EP3034983B2 - Automatic gun - Google Patents

Description

The invention relates to a machine weapon with an associated control computer for installation on a vehicle.

Such machine weapons are used to fire small to medium caliber ammunition. They are usually installed on a vehicle, be it a wheeled or tracked vehicle. The operator or gunner controls the aiming of the weapon at a target manually after a previous optical target detection, either through direct optical insight or by taking an image of the surroundings using an image recording device, from which he can then carry out the aiming. However, this manual setting requires a high level of experience on the part of the operator or gunner so that the hits delivered are reasonably on target. There is usually a corresponding spread, with the hit location generally having the form of a normal distribution with a corresponding accumulation in the middle of the scattering area. It is usually also necessary to message the weapon, since it is often relatively difficult for the operator to optimally position the weapon the first time it is set up, especially since the targets, especially if they are single targets, for example individual shooters or a group consisting of several people Rifle group, which can sometimes not be identified exactly at greater distances.

WO2011/070478 A1 defines a system with a tank turret pivotally mounted on a base structure. A target designation device receives an orientation input associated with an orientation of a target relative to the base structure. A processor receives the orientation input from the target designator and calculates a difference between a current orientation of the tank turret and the orientation of the target. An actuator, such as an elevation actuator, automatically translates and orients the tank turret toward the target based on calculation by the processor. The processor receives the orientation input from the target designator and calculates the difference between the current orientation of the turret and the orientation of the target, thereby reducing the elevation offset and the angular offset, respectively, so that the turret is quickly and accurately aimed at the target. The system significantly improves reaction time from the moment the target is seen with the normal eye until the tank turret and turret weapons are aligned with the target. The operator does not have to manually swing the tank turret towards the target while constantly checking the display to see if the target has appeared in the field of view.

DE3342338 A1 discloses a method for the assignment of targets to observation devices or to sighting systems of weapon systems with screen display and for target engagement, characterized in that a spatially fixed sensor or a stabilized sensor that is determined in its position in relation to a spatially fixed reference system is present and that for the setup or assignment processes required target coordinates on a reference screen of this spatially fixed sensor are obtained as spatially fixed coordinates with the help of a screen stylus known per se - hereinafter referred to as "directional stylus" - and converted into the respective target coordinates of the individual observation or weapon systems in an electronic device.

DE4207251 A1 discloses a fire control system for tanks with a fire control computer, an image processing computer, a laser range finder, a first imaging sensor and a screen arranged in an operating and monitoring console for target tracking, the fire control system being connected to a weapon tracking system via signal lines, the screen being connected to a second imaging sensor and the image processing computer is also used for target reconnaissance and target detection, the second imaging sensor having a large opening angle suitable for battlefield observation; and all control and function display elements essential for the operation of the fire control system and the firing of shots are arranged on the screen itself and are activated either by touching it with a finger or a special stylus.

The invention is therefore based on the problem of specifying an improved machine weapon for installation on a vehicle.

A machine weapon according to the invention with an associated control computer is characterized by the features defined in claim 1.

Accordingly, a machine weapon with an associated control computer is defined for installation on a vehicle, comprising an input device communicating with the control computer and comprising a touchscreen on which images of at least one image recording device recording the environment can be displayed, with at least one surrounding area containing a plurality of target positions being able to be marked in the image via the touchscreen is, whereby the automatic aiming of the machine weapon at a target position in the surrounding area and the automatic firing of at least one shot can be controlled by the control computer depending on the marking, and whereby the control computer is responsible for the firing of shots assigned to several different target positions in the surrounding area and the automatic aiming can be controlled with every shot.

When operating the machine gun according to the invention, the operator or gunner is no longer required to carry out the preparation manually. Rather, he has the option of marking an environmental area on a touchscreen, which has a touch-sensitive surface in a manner known per se, which defines the area in which the hits should lie, or in which the objectives to be combated are given. For this purpose, an image of the environment is displayed on the touchscreen, in which one or more potential targets are shown. The operator can now mark at least one target in the image by directly touching the touchscreen, for example by tapping the target in the image. He can also, for example if there are several individual targets, as in the case of a shooting group, the surrounding area z. B. mark with a line where the targets are.

The input device communicates with the control computer, i.e. the fire control computer, and transmits the marking or the marking information to the control computer. This is now able to evaluate the marking accordingly and, in conjunction with the image data, to determine exactly in which relative position the marked target or the marked surrounding area is to the vehicle or to the machine weapon. He also knows the current position of the machine weapon. Based on the existing information or data, the control computer is now able to determine exactly the alignment position of the machine weapon that is necessary to fire a shot in the direction of the target or the surrounding area, i.e. at the defined target position determined by the control computer. As soon as the data for aiming the weapon has been determined, the weapon is automatically aimed, which is controlled via the control computer. When the preparation is finished, which usually happens relatively quickly, at least one shot is automatically fired, also controlled by the control computer, at the individual marked target position or a target position in the surrounding area determined by the control computer.

The operator or gunner is therefore no longer involved in the preparation process, apart from simply having to mark the target or the surrounding area manually on the touchscreen. However, this is relatively easy because potential targets can be easily identified in such an image. For example, a daylight camera or a thermal imaging camera, which also enables night photography, can be used as the image recording device, although corresponding image overlays can of course also be carried out if both cameras are provided, so that more hidden targets, for example shooters in the tall grass, can also be identified .

The control computer is preferably designed to detect a release signal that can be given via the touchscreen, after which the automatic aiming and/or firing of the shot is released. If the target or the surrounding area is marked and the corresponding data has been transmitted from the input device to the control computer, at least the firing of the shot, and if necessary also the automatic aiming, is postponed until the operator has given a release signal via the touchscreen. The control computer immediately requests the release signal because it communicates with the input device as described, in this case bidirectionally. Only when this release signal is given and read in can the automatic aiming or firing of the shot take place.

The control computer is also preferably designed for automatic adjustment depending on at least one further parameter that represents a measure of the distance to the surrounding area. In order to determine the exact position of the potential target or surrounding area to the vehicle, it is useful if a distance information is taken into account. Such a parameter can be a distance value recorded by a distance measurement, for example a laser distance measurement. However, it is also conceivable to determine this distance parameter from the captured image itself. This can be done in a simple manner, for example, by using a stereo camera to record the image, so that a three-dimensional image display is possible or something similar. Another alternative is to use a temperature value that defines the ignition point of the ammunition to be fired as a parameter. The tempering value indicates the time after which the fired bullet ignites. Since the bullet speed is known, the potential distance to the target can be determined from the set temperature value, especially if this is only applied to the bullet when it leaves the weapon and is therefore known by the control computer, and this parameter can be taken into account when calculating the serving parameters.

According to the invention, the control computer can control the delivery of shots assigned to several different target positions in the surrounding area and the automatic aiming before each shot. If there are several target positions in the surrounding area or if corresponding information is available on the control computer, the control computer is, according to the invention, able to control one or more shots at each different target position, connected to a corresponding automatic device. If necessary, the number of shots is selected depending on the size of the surrounding area.

With regard to determining the target positions, particularly when marking a larger surrounding area, different options are conceivable. According to an example not part of the invention, the control computer can be designed to determine the one or more different target positions randomly. When marking a surrounding area, the control computer can, if the surrounding area is generally to be shot at without specific targets being detected in it, occupy this surrounding area with one or more shots, whereby the control computer can select the one or more target positions in the absence of an exactly defined target You can choose randomly, but in the surrounding area.

Additionally or alternatively, the control computer can also be designed to determine the one or more different target positions depending on the known effective circle of the fired ammunition, if necessary also taking into account the size of the surrounding area. If explosive ammunition is fired, the effective circle of the ammunition, i.e. the fragmentation circle, is at least approximately known. The control computer can now take the corresponding effective circle into account when selecting the target positions, so that several shots are not aimed at one and the same target position, but rather they are set in such a way that the effective circles overlap or adjoin one another, in order to shoot in just a few shots different target positions to occupy as large an area as possible. Of course, when explosive ammunition is fired, the effective circle can also be taken into account when determining the target positions at random.

According to the invention, it is provided that the control computer is designed to determine one or more specific targets shown in the recorded image and their target positions. The control computer therefore carries out an image analysis and determines one or more targets in the image itself. For example, the gunner has marked an area in which a group of riflemen, i.e. several individual targets, are shown. The individual targets were not marked by the gunner. The control computer now carries out an image analysis and automatically determines the individual targets using suitable image processing algorithms, provided they are in the corresponding marked surrounding area. Based on this, he then determines the corresponding target positions, if necessary again taking into account the effective circle when explosive ammunition is fired. As soon as the target positions have been determined here and, if necessary, the release signal has been received, the corresponding occupancy of the surrounding area is carried out by the machine weapon.

As described, the image recording device can be a daylight camera or a thermal imaging camera. It is of course also conceivable to install several cameras on the vehicle and integrate them into the control system of the machine gun. For example, if four cameras are installed, each of which is directed to one side, the control computer always knows from which camera the corresponding image shown to the gunner on the touchscreen and possibly marked by him comes from, so that it knows the corresponding side of the vehicle on which he has to align the machine weapon as soon as the corresponding target positions have been determined.

The maximum number of shots that can be fired can be predetermined by the operator, whereby if several target positions are possible, the operator can also define the maximum number of shots that can be fired per target position. Alternatively, the control computer itself can of course automatically determine the corresponding maximum number of shots that can be fired, if necessary broken down into corresponding target positions.

There is also preferably the possibility that the gunner can give the control computer an abort command to end the firing sequence via the touchscreen if he is of the opinion that further shots are no longer necessary. As described, the machine weapon is intended for installation on a vehicle. A threatening situation can arise not only when the vehicle is stationary, but also when the vehicle is moving. If the vehicle moves, the control computer is preferably designed to automatically track the positioning position when the relative position of the weapon changes to the marked target or to the marked surrounding area or to an already determined target position. This automatic tracking is particularly necessary when several target positions have to be occupied one after the other and the vehicle is in motion.

The input device, which includes the touchscreen, can be permanently installed on the vehicle. However, it is preferably a mobile data processing device, for example in the form of a tablet PC; even a smartphone or a navigation device can be used for this. This mobile data processing device is coupled to the control computer via a corresponding interface, preferably a connecting cable. But a wireless data connection is also conceivable.

In addition to the machine weapon itself, the invention also relates to a vehicle comprising at least one machine weapon of the type described. The vehicle can be an armored wheeled or tracked vehicle.

Fig. 1

eine Prinzipdarstellung eines Fahrzeugs umfassend eine erfindungsgemäße Maschinenwaffe,

Fig. 2

eine Prinzipdarstellung der erfindungsgemäßen Maschinenwaffe mit Steuerrechner, Eingabeeinrichtung und Bildaufnahmeeinrichtung,

Fig. 3

eine Bilddarstellung eines an der Eingabeeinrichtung dargestellten Umgebungsbilds mit einem vom Richtschützen markierten Umgebungsbereich,

Fig. 4

die Bilddarstellung aus Fig. 3 mit im Umgebungsbereich eingezeichneten Wirkkreisen zu den vom Steuerrechner bestimmten Zielpositionen bei Verschuss von Sprengmunition,

Fig. 5

eine Bilddarstellung, bei der seitens des Steuerrechners im markierten Umgebungsbereich die Einzelziele selbst erfasst wurden, die entsprechend markiert dargestellt sind, und

Fig. 6

eine Bilddarstellung, bei der der Richtschütze am Touchscreen die Einzelziele selbst als Zielpositionen markiert hat.

Further advantages and details of the invention result from the exemplary embodiment described below and from the drawing. Show:

Fig. 1

a schematic representation of a vehicle comprising a machine weapon according to the invention,

Fig. 2

a schematic representation of the machine weapon according to the invention with control computer, input device and image recording device,

Fig. 3

an image representation of a surrounding image displayed on the input device with an surrounding area marked by the gunner,

Fig. 4

the image display Fig. 3 with effective circles drawn in the surrounding area the target positions determined by the control computer when explosive ammunition is fired,

Fig. 5

an image display in which the control computer itself recorded the individual targets in the marked surrounding area, which are shown marked accordingly, and

Fig. 6

an image display in which the gunner has marked the individual targets as target positions on the touchscreen.

Fig. 1 shows a motor vehicle 1 here in the form of an armored wheeled vehicle on which a machine weapon 2 according to the invention is installed. The machine weapon 2 is with the associated peripheral devices in the form of a schematic diagram in Fig. 2 shown. The machine weapon 2 can be rotated about a vertical axis via a corresponding servomotor 3, the weapon barrel 4 can be pivoted vertically, as shown by the double arrows. The adjustment operation, i.e. the preparation of the weapon, is controlled via a control computer 5, which controls the servomotor system 3 accordingly. At least one image recording device 6, which can be a daylight camera or a thermal imaging camera, communicates with the control computer 5. The image recording device 6 records images of the vehicle surroundings, which are given directly to the control computer 5. Of course, it is conceivable that the control computer 5 communicates with several such image recording devices, possibly of different types, which record images of the surroundings from different directions or from different sides of the vehicle.

Associated with the control computer is also an input device 7 comprising a touchscreen 8, via which corresponding commands can be entered by touch. The input device 7 can be permanently installed in the vehicle, but it can also be detachably coupled to the control computer 5 via a corresponding interface, for example via a cable connection, but a wireless connection is also conceivable, for example a Bluetooth connection or the like.

The control computer 5 is now able to transmit images recorded by the image recording device 6 to the input device 7, the images being displayed on the touchscreen 8. In principle, it would also be conceivable, especially with a permanently installed input device 7, for the images from the image recording device 6 to be given directly to the input device 7, so that the image data is immediately available from both the control computer 5 and the input device 7.

The gunner thus receives 8 images of the surroundings displayed on the touchscreen, which show him the situation outside the vehicle 1. Within these images he can now detect any threat situation, for example individual shooters, groups of shooters, vehicles or similar. Using the touchscreen 8, he is now able to mark specific targets or surrounding areas in which these targets are located by touching the touchscreen surface. Some exemplary embodiments of such marking options are presented below.

After marking a target or an environmental area and recording the corresponding target positions and thus the corresponding data on how the machine weapon 2 is to be set up, the control computer 5 is now able to control the control motor system 3 accordingly based on this data in order to control the machine weapon 2, i.e the weapon barrel 4 to be aligned so that a shot fired occupies a corresponding target. The firing of shots is also controlled automatically by the control computer 5, preferably after the gunner has given a previous release signal, which the control computer 5 in turn queries via the touchscreen 8, with the gunner also giving the release signal via the touchscreen 8.

The gunner can also use the touchscreen 8 to enter a maximum number of shots to be fired, if necessary broken down for each detected target position, and he can also give a corresponding abort signal to end the firing sequence.

The control computer 5 is, as will be discussed below, when detecting several individual target positions in an environmental area, it is also designed to realign the weapon to each target position, as well as to correspondingly track the weapon alignment in relation to the detected target positions in the event of a vehicle movement Control computer 5 is controlled.

Fig. 3 shows a schematic representation of an environmental image recorded via the image recording 6 and displayed on the touchscreen 8. A section of terrain is shown with a meadow and an adjacent forest in the rear area of the image. In the area of the meadow, several individual targets are shown, represented by squares, which are formed, for example, by a shooting group.

The gunner now marks by touching the touch screen 8, on which the in Fig. 3 shown image is displayed, with a finger 9 an surrounding area 10, which is in Fig. 3 is surrounded by the marking line 11. The area that lies inside the marking line 11 is the marked surrounding area 10.

Due to the communication of the touchscreen 8 or the input device 7 with the control computer 5, which also has the image data of the image shown, the control computer 5 can now determine setting data for setting up the weapon in order to combat one or more targets in the surrounding area 10. For this purpose, the control computer 5 may use one or more additional parameters, which are a measure of the distance of the vehicle or weapon from the surrounding area 10 or one or more several dates of identified or defined target positions. For example, a laser distance measurement can be carried out and the recorded distance value can be taken into account, or when a temperature control ammunition is fired, the temperature value impressed on the weapon side and known on the control computer side, which is a distance measure in conjunction with the known flight speed of the projectile, can be used. In the present case, the control computer also takes into account an effective circle of the explosive ammunition fired here as an example, which, due to the fragmentation effect, creates a corresponding fragmentation cone and thus an effective circle when ignited.

Based on this information, the control computer now determines several target positions within the surrounding area 10 at which the weapon is to be aimed, as well as the corresponding aiming data, of course, in order to control the adjusting mechanism 3 accordingly.

Fig. 4 shows an example of two target positions Z1 and Z2, for which the corresponding effective circle W1 and W2 is shown. The control computer now determines the corresponding dressing control parameters for Z1 and Z2. Before the actual preparation, or at least before the actual automatic firing, the control computer 5 asks via the touchscreen 8 for the input of a release signal, which the gunner must enter in a predetermined confirmation field by touching the touchscreen. Only when such a release signal is present will either the aiming or, if this has already occurred, the actual firing release take place. If the release signal is present, a shot is first fired at the target position Z1 and then, after aiming at the target position Z2, a second shot is fired, so that the actual targets located in the effective circle W1 or W2 are occupied.

The location of the target positions Z1 and Z2 can be done in different ways. According to an example not part of the invention, the control computer can determine this randomly. If necessary, it sets the target position around Z1 and Z2 so that the largest possible area of the surrounding area is occupied. According to the invention, the control computer 5 carries out an image analysis in order to automatically determine specific targets in the surrounding area, in this case the individual positions of the individual shooters. Based on this target information, the control computer can then determine corresponding target positions in order to target the several shooters with few shots. This is particularly true when explosive ammunition is fired.

In principle, it is of course possible to define each individual target as a target position and attack it with one or more shots. For this purpose, the control computer naturally has a corresponding analysis algorithm for image evaluation. This applies regardless of whether explosive ammunition or normal ammunition is fired.

Fig. 4 only shows two target positions Z1 and Z2. Of course, depending on how it actually works and how it occupies the surrounding area 10, the control computer determines further target positions if this is necessary.

Fig. 5 shows an exemplary embodiment of an image representation given on the touchscreen 8, in which several individual targets are present in the marked surrounding area 10, which is also delimited here by a marking line 11. The control computer automatically determines a target position Z1, Z2, ..., Z7 for each individual target through appropriate image data analysis. This means that each individual target is hit with one or more separate shots, and of course each target is targeted separately.

The respective target detection or target position detection is shown in the image by the respective target border U1, ..., U7. This means that the gunner is shown in this way that the control computer 5, which autonomously analyzes the image, has detected a target and has determined the corresponding target position data and alignment data. The gunner can check whether all potential targets are actually captured. If, in his opinion, there is still a target that the control computer 5 has not detected for whatever reason, he can, for example, mark the target manually by touching the target on the touchscreen 8, i.e. mark it manually, whereupon the control computer does too The corresponding target position data and arrangement data are determined for this target.

Fig. 6 finally shows an image representation on the touchscreen 8, in which the seven targets Z1, ..., Z7 are shown again. In this embodiment, the gunner marks the respective target and thus the corresponding target position Z1, ..., Z7 by manually tapping the respective target. This means that he taps the respective target with his finger, whereupon the control computer determines the corresponding target position data for this target. The target position and alignment position data determination can in turn be displayed, for example, by a corresponding target border U1, ..., U7, so that the gunner is informed that the respective target has been detected. However, it is also conceivable to use this to mark the gunner's corresponding target entry. Finally, it would also be possible to mark both the target entry and the capture by changing the color, for example. For example, when you tap the target, a green ring can be placed around the target to signal that the target entry has been detected. The ring color then changes to yellow, for example, when the target position and the corresponding spatial coordinates have been recorded as target position data and the dressing control data. However, if either the destination entry or the data determination failed, a red ring could be shown, for example.

In any case, the query is carried out as described a release signal. As soon as this is available, for example, the first target is aimed and at least one shot is fired at this target position, after which the second target position is immediately aimed and a shot is fired, etc.

The number of shots that can be fired either in total or the number of shots that can be fired per target position can, for example, be entered in advance by the shooter or is queried by the control computer 5 via the touchscreen 8 before the actual first shot is fired. For example, the gunner can enter that a maximum of three shots should be fired per target position. The control computer 5 controls this accordingly on the weapon side. The control computer 5 can alternatively calculate the number of shots to be fired when firing explosive ammunition from the ratio of the area of the marked surrounding area to the effective area of the respective individual shot. Finally, it is also possible to fire with an unspecified number of shots until the gunner manually cancels the shot.

However, the gunner always has the option of interrupting the automatic preparation and firing process by entering an abort signal via the touchscreen 8. For example, after the release signal has been given, a corresponding touch field is immediately displayed on the touchscreen 8, which the gunner must touch in order to give the abort signal.

The marking of the surrounding area and the associated automatic firing of shots is particularly advantageous in unclear combat situations, for example if the vehicle is ambushed and the enemy's position can only be roughly identified. In this case, according to an example not part of the invention, the gunner can immediately mark a surrounding area 10 in which he potentially suspects the enemy, whereupon the control computer controls the weapon accordingly in order to irradiate this surrounding area without a clearly identified target. This can be used to hold the opponent down and, if necessary, prevent his use of weapons. In this case, the control computer will use a random generator to detect one or more target positions in the marked area and aim the weapon there.

Overall, the machine weapon according to the invention enables the gunner to be temporarily relieved and helps to gain a better overview of the combat situation. This is particularly important in systems or in situations where interaction between the commander, who carries out the target reconnaissance, and the gunner, who carries out the combat operation, with an effective target handover procedure is not intended or not possible.

Reference symbol list

1

motor vehicle

2

Machine weapon

3

Motor control

4

Gun barrel

5

Tax calculator

6

Image capture device

7

Input facility

8th

Touch screen

9

finger

10

Surrounding area

11

Marking line

Z1, ..., Z7

Target position

W1, W2

effective circle

U1, ..., U7

Target border

Claims (12)

1. Automatic weapon (2) with an assigned control computer (5) for fitting on a vehicle (1), comprising an input device (7) communicating with the control computer (5) and comprising a touchscreen (8) on which images of at least one image recording device (6) recording the surroundings can be represented, wherein at least one surrounding area (10) containing multiple target positions can be marked in the image by using the touchscreen (8), wherein the automatic aiming of the automatic weapon (2) at a target position (Z1, ..., Z7) in the surrounding area (10) and also the automatic firing of at least one shot can be controlled by the control computer (5) in dependence on the marking (11), and wherein the firing of shots assigned to the multiple different target positions (Z1, ..., Z7) in the surrounding area (10) and also the automatic aiming before each shot can be controlled by the control computer (5),

   wherein the control computer (5) is configured, if there are multiple target positions (Z1, ..., Z7) in the surrounding area (10), to control one or more shots at each different target position (Z1, ..., Z7), in conjunction with respective corresponding automatic aiming,

   wherein the control computer (5) is designed for determining one or more specific targets that are represented in the image recorded and also their target positions (Z1, ..., Z7) by means of image analysis using suitable image processing algorithms.
2. Automatic weapon (2) according to Claim 1, characterized
   in that the control computer (5) is designed for ascertaining after the marking of the surrounding area (10) an enabling signal that can be given by way of the touchscreen (8), only in response to which the automatic aiming and/or firing of a shot is enabled.
3. Automatic weapon (2) according to Claim 1 or 2, characterized
   in that the control computer (5) is designed for automatic aiming in dependence on at least one further parameter representing a measure of the distance of the weapon (2) from the surrounding area (10) .
4. Automatic weapon (2) according to Claim 3, characterized
   in that the parameter is a distance value ascertained by a distance measurement or a distance value determined from the image data or a fuze-setting value defining the timing of the ignition of the munition fired.
5. Automatic weapon (2) according to one of the preceding claims,
   characterized
   in that the control computer (5) is designed for determining the one or more different target positions (Z1, ..., Z7) on the basis of the random principle.
6. Automatic weapon (2) according to one of the preceding claims,
   characterized
   in that the control computer (5) is designed for determining the one or more different target positions (Z1, ..., Z7) in dependence on the known effective range (W1, W2) of the fired munition.
7. Automatic weapon (2) according to one of the preceding claims,
   characterized
   in that the image recording device (6) is a daylight camera or a thermal imaging camera.
8. Automatic weapon (2) according to one of the preceding claims,
   characterized
   in that the maximum number of shots that can be fired can be prescribed by the operator.
9. Automatic weapon (2) according to one of the preceding claims,
   characterized
   in that an abort command that can be given to the control computer (5) to end the series of shots can be input by way of the touchscreen (8).
10. Automatic weapon (2) according to one of the preceding claims,
    characterized
    in that the control computer (5) is designed for automatically tracking the aiming position when there is a change in the relative position of the automatic weapon (2) with respect to the marked surrounding area (10) or with respect to a target position (Z1, ..., Z7).
11. Automatic weapon (2) according to one of the preceding claims,
    characterized
    in that the input device (7) comprising the touchscreen (8) is a mobile data processing device.
12. Vehicle (1) comprising at least one automatic weapon (2) according to one of the preceding claims.

Images