CN107087425A

CN107087425A - Hoodle transmitter and its muzzle speed measuring device, using the robot of hoodle transmitter

Info

Publication number: CN107087425A
Application number: CN201680002471.3A
Authority: CN
Inventors: 韩家斌; 苗向鹏; 包玉奇; 贝世猛; 朱志龙
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2016-02-26
Filing date: 2016-02-26
Publication date: 2017-08-22
Also published as: WO2017143596A1

Abstract

A kind of hoodle transmitter and its muzzle speed measuring device, using the robot of the hoodle transmitter.Wherein, the muzzle speed measuring device of hoodle transmitter includes：The entrance point (11) of pitot tube and the connector (8) of muzzle are fixed, along spaced first sensing element (3) of channel direction of pitot tube and the second sensing element (6) and controller (7) in pitot tube (1), two ends respectively, when marble pass through pitot tube (1), the controller (7) records the time difference that the first sensing element (3) and the second sensing element (6) are triggered, and according to the initial velocity of time difference calculating marble.Hoodle transmitter, including emission system and the above-mentioned muzzle speed measuring device that is fixed on the muzzle of the emission system.Robot, including main body and the above-mentioned hoodle transmitter in the main body.The hoodle transmitter and its muzzle speed measuring device, using the robot of the hoodle transmitter, the initial velocity for the marble launched from emission system muzzle can be measured in real time, not only facilitated but also flexible.

Description

Hoodle transmitter and its muzzle speed measuring device, using the robot of hoodle transmitter

Technical field

The present invention relates to robot parts technical field, more particularly to a kind of hoodle transmitter and its muzzle test the speed dress Put, using the robot of hoodle transmitter.

Background technology

In the dual meet of robot, each robot all includes main body and the hoodle transmitting in the main body Device.Wherein, hoodle transmitter includes the emission system for being used to launch the marble such as BB bullets, golf.During the games, obtain The speed for the marble that emission system is launched is very important for the control of match.

At present, only target range tachymeter, for measuring speed during target in bullet, the target range tachymeter includes：It is arranged on Two velocity measurement plates on base, two infrared-ray inductors and timer.Wherein, two sheet separation pre-determined distances that test the speed And set along gravity direction, the through hole passed through for bullet is offered on each velocity measurement plate.Two infrared-ray inductors Then being separately positioned on two lead to the hole site is used to sense whether bullet passes through corresponding through hole.Timer and two infrared-ray senses Device is answered to electrically connect, time difference of the record bullet through two infrared-ray inductors.Calculated finally according to the time difference of record Go out the flying speed of bullet.

But, existing this target range tachymeter is complicated, and weight is big, it is impossible to flexibly mobile, and can only be used for surveying Speed in swab bullet during target, therefore, it is impossible to be directly applied to be used to launch hoodle transmitter in robot confrontation match The initial velocity of the marble gone out is measured in real time.

The content of the invention

It is an object of the invention to provide a kind of hoodle transmitter and its muzzle speed measuring device, using the machine of the hoodle transmitter Device people, to solve the technical problem that target range tachymeter of the prior art can not measure the initial velocity of marble in real time.

To achieve these goals, the invention provides following technical scheme：

First aspect there is provided a kind of muzzle speed measuring device of hoodle transmitter, including：First sensing element, the second sensing Element, controller and the pitot tube passed through for ammunition feed ball；

The entrance point of the pitot tube is used to fix with the muzzle of the emission system of the hoodle transmitter；

The channel direction of first sensing element and the second sensing element along the pitot tube is set and interval pre-determined distance；

First sensing element is used for the first position for detecting whether marble pass through the pitot tube, second sensing Element is used for the second place for detecting whether marble pass through the pitot tube；

The controller is electrically connected with first sensing element and the second sensing element, for recording marble described in The time difference of first position and the second place, and according to the initial velocity of time difference calculating marble.

Second aspect there is provided a kind of hoodle transmitter, including：Emission system and muzzle speed measuring device；

Wherein, the muzzle speed measuring device includes：First sensing element, the second sensing element, controller and for supplying The pitot tube that marble are passed through；

The entrance point of the pitot tube and the muzzle of the emission system are fixed；

The third aspect there is provided a kind of robot of use hoodle transmitter, including：Main body and the bullet in the main body Pearl transmitter；Wherein, the hoodle transmitter includes：Emission system and muzzle speed measuring device；

The muzzle speed measuring device includes：First sensing element, the second sensing element, controller and worn for ammunition feed ball The pitot tube crossed；

Hoodle transmitter and its muzzle speed measuring device that the present invention is provided, using the robot of hoodle transmitter, by setting The pitot tube that can be fixed with the muzzle of the emission system of hoodle transmitter is put, so as to be touched when passing through pitot tube by marble The time difference of the two sensing elements with pre-determined distance is sent out to calculate marble from the initial velocity after emission system injection.This reality This muzzle speed measuring device of example is applied, not only structure is very simple, and the muzzle of hoodle transmitter can be followed to move, can Real-time measurement with flexible realization to marble initial velocity.

Brief description of the drawings

Fig. 1 is the principle schematic of the muzzle speed measuring device given by the embodiment of the present invention；

Fig. 2 is the structural representation of muzzle speed measuring device in Fig. 1；

Fig. 3 is the front view of muzzle speed measuring device in Fig. 2；

Fig. 4 is the top view of muzzle speed measuring device in Fig. 2；

Fig. 5 is the left view of muzzle speed measuring device in Fig. 2；

Fig. 6 removes the structural representation of the circuit board after shell for muzzle speed measuring device in Fig. 2；

Fig. 7 be Fig. 6 in board structure of circuit another observed direction schematic diagram；

Fig. 8 is the upward view of board structure of circuit in Fig. 7；

Fig. 9 is the front view of board structure of circuit in Fig. 7；

Figure 10 is the top view of board structure of circuit in Fig. 7.

In figure：

1st, pitot tube；11st, entrance point；

13rd, the port of export；15th, bottom wall；

17th, roof；19th, side wall；

3rd, the first sensing element；31st, light emitting diode；

33rd, phototriode；4th, light-emitting component；

41st, laser generator；43rd, base；

431st, through hole；5th, marble；

6th, the second sensing element；7th, controller；

8th, connector；9th, element is aimed at；

91st, aiming laser generator；93rd, mounting seat.

Embodiment

Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.

In the description of the invention, it is to be understood that term " on ", " under ", "left", "right", " top ", " bottom ", " interior ", The orientation or position relationship of instructions such as " outer " are, based on orientation shown in the drawings or position relationship, to be for only for ease of and describe this hair Bright and simplified description, rather than instruction or the signified device of hint or element must be with specific orientation, with specific orientation Construction and operation, therefore be not considered as limiting the invention.

In addition, term " first ", " second " be only used for describe purpose, and it is not intended that indicate or imply ordinal relation, Relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can To express or implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, example Such as two, three etc., unless otherwise specifically defined.

In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc. Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；It can be direct phase Even, it can also be indirectly connected to by intermediary, can be that the connection of two element internals or the interaction of two elements are closed System, unless otherwise clear and definite restriction.For the ordinary skill in the art, above-mentioned art can be understood as the case may be The concrete meaning of language in the present invention.

In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature It is that the first and second features are directly contacted, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.

In this manual, the specific features of description, structure, material or feature can be in any one or more embodiments Or combined in an appropriate manner in example.In addition, in the case of not conflicting, those skilled in the art can say this The feature of not be the same as Example or example and non-be the same as Example or example described in bright book is combined and combined.

Embodiment 1

The present embodiment provides a kind of muzzle speed measuring device of hoodle transmitter.Fig. 1 tests the speed for the muzzle that the present embodiment is provided The principle schematic of device；Fig. 2 is the structural representation of muzzle speed measuring device in Fig. 1；Fig. 3 is muzzle speed measuring device in Fig. 2 Front view；Fig. 4 is the top view of muzzle speed measuring device in Fig. 2；Fig. 5 is the left view of muzzle speed measuring device in Fig. 2.

As Figure 1-5, the muzzle speed measuring device that the present embodiment is provided, including：First sensing element 3, second sensing member Part 6, controller 7 and the pitot tube 1 passed through for ammunition feed ball 5.

Wherein, pitot tube 1 is used to pass through for the marble 5 projected from the emission system of hoodle transmitter, and the pitot tube 1 enters Mouth end 11 is used for being fixedly connected with the muzzle of the emission system of hoodle transmitter.It is exactly specifically marble 5 from emission system The passage that muzzle enters in pitot tube 1 after projecting from the import of pitot tube 1, and project pitot tube 1 from the outlet of pitot tube 1. In the present embodiment, the marble 5 that the emission system of hoodle transmitter is launched can be BB bullets, golf or rubber bullet Deng.

Specifically, being not specifically limited in the present embodiment for pitot tube 1, it only needs have one to be available for what bullet was passed through Passage.Therefore, the pitot tube 1 can have any face shaping.For example, pitot tube 1 can be set by two intervals The side wall 19 put is constituted, and by roof 17 and can also be connected to the lower section of roof 17 and spaced two side walls, 19 structures Into certainly, the pitot tube 1 can also be set by two intervals of roof 17, bottom wall 15 and the connection roof 17 and bottom wall 15 The side wall 19 put is constituted, or the pitot tube 1 can also be made up of the hollow tube of cylinder.Description ability more than Field technique personnel can be clear and definite, the passage passed through in pitot tube 1 with a linear ammunition feed ball 5.Preferably, such as Fig. 2 institutes Show, the pitot tube 1 can be a cuboid with hollow channel.Certainly, it could be formed with the outer wall of the cuboid Projection, raised line, concave point or groove etc..

In the present embodiment, it can be directly connected to, can also be indirectly connected between pitot tube 1 and the muzzle of emission system, Such as connected by connector 8.Preferably, referring to Fig. 3, connector 8 is arranged on the port of export 13 of pitot tube 1, and the company Fitting 8 is also connected with the muzzle of emission system, and the connector 8 also has the connection import of pitot tube 1 and the connection of muzzle exit portal Passage.That is, one end connection pitot tube 1 of connector 8, the other end is used for connecting the muzzle of emission system.Specifically, in this reality Apply in example and be not particularly limited for the connected mode of connector 8 and pitot tube 1 and connector 8 and muzzle.Such as, connector 8 can be integrally fixed on the entrance point 11 of pitot tube 1 either with the one of pitot tube 1.Connector 8 can pass through card with muzzle Connecing in succession to be connected through a screw thread.

Meanwhile, the length of pitot tube 1 can also rationally be set according to actual needs, to meet the different marble 5 of measurement The demand of speed.Preferably, a pitot tube 1 with preset length is set, so that bullet can fly in pitot tube 1 Time enough, to improve the accuracy tested the speed.

First sensing element 3, for detecting whether marble 5 pass through the first position of pitot tube 1, along the pipeline of pitot tube 1 Direction is arranged on pitot tube 1.Specifically, the installation site to the first sensing element 3 in pitot tube 1 is not made in the present embodiment Concrete restriction, it can be arranged on the entrance point 11 of pitot tube 1, the port of export 13 either stage casing, and it can be arranged on pitot tube 1 Top, bottom either sidepiece.Meanwhile, in the present embodiment, the type for the first sensing element 3 is also limited without specific System, it can be infrared photoelectric sensor, laser sensor or radar sensor.Also, in the present embodiment, for testing the speed The first position of pipe is also not especially limited, and those skilled in the art can select marble 5 in pitot tube 1 to fly according to actual needs Optional position on row track is used as first position.

Second sensing element 6, for detecting whether marble 5 pass through the second place of pitot tube 1, its pipe along pitot tube 1 Road direction sets and is spaced pre-determined distance with the first sensing element 3.Except above-mentioned to the second sensing element 6 and the first sensing element 3 have outside the limitation of pre-determined distance, and other restrictions are not remake to the set location of the first sensing element 3 in the present embodiment.At this In embodiment specific limitation is not made yet to the type of the second sensing element 6, it can also be infrared photoelectric sensor, laser Sensor or radar sensor.Preferably, the first sensing element 3 and the second sensing element 6 use the sensing element of same type, For example, all using infrared photoelectric sensor.Also, in the present embodiment, the first position for pitot tube does not make specific limit yet Fixed, those skilled in the art can select different with first position in the flight path of marble 5 in pitot tube 1 according to actual needs Optional position is used as the second place.

Specifically, in the example shown in Fig. 1-5, the first position refers to the transversal of pitot tube 1 at the first sensing element 3 Face, the second place refers to the cross section of pitot tube 1 at the second sensing element 6.

Preferably, as shown in figure 1, the first sensing element 3 is positioned close to the port of export 13 of pitot tube 1, accordingly, by Two sensing elements 6 are positioned close to the entrance point 11 of pitot tube 1.Certainly, the first sensing element 3 can also be positioned close to test the speed The entrance point 11 of pipe 1, accordingly, the second sensing element 6 is positioned close to the port of export 13 of pitot tube 1.Further, it is possible to will First sensing element 3 is positioned close to the side of the port of export 13, and the second sensing element 6 is arranged on to the side of entrance point 11, So as to reduce the height of pitot tube 1, in favor of the aiming of hoodle transmitter.

Controller 7 is electrically connected with the first sensing element 3 and the second sensing element 6, for recording marble 5 through the second place With the time difference of first position, and according to the time difference calculate marble 5 from emission system launch when initial velocity.

In the present embodiment, the structure and type to controller 7 are not specifically limited, and it can be surface-mounted integrated circuit, core The set of piece or software or several circuits or several functional modules.For example, will can control in some instances Device 7 is arranged to include the integrated circuit of timing circuit, counting circuit, carries out timing by timing circuit, passes through counting circuit meter Calculate initial velocity.In other examples, controller 7 can be arranged to include clocking capability, the collection of programs of computing function, led to Cross timing program and carry out timing, calculated by calculation procedure.Also, when timing is carried out by timing software, its Timing can be carried out by reading CPU system time, or can also be carried out by direct timing.These are all these The routine techniques in field, no longer progress is excessive herein repeats, and those skilled in the art can be as needed arbitrarily from suitable Routine techniques.

In addition, the electric connection mode of the sensing element 3 of controller 7 and first and the second sensing element 6 is in the present embodiment It is not specifically limited, the explanation of broad sense should be done for electrical connection, it can be connected by wire or by signal Connection, such as wifi signals, Bluetooth signal or GPRS signals etc..

Below by taking Fig. 1 as an example, the operation principle of the muzzle speed measuring device in the present embodiment is simply introduced, so that this area skill Art personnel more fully understand the technical solution of the utility model：

Operationally, marble 5 are projected from the emission system of hoodle transmitter, from the pitot tube 1 of muzzle speed measuring device Import enters in the pipeline of pitot tube 1, the second place where the second sensing element 6 is then passed through, that is, when marble 5 are flown to During the sensed position of the second sensing element 6, the second sensing element 6 is triggered, now, the record quilt of the second sensing element 6 of controller 7 The time of triggering.Afterwards, marble 5 are through the first position of the first sensing element 3 sensing and trigger first sensing element 3, control Device 7 processed records the time that the first sensing element 3 is triggered, so as to recorded marble 5 through the second place and first position Time difference, that is, the time difference t that the second sensing element 6 of record and the first sensing element 3 are triggered.Finally, further according to it is above-mentioned when Between difference and the pre-determined distance s passage times velocity function (v=s/t) of the first sensing element 3 and the second sensing element 6 calculate The initial velocity v of marble 5.For example, it is when the time difference that the first sensing element 3 and the second dry sensing element are triggered 0.0001s, and the first sensing element 3 and the second sensing element 6 pre-determined distance be 3cm when, can calculate marble 5 just Speed V=0.03m/0.001s=30m/s.

The muzzle speed measuring device of the present embodiment, by setting what can be fixed with the muzzle of the emission system of hoodle transmitter Pitot tube 1, so as to trigger the time of the two sensing elements with pre-determined distance when passing through pitot tube 1 by marble 5 Difference come calculate marble 5 from emission system injection after initial velocity.This muzzle speed measuring device of the present embodiment, not only structure is very It is simple, and the muzzle of hoodle transmitter can be followed to move, realization that can be flexible is to the real-time of the initial velocity of marble 5 Measurement.

Embodiment 2

The present embodiment provides a kind of muzzle speed measuring device of hoodle transmitter, and the muzzle for measuring from hoodle transmitter is penetrated The initial velocity of the marble 5 gone out and the radio frequency (firing rate) of many marble 5.Fig. 6 removes after shell for muzzle speed measuring device in Fig. 2 Circuit board structural representation；Fig. 7 be Fig. 6 in board structure of circuit another observed direction schematic diagram；Fig. 8 is Fig. 7 The upward view of middle board structure of circuit；Fig. 9 is the front view of board structure of circuit in Fig. 7；Figure 10 is the vertical view of board structure of circuit in Fig. 7 Figure.

As Figure 1-10 shows, the present embodiment is on the basis of the technical scheme that embodiment 1 is provided, to be remembered using controller 7 The number and each marble 5 recorded through the marble 5 of first position pass through the time during first position, and according to marble 5 Number and each marble 5 through many marble 5 of Time Calculation of the first position radio frequency (that is, shooting frequency Rate).

In the present embodiment, the structure and particular type to controller 7 do not make specific limitation, and those skilled in the art can Arbitrarily to select integrated circuit, chip or software to realize above-mentioned functions.Preferably, Fig. 6-10 are referred to, will can be controlled Device 7 is arranged to a circuit board, and the circuit board can include counting circuit and timing circuit, and counting circuit is recorded through first position The number of the marble 5 of (that is, triggering first sensing element 3), and record each marble 5 trigger the first sensing element 3 when Between.Then, the Time Calculation bullet of the first sensing element 3 is triggered according to the number of marble 5 and each marble 5 of record that are recorded The radio frequency of ball 5.Specifically, when first marble 5 triggers the first sensing element 3, counting circuit is started counting up and each Counted when marble 5 trigger the first sensing element 3 and Jia one；Timing circuit then records each marble 5 and triggers the first sensing element 3 Time；Finally, last marble 5 recorded by timing circuit and the time difference of first marble 5 and the number of marble 5 Ratio calculation obtains the radio frequency of many marble 5.For example, exactly when there is three marble 5 to trigger the first sensing elements 3, and When time difference between 3rd marble 5 and first marble 5 is 1s, then radio frequency is 3 hairs/s.

Certainly, controller 7 can also pass through the parameters of the second place to calculate radio frequency by recording marble, that is, The number of marble 5 and every marble 5 for triggering the second sensing element 6 trigger the time of the second sensing element 6 to calculate many marble 5 Radio frequency, the principle that its principle and controller noted above 7 survey radio frequency by the first sensing element 3 is consistent, will not be repeated here.

Further, refering to Fig. 8 and Figure 10, the first sensing element 3 preferably can also be positioned close to survey by the present embodiment The entrance point 11 of fast pipe 1, the second sensing element 6 is positioned close to the port of export 13 of pitot tube 1.So, it can as far as possible reduce and survey The length of fast pipe 1, so as to mitigate the weight of muzzle speed measuring device；And can the sensing of the first sensing element of increase 3 and second as far as possible The pre-determined distance of element 6, eliminates the timing error of controller 7 so that the measurement of the speed of marble 5 and radio frequency is more accurate.It is more excellent First sensing element 3, can be arranged on the entrance point 11 of pitot tube 1, and the second sensing element 6 is arranged on into pitot tube by selection of land 1 port of export 13.

In the present embodiment, the concrete form of the first sensing element 3 and the second sensing element 6 is not specifically limited, and it can To be the sensing element that is separately provided or being integrated with circuit board as illustrated in figures 6-10.

In the present embodiment, the triggering information of the first sensing element 3 and the second sensing element 6 is obtained not for controller 7 Concrete restriction is done, that is, the first information and controller 7 that controller 7 obtains the first sensing element 3 obtain the second sensing element 6 the second information does not make specific limitation.Controller 7 can be while obtaining the first information and second of the first sensing element 3 Second information of sensing element 6 or the first information and the second sensing element 6 for successively obtaining the first sensing element 3 The second information.Wherein, the first information refer to the first sensing element 3 detect marble 5 pass through first position information, second letter Breath refers to the second sensing element 6 and detects the information that marble 5 pass through the second place.Preferably, when controller 7 gets the first letter The second information is obtained after breath again.Specifically, exactly when the first sensing element 3 is triggered, controller 7 detects the second sense again Answer whether element 6 is also triggered.Make above-mentioned restriction by obtaining information to controller 7, controller 7 can be enabled to recognize the Whether it is false triggering that one sensing element 3 is triggered, so as to improve the reliability of muzzle speed measuring device.For example, controller 7 can To be to detect whether the second sensing element 6 in the quilt of the first sensing element 3 again after the first information of the first sensing element 3 is got It was triggered in some period before the time point of triggering；If be triggered, the second letter of the second sensing element 6 is obtained Breath；Otherwise, controller 7 does not get the second information of the second sensing element 6 then.

Further, when controller 7 only gets the first information, controller 7 judges the number of marble 5 of current record It is invalid with the time.That is, when it is by false triggering that controller 7, which recognizes the first sensing element 3, then the number for the marble 5 that do not add up With the time of this triggering so that ensure radio frequency calculate accuracy.

The foregoing describe the principle that controller 7 calculates many radio frequencies of marble 5, for example, be exactly that controller 7 is being got The time that the number of marble 5 cumulative first and storage are currently triggered during the first information, and further obtain the second information.If not yet The second information (that is, the second sensing element 6 is not triggered) is got, then the number of marble 5 of storage is subtracted one, and delete institute The time of the last time record of storage.It is of course also possible to when controller 7 gets the first information, the second information is first obtained, If getting the second information, the number of cumulative marble 5 simultaneously stores time when the first sensing element 3 is triggered.

The muzzle speed measuring device of the present embodiment, the marble 5 through first position or the second place are recorded by controller 7 Number and each marble 5 can very easily calculate many marble 5 through the time of first position or the second place Radio frequency.Also, the present embodiment is also by obtaining the selection of time of the first information and the second information to controller 7, and eliminating can The false triggering problem of energy, improves the reliability of muzzle speed measuring device.

Embodiment 3

The present embodiment provides a kind of muzzle speed measuring device of hoodle transmitter, and the muzzle for measuring from hoodle transmitter is penetrated The initial velocity of the marble 5 gone out and the flight path for illuminating marble 5.

As Figure 1-10 shows, the present embodiment is on the basis of embodiment 1 and embodiment 2, to be fixedly connected on pitot tube 1 One light-emitting component 4 for being electrically connected with controller 7, the flight path (that is, the trajectories of marble 5) for illuminating marble 5.Work as marble 5 pass through behind first position, and the control light-emitting component 4 of controller 7 launches light in a preset time, and the light is along marble The 5 exit direction extension after emission system injection.

Specifically, in the present embodiment, the installation site to light-emitting component 4 does not do concrete restriction, it can be arranged on survey The optional position of fast pipe 1, such as top, bottom, any one sidepiece or the port of export 13.Also, in the present embodiment, also not The concrete shape of light-emitting component 4 is limited, it can be point-like, wire or planar.Meanwhile, do not limit hair in the present embodiment yet The light source type of optical element 4, it can be the light source of incandescent lamp, LED or other forms.Moreover, in the present embodiment Concrete restriction is not carried out to the quantity of light source, it can be one, two or more.Also, when light source is multiple, The color of light source can be it is a kind of, two kinds or two or more.In addition, the structure for light-emitting component 4 in the present embodiment It is not specifically limited, it can be multiple spot lights for being directly arranged separately on pitot tube 1 or by multiple light sources collection Into on a circuit board, meanwhile, light-emitting component 4 can only include electronic component, can also include its outside electronic component His part.Also, in the present embodiment, light-emitting component 4 can be arranged separately on pitot tube 1, miscellaneous part can also be passed through Or structure is arranged on pitot tube 1.

Meanwhile, the electric connection mode of controller 7 and light-emitting component 4 is also not especially limited in the present embodiment, and it can be with It is to be connected by wire or by wireless connection, such as wifi signals, Bluetooth signal or GPRS signals etc..

The muzzle speed measuring device of the present embodiment, by setting the light-emitting component 4 electrically connected with controller 7, so that when marble 5 Through after first position, controller 7 can control light-emitting component 4 to be lighted in preset time.Launched by light-emitting component 4 Light is consistent with the exit direction that marble 5 are projected, therefore, it is possible to the accurate flight path for telling marble 5, that is, marble 5 Trajectory.So, the spectators positioned at gallery can tell which side hoodle transmitter in confrontation match and shoot, and Marble 5 will fly toward which direction, can substantially fall where.So that when shooting deviation occurs in hoodle transmitter, spectators It can tell whether marble 5 can fly to oneself in time, and then be avoided in time, it is to avoid be accidentally injured.That is, in the present embodiment In by setting light-emitting component 4 to improve the security of in-situ match personnel.

In the present embodiment for the first sensing element 3 and the second sensing element 6 installation site except needing therebetween To have outside pre-determined distance and also be not especially limited, the two sensing elements may be mounted at the optional position of pitot tube 1, than Such as top, bottom or side.Preferably, the first sensing element 3 is positioned close to the port of export 13 of pitot tube 1, by second Sensing element 6 is positioned close to the entrance point 11 of pitot tube 1.So as to so that light-emitting component 4 is after marble 5 pass through first position Just launch light, save the energy.

Certainly, can also be controlled in the present embodiment by other control modes light-emitting component 4 launch light, such as when Marble 5 just control light-emitting component 4 to launch light over time, become through controller 7 after the first sensing element 3.Therefore, In the present embodiment, the specific control strategy for controlling light-emitting component 4 for controller 7 is not specifically limited.Preferably, controller 7 only pass through the second place in marble 5, and the marble 5 also extend through first position and open preset time, that is to say, that controller 7 Only launch light in preset time after marble 5 sequentially pass through the second place and first position.

Specifically, controller 7 can detect marble 5 through behind first position in the first sensing element 3, judge Whether the first sensing element 3 detects marble 5 and passed through has marble 5 to pass through second in a period of time before first position Put.If so, then explanation has marble 5 to sequentially pass through the second place and first position, then the control of controller 7 light-emitting component 4 exists Transmitting light in preset time；If it is not, illustrating that no marble 5 pass through in pitot tube 1, now, light-emitting component 4 is not sent out Penetrate light.

It can be seen from above-mentioned analysis, when the first sensing element 3 in the present embodiment and the position of the second sensing element 6 as above Set and controller 7 is with that when strategy is controlled as described above, can prevent the mistake of light-emitting component 4 from lighting, improve muzzle speed measuring device Reliability.

Further, as shown in Fig. 2 light-emitting component 4 includes the laser generator 41 being fixedly connected with pitot tube 1, it is used for Launch laser, the laser along marble 5 from muzzle speed measuring device injection after exit direction extend.In the present embodiment, for The concrete structure and type of laser generator 41 are not specifically limited, and those skilled in the art can arbitrarily select to close as needed Suitable laser generator 41.Because laser has good directionality and intensity of illumination, therefore, it, which has, preferably indicates to make With the spectators in a distant place can be made more clearly to see the flight path of bullet, and its clear and definite drop point site, spectators can be made more The marble 5 of good avoidance flight spectators, further improve the security of spectators' event watching.

Further, as shown in Fig. 2 light-emitting component 4 also includes the base 43 for installing laser generator 41.The base 43 is consolidated The port of export 13 of pitot tube 1 is scheduled on, and the through hole 431 with the outlet of pitot tube 1 is offered on base 43, for supplying Marble 5 are passed through.On the end face of the base 43 away from pitot tube 1, namely left side in Fig. 2 is provided with multiple laser generators 41, the laser that these laser generators 41 are launched along marble 5 from the through hole 431 injection after exit direction extend.

In the present embodiment, for the concrete shape of base 43, structure and material and its specific connection with pitot tube 1 Mode is not specifically limited.For example, the base 43 can circular, rectangle or other shapes.The base 43 can be uniform knot Structure can also have a number of raised, groove thereon.The connected mode of the base 43 and pitot tube 1 can be non-disconnectable It can also be detachably connected to unload connection.Preferably, the base 43 is a cuboid, offers and tests the speed on the cuboid The through hole 431 of the outlet of pipe 1, the groove connected with the through hole 431 is offered in the bottom of the cuboid.Multiple laser occur Device 41 is then uniformly arranged on the periphery of through hole 431.Further, reference picture 2 is understood, two sides and top surface and the bottom of the cuboid The line in face is arc transition.Certainly, the right side that base 43 is connected with pitot tube 1 in preferred example and pitot tube 1 The end face size and shape of entrance point 11 is identical.

The muzzle speed measuring device of the present embodiment, by setting multiple laser generators 41 on the base 43 of light-emitting component 4, The luminous intensity during transmitting light of light-emitting component 4 can be further improved, so that the identification of the flight path of marble 5 is improved, to carry High security.

Preferably, as shown in Fig. 2 above-mentioned multiple laser generators 41 include the laser hair of at least two groups transmitting different colours Raw device 41, the generating laser of these different colours is arranged at intervals.Such as in fig. 2, four laser are provided with base 43 Generator 41, this four laser generators 41 include the laser generator 41 and two transmitting greens of two transmitting red laser beams The laser generator 41 of laser.This four laser generators 41 are arranged at intervals, that is, two red lasers are located at one of rectangle On diagonal, two green lasers are located on another diagonal of rectangle.

In above-mentioned preferred scheme, by setting the laser generator 41 of different colours, so as to lead in play Color is crossed to indicate different warring parties.And then so that the ratio at the scene of can more intuitively grasping of the spectators positioned at a distant place Situation of contest condition.Meanwhile, the laser of different colours, which is arranged at intervals, can make the irradiation area of laser more uniform.

Embodiment 4

The present embodiment provides a kind of muzzle speed measuring device of hoodle transmitter.

As shown in figures 8 and 10, the muzzle test device that the present embodiment is provided is in embodiment 1, embodiment 2 or embodiment On the basis of 3 technical schemes provided, the first sensing element 3 and the second sensing element 6 are arranged to include symmetrically arranged Light generating device and light receiving element.

In the present embodiment, it is not especially limited for the particular type and structure of light generating device and light receiving element, Those skilled in the art can select any appropriate electronic component.Such as, selection light emitting diode 31 or luminous three poles Pipe is used as light generating device；Selection photodiode or phototriode 33 are used as light receiving element.

In the present embodiment, the specific set location for light generating device and light receiving element is not specifically limited.Than The light emitting diode 31 as light generating device and the phototriode 33 as light receiving element are such as arranged on the phase of pitot tube 1 To two sides on.Specifically, the center line phase of the line of light emitting diode 31 and phototriode 33 and the pipeline of pitot tube 1 Hand over, line of the light that light emitting diode 31 is sent along light emitting diode 31 and phototriode 33 is irradiated to phototriode On 33.

The first sensing element 3 and the second sensing element 6 of the muzzle test device of the present embodiment include symmetrically arranged Light generating device and light receiving element, thus constitute the photoelectric sensor of intensity of illumination between both detections line.Work as bullet When ball 5 passes through the line, you can block the light that light generating device is sent, so that the circuit of light receiving element is triggered, The triggering of the first sensing element 3 (the second sensing element 6) is allowed for, namely has detected marble 5 through first position (second Put).Because light generating device and light receiving element are respectively provided with high sensitivity, especially light emitting diode 31 and phototriode 33 photoelectric sensors constituted have very high sensitivity, therefore, are extremely suitable for detection marble 5 this with very at a high speed The object of degree.

The concrete shape and structure of pitot tube 1 are not specifically limited in the present embodiment, its can be hollow cuboid, Hollow circuit cylinder etc..Certainly it can also be formed with raised or be recessed on the outer wall of pitot tube 1.Preferably, pitot tube 1 is wrapped Include：Roof 17 and two side walls 19 for being arranged on the lower section of roof 17, light emitting diode 31 and phototriode 33 are respectively symmetrically set Put on two side walls 19, controller 7 is then arranged on roof 17.

In above-mentioned preferred scheme, by the way that light emitting diode 31 and phototriode 33 are arranged on two side walls 19 simultaneously Controller 7 is arranged on roof 17, the total of muzzle speed measuring device can be made compacter, is tested the speed so as to reduce muzzle The volume of device.

It is highly preferred that as shown in Fig. 2 pitot tube 1 also includes bottom wall that is relative with roof 17 and being connected with two side walls 19 15, so as to reduce influence of the extraneous light to light emitting diode 31 and phototriode 33.

Embodiment 5

As Figure 1-10 shows, the present embodiment provide muzzle speed measuring device, be embodiment 1, embodiment 2, embodiment 3 or On the basis of the technical scheme that person's embodiment 4 is provided, one is set to aim at element 9, the aiming element 9 includes aiming laser Device 91, for being aimed at when launching marble 5.The aiming laser generator 91 is fixed on the tube wall of pitot tube 1, also, this is taken aim at The laser that quasi- laser generator 91 is launched along marble 5 from speed measuring device injection after exit direction extend.

In the present embodiment, the installation site of aiming laser generator 91 is not especially limited, and it, which may be mounted at, tests the speed The optional position of pipe 1.The such as top of pitot tube 1, bottom or both sides.

Meanwhile, in the present embodiment, the color of the structure of aiming laser generator 91, type and laser is not made specifically yet Restriction, such as, and can select elongated tubular infrared laser generator 41.In practical application, those skilled in the art can be with Selected, be will not be repeated here as needed.

In addition, aiming laser generator 91 can be controlled individually, it can also be electrically connected with controller 7 so as to by controller 7 are controlled.Meanwhile, laser can be controlled always on or control laser is closed after marble 5 are sent.

The muzzle speed measuring device of the present embodiment, includes the aiming of aiming laser generator 91 by being installed on pitot tube 1 Element 9, so that the laser that can be launched before the transmitting of marble 5 by aiming laser generator 91 is aimed at, to improve bullet The hit rate of ball 5.

In the present embodiment, as shown in Figure 2, it is preferable that aiming at element 9 also includes mounting seat 93, and laser generator 41 leads to Cross mounting seat 93 and be fixed on the bottom of pitot tube 1, so as to strengthen the bonding strength of laser generator 41 and pitot tube 1, it is to avoid its Drop in play, improve the service life of muzzle speed measuring device.

In the present embodiment, the concrete shape and structure of mounting seat 93 are not specifically limited.Those skilled in the art can be with Mounting seat 93 from any suitable shape is used to connect pitot tube 1 and aiming laser generator 91.Such as select hollow columnar Mounting seat 93, so as to which the infrared laser generator 41 of elongated tubular is socketed in the inner chamber of mounting seat 93.In addition, installing The connected mode of seat 93 and pitot tube 1 is also not especially limited, and it can be the non-removable bottom for being fixed on pitot tube 1, Such as, it is welded on the bottom of pitot tube 1.The mounting seat 93 can also be detachably mounted to the bottom of pitot tube 1, such as, Clamping or threaded connection.

In addition, the connected mode between laser generator 41 and base 43 is also not specifically limited in the present embodiment, its It can be connected, can also be connected by non-removable mode with base 43 with base 43 by dismountable mode.

Embodiment 6

The present embodiment provides a kind of hoodle transmitter.

Fig. 1-10 are referred to, the hoodle transmitter that the present embodiment is provided includes：Emission system and muzzle speed measuring device.Its In, muzzle speed measuring device includes：First sensing element 3, second sensing element 6, controller 7 and passed through for ammunition feed ball 5 Pitot tube 1.

First sensing element 3, for detect marble 5 whether the first position of pitot tube 1, along the duct orientation of pitot tube 1 It is arranged on pitot tube 1.Specifically, the installation site to the first sensing element 3 in pitot tube 1 is not made specifically in the present embodiment Limitation, it can be arranged on the entrance point 11 of pitot tube 1, the port of export 13 either stage casing, and it can be arranged on the top of pitot tube 1 Portion, bottom either sidepiece.Meanwhile, in the present embodiment, for the first sensing element 3 type also without concrete restriction, It can be infrared photoelectric sensor, laser sensor or radar sensor.Also, in the present embodiment, for pitot tube First position be also not especially limited, those skilled in the art can select marble 5 in pitot tube 1 to fly according to actual needs Optional position on track is used as first position.

Specifically in the illustrated embodiment, the first position refers to the cross section of pitot tube at first sensing element, The second place refers to the cross section of pitot tube at second sensing element；

In addition, the electric connection mode of the sensing element 3 of controller 7 and first and the second sensing element 6 is in the present embodiment It is not specifically limited, the explanation of broad sense should be done for electrical connection, it can be connected by wire or by wireless Connection, such as wifi signals, Bluetooth signal or GPRS signals etc..

The hoodle transmitter of the present embodiment, by setting the survey that can be fixed with the muzzle of the emission system of hoodle transmitter Fast pipe 1, so as to trigger the time difference of the two sensing elements with pre-determined distance when passing through pitot tube 1 by marble 5 To calculate marble 5 from the initial velocity after emission system injection.This muzzle speed measuring device of the present embodiment, not only structure is unusual Simply, and the muzzle of hoodle transmitter can be followed to move, the real-time survey of realization that can be flexible to the initial velocity of marble 5 Amount.

Embodiment 7

The present embodiment provides a kind of hoodle transmitter, the initial velocity for measuring the marble 5 from the muzzle injection of emission system The radio frequency (firing rate) of degree and many marble 5.

Fig. 1-10 are referred to, the present embodiment is on the basis of the technical scheme that embodiment 6 is provided, to remember using controller 7 The number and each marble 5 recorded through the marble 5 of first position pass through the time during first position, and according to marble 5 Number and each marble 5 through many marble 5 of Time Calculation of the first position radio frequency (that is, shooting frequency Rate).

The hoodle transmitter of the present embodiment, the marble 5 through first position or the second place are recorded by controller 7 Several and each marble 5 can very easily calculate many marble 5 through the time of first position or the second place Radio frequency.Also, the present embodiment also by obtaining the selection of time of the first information and the second information to controller 7, eliminates possibility False triggering problem, improve the reliability of muzzle speed measuring device.

Embodiment 8

The present embodiment provides a kind of hoodle transmitter, the initial velocity for measuring the marble 5 from the muzzle injection of emission system Spend and illuminate the flight path of marble 5.

Fig. 1-10 are referred to, the present embodiment is on the basis of embodiment 6 and embodiment 7, to be fixedly connected on pitot tube 1 One light-emitting component 4 for being electrically connected with controller 7, the flight path (that is, the trajectories of marble 5) for illuminating marble 5.Work as marble 5 pass through behind first position, and the control light-emitting component 4 of controller 7 launches light in a preset time, and the light is along marble The 5 exit direction extension after emission system injection.

The hoodle transmitter of the present embodiment, by setting the light-emitting component 4 electrically connected with controller 7, so that when marble 5 are worn Cross behind first position, controller 7 can control light-emitting component 4 to be lighted in preset time.The light launched by light-emitting component 4 Line is consistent with the exit direction that marble 5 are projected, therefore, it is possible to the accurate flight path for telling marble 5, that is, the bullet of marble 5 Road.So, the spectators positioned at gallery can tell which side hoodle transmitter in confrontation match and shoot, and bullet Ball 5 will fly toward which direction, can substantially fall where.So that when shooting deviation occurs in hoodle transmitter, Guan Zhongke And when tell whether marble 5 can fly to oneself, and then avoided in time, it is to avoid accidentally injured.That is, in the present embodiment By setting light-emitting component 4 to improve the security of in-situ match personnel.

The hoodle transmitter of the present embodiment, can by setting multiple laser generators 41 on the base 43 of light-emitting component 4 Further to improve the luminous intensity during transmitting light of light-emitting component 4, so that the identification of the flight path of marble 5 is improved, to improve Security.

Embodiment 9

The present embodiment provides a kind of hoodle transmitter.

Fig. 1-10 are referred to, the hoodle transmitter that the present embodiment is provided is in embodiment 6, embodiment 7 or the institute of embodiment 8 On the basis of the technical scheme of offer, the first sensing element 3 and the second sensing element 6 are arranged to include symmetrically arranged light hair Raw device and light receiving element.

In the present embodiment, it is not especially limited for the particular type and structure of light generating device and light receiving element, Those skilled in the art can select any appropriate electronic component.Such as, selection light emitting diode 31 or luminous three poles Pipe is used as light generating device；Selection photodiode is used as light receiving element with phototriode 33.

The first sensing element 3 and the second sensing element 6 of the muzzle test device of the hoodle transmitter of the present embodiment are wrapped Symmetrically arranged light generating device and light receiving element are included, thus constitutes the photoelectricity of intensity of illumination between both detections line Inductor.When marble 5 pass through the line, you can block the light that light generating device is sent, so as to trigger optical receiver The circuit of part, also allows for the triggering of the first sensing element 3 (the second sensing element 6), namely detected marble 5 through first Put (second place).Because light generating device and light receiving element are respectively provided with high sensitivity, the especially He of light emitting diode 31 The photoelectric sensor that phototriode 33 is constituted has very high sensitivity, therefore, is extremely suitable for detection marble 5 this Object with very high speed.

Embodiment 10

The present embodiment provides a kind of hoodle transmitter.

Refer to Fig. 1-10, the hoodle transmitter that the present embodiment is provided, be embodiment 6, embodiment 7, embodiment 8 or On the basis of the technical scheme that embodiment 9 is provided, one is set to aim at element 9, the aiming element 9 includes aiming laser generator 91, for being aimed at when launching marble 5.The aiming laser generator 91 is fixed on the tube wall of pitot tube 1, also, the aiming The laser that laser generator 91 is launched along marble 5 from speed measuring device injection after exit direction extend.

The hoodle transmitter of the present embodiment, the aiming member of aiming laser generator 91 is included by being installed on pitot tube 1 Part 9, so that the laser that can be launched before the transmitting of marble 5 by aiming laser generator 91 is aimed at, to improve marble 5 Hit rate.

Embodiment 11

The present embodiment provides a kind of robot of use hoodle transmitter.

Refer to Fig. 1-10, the robot that the present embodiment is provided, including：Main body and the hoodle transmitting in the main body Device.Wherein, the hoodle transmitter includes：Emission system and muzzle speed measuring device.The muzzle speed measuring device includes：First sensing member Part 3, the second sensing element 6, controller 7 and the pitot tube 1 passed through for ammunition feed ball 5.

The robot of the present embodiment, by setting the pitot tube that can be fixed with the muzzle of the emission system of hoodle transmitter 1, counted so as to trigger the time difference of the two sensing elements with pre-determined distance when passing through pitot tube 1 by marble 5 Marble 5 are calculated from the initial velocity after emission system injection.This muzzle speed measuring device of the present embodiment, not only structure is very simple It is single, and the muzzle of hoodle transmitter can be followed to move, the real-time survey of realization that can be flexible to the initial velocity of marble 5 Amount.

Embodiment 12

The present embodiment provides a kind of robot of use hoodle transmitter.

Fig. 1-10 are referred to, the present embodiment is on the basis of the technical scheme that embodiment 11 is provided, to remember using controller 7 The number and each marble 5 recorded through the marble 5 of first position pass through the time during first position, and according to marble 5 Number and each marble 5 through many marble 5 of Time Calculation of the first position radio frequency (that is, shooting frequency Rate).

The robot of the present embodiment, by controller 7 record through first position or the second place the number of marble 5 and Each marble 5 can very easily calculate penetrating for many marble 5 through the time of first position or the second place Frequently.Also, the present embodiment also by obtaining the selection of time of the first information and the second information to controller 7, is eliminated possible False triggering problem, improves the reliability of muzzle speed measuring device.

Embodiment 13

The present embodiment provides a kind of robot of use hoodle transmitter.

Fig. 1-10 are referred to, the present embodiment is the fixed company on pitot tube 1 on the basis of embodiment 11 and embodiment 12 A light-emitting component 4 electrically connected with controller 7 is connect, the flight path (that is, the trajectories of marble 5) for illuminating marble 5.Work as bullet Ball 5 is passed through behind first position, and the control light-emitting component 4 of controller 7 launches light in a preset time, and the light is along bullet Ball 5 extends from the exit direction after emission system injection.

Meanwhile, the electric connection mode of controller 7 and light-emitting component 4 is also not especially limited in the present embodiment, and it can be with It is to be connected or connected by signal, such as wifi signals, Bluetooth signal or GPRS signals etc. by wire.

The robot of the present embodiment, by setting the light-emitting component 4 that electrically connect with controller 7, so that working as marble 5 passes through the Behind one position, controller 7 can control light-emitting component 4 to be lighted in preset time.The light launched by light-emitting component 4 with The exit direction that marble 5 are projected is consistent, therefore, it is possible to the accurate flight path for telling marble 5, that is, the trajectory of marble 5. So, the spectators positioned at gallery can tell which side hoodle transmitter in confrontation match and shoot, and marble 5 Toward the flight of which direction, will can substantially fall where.So as to when hoodle transmitter occur shooting deviation when, spectators can and When tell whether marble 5 can fly to oneself, and then avoided in time, it is to avoid accidentally injured.That is, passing through in the present embodiment Light-emitting component 4 is set to improve the security of in-situ match personnel.

In the present embodiment, for the concrete shape of base 43, structure and material and its specific connection with pitot tube 1 Mode is not specifically limited.For example, the base 43 can circular, rectangle or other shapes.The base 43 can be uniform knot Structure can also have a number of raised, groove thereon.The connected mode of the base 43 and pitot tube 1 can be non-disconnectable It can also be detachably connected to unload connection.Preferably, the base 43 is a cuboid, offers and tests the speed on the cuboid The through hole 431 of the outlet of pipe 1, the groove connected with the through hole 431 is offered in the bottom of the cuboid.Multiple laser occur Device 41 is then uniformly arranged on the periphery of through hole 431.Further, reference picture 2 is understood, two sides and top surface and the bottom of the cuboid The line in face is arc transition.Certainly, base 43 is connected with pitot tube 1 in preferred example the right side and the import of pitot tube 1 The end face size and shape at end 11 is identical.

The robot of the present embodiment, by setting multiple laser generators 41, Ke Yijin on the base 43 of light-emitting component 4 One step improves the luminous intensity during transmitting light of light-emitting component 4, so that the identification of the flight path of marble 5 is improved, to improve safety Property.

Embodiment 14

The present embodiment provides a kind of robot of use hoodle transmitter.

Fig. 1-10 are referred to, the present embodiment is the technical side provided in embodiment 11, embodiment 12 or embodiment 13 On the basis of case, by the first sensing element 3 and the second sensing element 6 is arranged to include symmetrically arranged light generating device and light connects Receive device.

The first sensing element 3 and the second sensing element 6 of the muzzle test device of the robot of the present embodiment include pair Claim light generating device and the light receiving element set, thus constitute the optoelectronic induction of intensity of illumination between both detections line Device.When marble 5 pass through the line, you can block the light that light generating device is sent, so as to trigger light receiving element Circuit, also allows for the triggering of the first sensing element 3 (the second sensing element 6), namely detected marble 5 through first position (second place).Because light generating device and light receiving element are respectively provided with high sensitivity, especially light emitting diode 31 and light The photoelectric sensor that quick triode 33 is constituted has very high sensitivity, therefore, is extremely suitable for detecting this tool of marble 5 There is the object of very high speed.

Embodiment 15

The present embodiment provides a kind of robot of use hoodle transmitter.

Fig. 1-10 are referred to, the present embodiment is provided in embodiment 11, embodiment 12, embodiment 13 or embodiment 14 Technical scheme on the basis of, set one aim at element 9, the aiming element 9 include aiming laser generator 91, for transmitting Aimed at during marble 5.The aiming laser generator 91 is fixed on the tube wall of pitot tube 1, also, the institute of aiming laser generator 91 The laser of transmitting along marble 5 from speed measuring device injection after exit direction extend.

The robot of the present embodiment, includes the aiming element 9 of aiming laser generator 91 by being installed on pitot tube 1, So as to which the laser that can be launched before the transmitting of marble 5 by aiming laser generator 91 is aimed at, to improve the life of marble 5 Middle rate.

Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills Art field, is included within the scope of the present invention.

Claims

1. a kind of muzzle speed measuring device of hoodle transmitter, it is characterised in that including：First sensing element, the second sensing element, Controller and the pitot tube passed through for ammunition feed ball；

First sensing element is used for the first position for detecting whether marble pass through the pitot tube, second sensing element For detecting whether marble pass through the second place of the pitot tube；

The controller is electrically connected with first sensing element and the second sensing element, for recording marble through described first The time difference of position and the second place, and according to the initial velocity of time difference calculating marble.

2. muzzle speed measuring device according to claim 1, it is characterised in that the controller is used to recording through described the The number of the marble of one position or the second place and each marble pass through the first position or the second place Time, and number according to the marble and each marble are through the time of the first position or the second place Calculate the radio frequency of many marble.

3. muzzle speed measuring device according to claim 2, it is characterised in that first sensing element tests the speed close to described The port of export of pipe, entrance point of second sensing element close to the pitot tube.

4. muzzle speed measuring device according to claim 3, it is characterised in that the controller is used to obtain first sense Answer element testing to there are marble through after the first information of the first position, obtain second sensing element and detected Marble pass through the second information of the second place.

5. muzzle speed measuring device according to claim 4, it is characterised in that the controller is described for ought only get Judge that the marble number of current record and time are invalid during the first information.

6. muzzle speed measuring device according to claim 1, it is characterised in that also including light-emitting component, the light-emitting component It is fixedly connected with the pitot tube, and the light-emitting component is electrically connected with the controller, the controller control is described luminous Element launches light after marble pass through first position in preset time, and the light is projected along marble from the emission system Exit direction extension afterwards.

7. muzzle speed measuring device according to claim 6, it is characterised in that first sensing element is positioned close to institute The port of export of pitot tube is stated, second sensing element is positioned close to the entrance point of the pitot tube；Sequentially passed through in marble Behind the second place and first position, the controller controls the light-emitting component to launch light in preset time.

8. muzzle speed measuring device according to claim 7, it is characterised in that the light-emitting component includes：Laser generator, The laser generator is fixedly connected with the pitot tube, and the laser of the laser generator transmitting is surveyed along marble from the muzzle Exit direction after speed variator is projected extends.

9. muzzle speed measuring device according to claim 7, it is characterised in that the light-emitting component also includes base, described Base is fixed on to offer on the port of export of the pitot tube, the base and worn with the outlet and ammunition feed ball of the pitot tube The through hole crossed, the base is provided with multiple laser generators, the laser generator hair on the end face away from the pitot tube The laser penetrated along marble from the through hole injection after exit direction extend.

10. muzzle speed measuring device according to claim 9, it is characterised in that the multiple laser generator is included at least The laser generator of two groups of transmitting different colours laser, the laser generator of the different colours is arranged at intervals.

11. muzzle speed measuring device according to claim 10, it is characterised in that the laser generator includes：Two hairs Penetrate the laser generator of red laser and the laser generator of two transmitting green laser.

12. the muzzle speed measuring device according to claim any one of 1-11, it is characterised in that first sensing element and Second sensing element includes：Symmetrically arranged light generating device and light receiving element.

13. muzzle speed measuring device according to claim 12, it is characterised in that the pitot tube includes：Roof and setting Two side walls below roof, the light generating device and light receiving element are symmetrically arranged on described two side walls, The controller is arranged on the roof.

14. the muzzle speed measuring device according to claim any one of 1-11, it is characterised in that also including aiming at element, institute Stating aiming element includes aiming laser generator, and the aiming laser generator is fixed on the tube wall of the pitot tube, and institute Exit direction after laser that aiming laser generator launched is stated along the marble from muzzle speed measuring device injection extends.

15. muzzle speed measuring device according to claim 14, it is characterised in that the aiming element also includes mounting seat, The aiming laser generator is fixed on the bottom of the pitot tube by mounting seat.

16. a kind of hoodle transmitter, it is characterised in that including：Emission system and muzzle speed measuring device；

The muzzle speed measuring device includes：First sensing element, the second sensing element, controller and pass through for ammunition feed ball Pitot tube；

17. hoodle transmitter according to claim 16, it is characterised in that the controller is used to recording through described the The number of the marble of one position or the second place and each marble pass through the first position or the second place Time, and number according to the marble and each marble are through the time of the first position or the second place Calculate the radio frequency of many marble.

18. hoodle transmitter according to claim 17, it is characterised in that first sensing element tests the speed close to described The port of export of pipe, entrance point of second sensing element close to the pitot tube.

19. hoodle transmitter according to claim 18, it is characterised in that the controller is used to obtain first sense Answer element testing to there are marble through after the first information of the first position, obtain second sensing element and detected Marble pass through the second information of the second place.

20. hoodle transmitter according to claim 19, it is characterised in that the controller is described for ought only get Judge that the marble number of current record and time are invalid during the first information.

21. hoodle transmitter according to claim 16, it is characterised in that also including light-emitting component, the light-emitting component It is fixedly connected with the pitot tube, and the light-emitting component is electrically connected with the controller, the controller control is described luminous Element launches light after marble pass through first position in preset time, and the light is projected along marble from the emission system Exit direction extension afterwards.

22. hoodle transmitter according to claim 21, it is characterised in that first sensing element is positioned close to institute The port of export of pitot tube is stated, second sensing element is positioned close to the entrance point of the pitot tube；Sequentially passed through in marble Behind the second place and first position, the controller controls the light-emitting component to launch light in preset time.

23. hoodle transmitter according to claim 22, it is characterised in that the light-emitting component includes：Laser generator, The laser generator is fixedly connected with the pitot tube, and the laser of the laser generator transmitting is surveyed along marble from the muzzle Exit direction after speed variator is projected extends.

24. hoodle transmitter according to claim 22, it is characterised in that the light-emitting component also includes base, described Base is fixed on to offer on the port of export of the pitot tube, the base and worn with the outlet and ammunition feed ball of the pitot tube The through hole crossed, the base is provided with multiple laser generators, the laser generator hair on the end face away from the pitot tube The laser penetrated along marble from the through hole injection after exit direction extend.

25. hoodle transmitter according to claim 24, it is characterised in that the multiple laser generator includes at least two The laser generator of group transmitting different colours laser, the laser generator of the different colours is arranged at intervals.

26. hoodle transmitter according to claim 25, it is characterised in that the laser generator includes：Two transmittings The laser generator of the laser generator of red laser and two transmitting green laser.

27. the hoodle transmitter according to claim any one of 16-26, it is characterised in that first sensing element and Second sensing element includes：Symmetrically arranged light generating device and light receiving element.

28. hoodle transmitter according to claim 27, it is characterised in that the pitot tube includes：Roof and it is arranged on Two side walls below roof, the light generating device and light receiving element are symmetrically arranged on described two side walls, institute Controller is stated to be arranged on the roof.

29. the hoodle transmitter according to claim any one of 16-26, it is characterised in that described also including aiming at element Aiming at element includes aiming laser generator, and the aiming laser generator is fixed on the tube wall of the pitot tube, and described The laser that aiming laser generator is launched along the marble from the muzzle speed measuring device injection after exit direction extend.

30. hoodle transmitter according to claim 29, it is characterised in that the aiming element also includes mounting seat, institute State the bottom that aiming laser generator is fixed on the pitot tube by mounting seat.

31. a kind of robot of use hoodle transmitter, including：Main body and the hoodle transmitter in the main body, it is special Levy and be, the hoodle transmitter includes：Emission system and muzzle speed measuring device；

32. robot according to claim 31, it is characterised in that the controller is used to record through described first Put or the second place marble number and each marble through the first position or the second place when Between, and number according to the marble and each marble are through the Time Calculation of the first position or the second place The radio frequency of many marble.

33. robot according to claim 32, it is characterised in that first sensing element is close to the pitot tube The port of export, entrance point of second sensing element close to the pitot tube.

34. robot according to claim 33, it is characterised in that the controller is used to obtain the first sensing member Part is detected after the first information that marble pass through the first position, is obtained second sensing element and has been detected marble Through the second information of the second place.

35. robot according to claim 34, it is characterised in that the controller is used to only get described first Judge that the marble number of current record and time are invalid during information.

36. robot according to claim 31, it is characterised in that also including light-emitting component, the light-emitting component and institute Pitot tube is stated to be fixedly connected, and the light-emitting component is electrically connected with the controller, the controller controls the light-emitting component Launch light in preset time after marble pass through first position, the light is along marble after emission system injection Exit direction extends.

37. robot according to claim 36, it is characterised in that first sensing element is positioned close to the survey The port of export of fast pipe, second sensing element is positioned close to the entrance point of the pitot tube；Sequentially passed through in marble described Behind the second place and first position, the controller controls the light-emitting component to launch light in preset time.

38. the robot according to claim 37, it is characterised in that the light-emitting component includes：Laser generator, it is described Laser generator is fixedly connected with the pitot tube, and the laser of laser generator transmitting tests the speed dress along marble from the muzzle Put the exit direction extension after projecting.

39. the robot according to claim 37, it is characterised in that the light-emitting component also includes base, the base It is fixed on and offers what is passed through with the outlet and ammunition feed ball of the pitot tube on the port of export of the pitot tube, the base Through hole, the base is provided with multiple laser generators on the end face away from the pitot tube, the laser generator transmitting Laser along marble from the through hole injection after exit direction extend.

40. the robot according to claim 39, it is characterised in that the multiple laser generator includes at least two groups hairs The laser generator of different colours laser is penetrated, the laser generator of the different colours is arranged at intervals.

41. robot according to claim 40, it is characterised in that the laser generator includes：Two transmittings are red The laser generator of the laser generator of laser and two transmitting green laser.

42. the robot according to claim any one of 31-41, it is characterised in that first sensing element and second Sensing element includes：Symmetrically arranged light generating device and light receiving element.

43. robot according to claim 42, it is characterised in that the pitot tube includes：Roof and it is arranged on roof Two side walls of lower section, the light generating device and light receiving element are symmetrically arranged on described two side walls, the control Device processed is arranged on the roof.

44. the robot according to claim any one of 31-41, it is characterised in that also including aiming at element, the aiming Element includes aiming laser generator, and the aiming laser generator is fixed on the tube wall of the pitot tube, and the aiming The laser that laser generator is launched along the marble from the muzzle speed measuring device injection after exit direction extend.

45. robot according to claim 44, it is characterised in that the aiming element also includes mounting seat, described to take aim at Quasi- laser generator is fixed on the bottom of the pitot tube by mounting seat.