CN106855379A - The automatic tracing moved target machine system of omnidirectional - Google Patents
The automatic tracing moved target machine system of omnidirectional Download PDFInfo
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- CN106855379A CN106855379A CN201610120930.XA CN201610120930A CN106855379A CN 106855379 A CN106855379 A CN 106855379A CN 201610120930 A CN201610120930 A CN 201610120930A CN 106855379 A CN106855379 A CN 106855379A
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- target
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- chassis
- machine system
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J2/00—Reflecting targets, e.g. radar-reflector targets; Active targets transmitting electromagnetic or acoustic waves
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- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention relates to training device field, a kind of automatic tracing moved target machine system of omnidirectional, including subject matter, some target cars and the follow-up mechanism on target car are disclosed.Subject matter is arranged on the body of trainer, and follow-up mechanism can control target car to be moved to subject matter.In terms of existing technologies, embodiments of the present invention control the motion of target car by using the mode of the position for following the trail of subject matter, therefore to the less-restrictive of target car motion.The motion mode of ruffian can be simulated due to target car, trainer is rushed at so that trainer can both take stationary fire mode to train, it is also possible to take the mode of shooting of running to train, with stronger flexibility.
Description
Technical field
The present invention relates to training device field, more particularly to a kind of targeting system.
Background technology
Practice shooting and train, refer to that the target for setting is shot at by certain rule, trained with burst fire
Effect, improves the training of marksmanship.Training of practicing shooting always is the important component of military training.
Currently, the new line with terrorism in the world, combats terrorism and the criminal case of violence
Part has become a focus of police's work.Therefore, the target practice for sudden and violent probably behavior is trained
Demand is also being continuously increased.
In the Kunming railway station violence attack of terrorism not long ago, several terrorists are from multiple side
Impacted towards police and Security Personnel to closely weapon is waved simultaneously, hastily under live police strength cannot
Ruffian effectively is hit, huge injures and deaths have been thus resulted in.
Because traditional targeting system cannot be provided for the training program under this situation, therefore compel on the market
Be essential the targeting system that provide and can largely carry out such special training.
The content of the invention
It is an object of the invention to provide a kind of automatic tracing moved target machine system of omnidirectional, the omnidirectional is automatic
Pursuit movement target machine system can be provided for this feelings when probably molecule initiates to attack suddenly cruelly under complex environment
The gunnery training in border.
In order to solve the above technical problems, embodiments of the present invention provide a kind of omnidirectional being transported from motion tracking
Dynamic target machine system, including：Subject matter, some target cars and the follow-up mechanism on target car.Subject matter
It is arranged on the body of trainer, follow-up mechanism can control target car to be moved to subject matter.
In terms of existing technologies, embodiments of the present invention are by using the position for following the trail of subject matter
Mode control the motion of target car, therefore to the less-restrictive of target car motion.Because target car can be simulated
The motion mode of ruffian, rushes at trainer, therefore it is required that trainer can take up arms rapidly and on
Thorax.Now, stationary fire mode can have both been taken to train, it is also possible to take the mode shot in motion to instruct
Practice, with stronger flexibility.
Because the motion of terrorist has tactic, in order to further improve the authenticity of training, can
So that using the predetermined paths of software prior layout well whole target cars, the predetermined paths can be linear motion,
It can also be curvilinear motion.And them are made respectively along random predetermined paths from different directions simultaneously to target
Thing is moved.Training difficulty can be so improved, so as to improve the authenticity of training.
Preferably, follow-up mechanism includes camera and the control module communicated to connect with camera.Take the photograph
It is used to obtain the image of subject matter as head, and picture signal, control module identification figure is sent to control module
As the subject matter in signal, and control target car to move, make camera all the time just to subject matter.By control
Module can be compensated the motion of target car so that camera the Orientation differences of the subject matter in image
All the time towards subject matter, and the size variation of the picture of subject matter is passed through, it can be determined that subject matter and target car
Distance, realizes target car to subject matter with amiable tracking, and then impact of the realization to trainer.
Further, preferably, control module recognizes subject matter using tone filter algorithm.Mark
Thing carry out application after preferably can be recognized by control module.
Certainly, preferably, subject matter can also be communicated to connect with follow-up mechanism, subject matter is to tracking
Device sends framing signal, and follow-up mechanism determines the present position of subject matter according to framing signal.Using fixed
Position signal can also realize the tracking to subject matter.
Preferably, target car also includes chassis, at least 3 motors on chassis and located at chassis
On equal number wheel, motor and follow-up mechanism communication connection wheel corresponds transmission and connects with motor
Connect, these wheel scattering devices are in the edge on chassis.Motor is separately provided by each wheel, can be with
Preferably distribute the power output of wheel so that the steering of target car is more flexible.
Further, preferably, wheel is omni-directional wheel；And the axis of each wheel intersects two-by-two；Or
Person, wheel is Mecanum universal wheel.Realized using the omni-directional wheel or Mecanum that are provided with individual motor
The steering of target car, its cost is cheaper, and the action of target car is also more flexible.
Preferably, target car includes chassis, the target above chassis and the rotation on chassis
Rotate power apparatus.Target is connected with rotary power unit, and target can be under the drive of rotary power unit
Rotated by rotation axis of the axis perpendicular to the chassis of target car.Using rotary power unit control target
Motion, the automatization level of the target car of raising.
Further, preferably, when target is plane target, targeting system also includes being arranged on
Orientation sensor on target car, orientation sensor is communicated to connect with rotary power unit, and orientation sensor is used
In the place direction of positioning subject matter.Orientation sensor sends phasing signal, rotation to rotary power unit
Power set rotate target according to phasing signal, and make the target surface of target towards the place direction of subject matter.
Utilization orientation sensor can cause target surface all the time towards the place direction of subject matter, prevent because of the fortune of target car
It is dynamic to cause target surface inconsistent with the place direction of subject matter, and then cannot practice shooting.
Preferably, can be connected by spring between target and chassis, the benefit connected using spring
Be, target car in motion process, target will irregularly double swerve, run so as to be similar to the mankind
When motion mode.
Brief description of the drawings
Fig. 1 is the automatic tracing moved target machine system schematic diagram of omnidirectional of first embodiment of the invention；
Fig. 2 is the base and target portion schematic diagram of the target car of third embodiment of the invention.
Description of reference numerals：
1st, subject matter；2nd, target car；3rd, follow-up mechanism；4th, wheel；5th, target；6th, chassis；
7th, orientation sensor.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to this
Each implementation method of invention is explained in detail.However, one of ordinary skill in the art can manage
Solution, in each implementation method of the invention, in order that reader more fully understands the application and proposes many skills
Art details.But, even if many variations without these ins and outs and based on following implementation method and
Modification, it is also possible to realize the application each claim technical scheme required for protection.
Implementation method one
Embodiments of the present invention provide a kind of automatic tracing moved target machine system of omnidirectional, referring to Fig. 1 institutes
Show, including：Subject matter 1, some target cars 2 and the follow-up mechanism on target car 23.Subject matter 1
It is arranged on the body of trainer.Subject matter 1 can be the weaponry, or instruction of training
Practice clothes etc..
And follow-up mechanism 3 can control target car 2 to follow subject matter 1 to move, in the present embodiment, mark
Thing 1 also communicated to connect with follow-up mechanism 3, subject matter 1 to follow-up mechanism 3 send framing signal, chase after
Track device 3 determines the present position of subject matter 1 according to framing signal.Can also be realized using framing signal
Tracking to subject matter 1.Wherein, the framing signal can have various producing methods.For example, it may be
Infrared signal.Infrared launcher can be now housed on subject matter 1, and can be with follow-up mechanism 3
Equipped with infrared receiving device.Specifically, infrared launcher can be pre-defined and is sending infrared every time
The data volume included during signal, the data volume that is then received according to infrared receiving device judges whether
Shift.If data volume illustrates to there occurs skew less than estimated data volume.Target car 2 it is infrared
The direction of reception device can be finely tuned to any side, then be retested：If data volume increases, target
Car 2 continues to be adjusted to the direction, until data volume reaches estimated amount, completes direction adjustment.If data
Amount is reduced, then target car 2 is adjusted to the direction relative with the direction, until data volume reaches estimated amount,
Complete direction adjustment.Other specific positioning methods are also various, for example with visible ray or other frequency ranges
Electromagnetic wave etc., will not be repeated here.
In the present embodiment, target car 2 also includes chassis 6, at least 3 motors on chassis 6
And the wheel 4 of the equal number on chassis 6, motor and the communication connection wheel 4 of follow-up mechanism 3
Corresponded with motor and be connected, these scattering devices of wheel 4, in the edge on chassis 6, are omnidirectional
Take turns, and the axis of each wheel 4 intersects two-by-two.The omni-directional wheel that is intersected two-by-two using axis and by each
Wheel 4 is separately provided motor, not only can preferably distribute the power output of wheel 4 so that target car 2
Steering it is more flexible, and the motion in various directions can be realized, make target car 2 preferably to follow the trail of mark
Thing 1.Certainly, wheel 4 can also be Mecanum universal wheel.Using be provided with individual motor it is complete
The steering of target car 2 is realized to wheel or Mecanum, its cost is cheaper, the action of target car 2 is also more
Flexibly.Or, target car 2 can also set the power wheel similar to automobile, and rely on driving wheel and steering
Take turns to carry out motion control.Obviously, the speed of target car 2 is controllable, and the speed of multiple target cars 2 can be with
It is different such that it is able to the motion state of sudden and violent probably molecule when simulated body quality is uneven.
In the present embodiment, the motion mode of target car 2 can be that straight line rushes at trainer, it is also possible to
Left and right is cheap during charging, and S type curves is formed, so as to improve training difficulty.Due to terror point
The motion of son has tactic, in order to further improve the authenticity of training, in the present embodiment, also
The predetermined paths of the prior layout of software well whole target cars 2 can be utilized, and makes them respectively along random pre-
If route cut-through thing is simultaneously moved to subject matter 1 from different directions simultaneously.Training can so be improved difficult
Degree, so as to improve the authenticity of training.
In the present embodiment, can be connected by spring between target 5 and chassis, be connected using spring
Benefit be, target car 2 in motion process, target 5 will irregularly double swerve so that approximately
The motion mode when mankind run.
In addition, in the present embodiment, the side on the chassis 6 of target car 2 is also equipped with ultrasonic sensor,
These ultrasonic sensors can send ultrasonic wave, barrier of the detection close to chassis.In barrier and target
Car 2 reach setting apart from when, target car 2 can be made to slow down and slowly brake, so as to prevent multiple targets
Car 2 collides with each other in motion process, is clashed into when can also prevent target car 2 in face of punching to trainer and instructed
Practice personnel.When in the distance to a declared goal in face of the arrival trainer of target car 2, it is possible to determine that trainer is
Through falling in battle.
Also, in the present embodiment, target 5 is humanoid target, and for the humanoid mark of hand firearm
Target, can also provide function of opening fire on target car 2, that is, goes to light using electronic ignition line and open fire, from
And improve training authenticity.
In terms of existing technologies, embodiments of the present invention are by using the position for following the trail of subject matter 1
Mode control the motion of target car 2, therefore to the less-restrictive of the motion of target car 2.Due to the energy of target car 2
The motion mode of ruffian is enough simulated, trainer is rushed at, therefore it is required that trainer can rapidly take out force
Device simultaneously loads.Trainer can both take stationary fire mode to train, it is also possible to take shooting of running
Mode is trained, with stronger flexibility.Summary content understands that embodiments of the present invention can
There is provided in the complex environments such as city, for one or more sudden and violent pin feared when molecule is launched a offensive suddenly
To property gunnery training.And can give expression to well the attack of terrorism closely, it is disguised, sudden
Feature.
Implementation method two
Second embodiment of the present invention is related to a kind of automatic tracing moved target machine system of omnidirectional.Second is real
Apply mode to be slightly different with first embodiment, main difference part is：In the first embodiment party of the invention
In formula, subject matter 1 is communicated to connect with follow-up mechanism 3；And in second embodiment of the present invention, nothing
The communication connection of subject matter 1 and follow-up mechanism 3 need to be set up.
Specifically, follow-up mechanism 3 includes camera and the control module communicated to connect with camera.Take the photograph
It is used to obtain the image of subject matter 1 as head, and picture signal, control module identification is sent to control module
Subject matter 1 in picture signal, and control target car 2 to move, make camera all the time just to subject matter 1.It is logical
Orientation differences of the control module to the subject matter 1 in image are crossed, the motion of target car 2 can be compensated,
So that camera is all the time towards subject matter 1, and pass through the size variation of the picture of subject matter 1, it can be determined that
The distance of subject matter 1 and target car 2, so as to realize target car 2 to subject matter 1 with amiable tracking.
Wherein, control module can recognize subject matter 1 using tone filter algorithm.When needed, may be used
Application is carried out with to subject matter 1, enabling preferably recognized by control module.Certainly, camera
Can be thermal imaging camera, control module then can recognize subject matter using thermal imaging filter algorithm
1, so that the automatic tracing moved target machine system of omnidirectional can apply to the simulation instruction under overnight sight
Practice, extend the training program of the automatic tracing moved target machine system of omnidirectional.
Implementation method three
Third embodiment of the present invention is related to a kind of automatic tracing moved target machine system of omnidirectional.3rd is real
The mode of applying is the further improvement of first embodiment and second embodiment, is mainly theed improvement is that：
In third embodiment of the invention, target car 2 include chassis 6, located at the top of chassis 6 target 5 with
And the rotary power unit on chassis 6.Target 5 is connected with rotary power unit, and target 5 can
Rotated by rotation axis of the axis perpendicular to the chassis 6 of target car 2 under the drive of rotary power unit.
The motion of target 5, the automatization level of the target car 2 of raising are controlled using rotary power unit.
In the present embodiment, shown in Figure 2, target 5 is plane target 5, and targeting system is also wrapped
Include the orientation sensor 7 being arranged on target car 2, orientation sensor 7 and rotary power unit communication link
Connect, orientation sensor 7 is used to position the place direction of subject matter 1.Orientation sensor 7 is to rotary power
Device sends phasing signal, and rotary power unit rotates target 5 according to phasing signal, and makes target 5
Target surface is towards the place direction of subject matter 1.Utilization orientation sensor can cause target surface all the time towards target
The place direction of thing 1, prevents from causing target surface to differ with the place direction of subject matter 1 because of the motion of target car 2
Cause, and then cannot practice shooting.
Specifically, follow-up mechanism 3 can also be used as direct orientation sensor 7, it is also possible to
Orientation sensor 7 adheres to different two systems separately.Now, orientation sensor 7 can also and follow-up mechanism
3 communication connections, to the positioning of assistance tracking device 3.
It will be understood by those skilled in the art that the respective embodiments described above are to realize tool of the invention
Body embodiment, and in actual applications, can to it, various changes can be made in the form and details, without
Deviate the spirit and scope of the present invention.
Claims (10)
1. the automatic tracing moved target machine system of a kind of omnidirectional, it is characterised in that including：Subject matter, M
Individual target car and the follow-up mechanism on the target car, the M is the natural number more than or equal to 1；
The subject matter is arranged on the body of trainer, and the follow-up mechanism can control the target
Car is moved to the subject matter.
2. the automatic tracing moved target machine system of omnidirectional according to claim 1, it is characterised in that
The follow-up mechanism includes camera and the control module communicated to connect with the camera；
The camera is used to obtain the image of the subject matter, and sends image to the control module
Signal, the subject matter in the control module identification described image signal, and control the target car to move,
Make the camera all the time just to the subject matter.
3. the automatic tracing moved target machine system of omnidirectional according to claim 2, it is characterised in that
The control module recognizes the subject matter using tone filter algorithm.
4. the automatic tracing moved target machine system of omnidirectional according to claim 1, it is characterised in that
The subject matter is communicated to connect with the follow-up mechanism, and the subject matter sends to the follow-up mechanism and positions
Signal, the follow-up mechanism determines the present position of the subject matter according to the framing signal.
5. the automatic tracing moved target machine system of omnidirectional according to claim 1, it is characterised in that
The target car also includes chassis, the N number of motor on the chassis and the N on the chassis
Individual wheel, the motor communicates to connect the wheel and corresponds biography with the motor with the follow-up mechanism
Dynamic connection, the N is more than or equal to 3, and these wheel scattering devices are in the edge on the chassis.
6. the automatic tracing moved target machine system of omnidirectional according to claim 5, it is characterised in that
The wheel is omni-directional wheel；And the axis of each wheel intersects two-by-two；Or, the wheel is Mike's nurse ten thousand
To wheel.
7. the automatic tracing moved target machine system of omnidirectional according to claim 1, it is characterised in that
The target car is dynamic including chassis, the target above the chassis and the rotation on the chassis
Power apparatus；
The target is connected with the rotary power unit, and the target can be filled in the rotary power
Rotated by rotation axis of the axis perpendicular to the chassis of the target car under the drive put.
8. targeting system according to claim 7, it is characterised in that the target is plane mark
Target, the targeting system also includes the orientation sensor being arranged on the target car, the orientation sensor
Communicated to connect with the rotary power unit, the orientation sensor is used to position the place of the subject matter
Direction；
The orientation sensor sends phasing signal, the rotary power dress to the rotary power unit
Put and the target is rotated according to the phasing signal, and make the target surface of the target towards the subject matter
Place direction.
9. the automatic tracing moved target machine system of omnidirectional according to claim 7, it is characterised in that
Connected by spring between the target and the chassis.
10. the automatic tracing moved target machine system of omnidirectional according to claim 1, it is characterised in that
The M target car is moved to the subject matter simultaneously from different directions along random predetermined paths respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610120930.XA CN106855379A (en) | 2016-03-03 | 2016-03-03 | The automatic tracing moved target machine system of omnidirectional |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610120930.XA CN106855379A (en) | 2016-03-03 | 2016-03-03 | The automatic tracing moved target machine system of omnidirectional |
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| Publication Number | Publication Date |
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| CN106855379A true CN106855379A (en) | 2017-06-16 |
Family
ID=59126276
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610120930.XA Pending CN106855379A (en) | 2016-03-03 | 2016-03-03 | The automatic tracing moved target machine system of omnidirectional |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109405655A (en) * | 2018-10-29 | 2019-03-01 | 上海钧工机器人有限公司 | A kind of ball firing contest goes out target system automatically |
| CN110375578A (en) * | 2019-07-09 | 2019-10-25 | 上海钧工机器人有限公司 | A kind of novel gunnery training system based on motor pattern |
| CN113188376A (en) * | 2021-04-23 | 2021-07-30 | 北京信安通靶场装备科技有限公司 | Target control system |
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| CN113188376A (en) * | 2021-04-23 | 2021-07-30 | 北京信安通靶场装备科技有限公司 | Target control system |
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Application publication date: 20170616 |