact réel (T2) déterminé sur le point d'impact cible (T1) déterminé de sorte que la distance de liaison entre le point d'impact réel (T2) et le nouveau point d'impact cible (T3) soit réduite de moitié par le premier point d'impact cible (T1).
  14. Produit de programme informatique qui, sur un dispositif commandé par programme, provoque l'exécution du procédé selon la revendication 13.
EP16767220.3A 2015-09-18 2016-09-14 Tourelle téléopérée et procédé de commande d'une tourelle téléopérée Active EP3350536B8 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015011953 2015-09-18
DE102015120205.0A DE102015120205A1 (de) 2015-09-18 2015-11-23 Fernbedienbare Waffenstation und Verfahren zum Betreiben einer fernbedienbaren Waffenstation
PCT/EP2016/071704 WO2017046169A1 (fr) 2015-09-18 2016-09-14 Tourelle téléopérée et procédé de commande d'une tourelle téléopérée

Publications (3)

Publication Number Publication Date
EP3350536A1 EP3350536A1 (fr) 2018-07-25
EP3350536B1 true EP3350536B1 (fr) 2020-11-04
EP3350536B8 EP3350536B8 (fr) 2020-12-30

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EP16767220.3A Active EP3350536B8 (fr) 2015-09-18 2016-09-14 Tourelle téléopérée et procédé de commande d'une tourelle téléopérée

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EP (1) EP3350536B8 (fr)
DE (1) DE102015120205A1 (fr)
HU (1) HUE052769T2 (fr)
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DE102015120205A1 (de) 2017-03-23
EP3350536B8 (fr) 2020-12-30
HUE052769T2 (hu) 2021-05-28
WO2017046169A1 (fr) 2017-03-23

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