CN107806795A - Controllable safety training grenade - Google Patents
Controllable safety training grenade Download PDFInfo
- Publication number
- CN107806795A CN107806795A CN201711234687.5A CN201711234687A CN107806795A CN 107806795 A CN107806795 A CN 107806795A CN 201711234687 A CN201711234687 A CN 201711234687A CN 107806795 A CN107806795 A CN 107806795A
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- China
- Prior art keywords
- antitank grenade
- grenade
- module
- chip microcomputer
- antitank
- Prior art date
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- 238000012549 training Methods 0.000 title claims abstract description 55
- 230000000694 effects Effects 0.000 claims abstract description 15
- 239000002360 explosive Substances 0.000 claims abstract description 12
- 238000010891 electric arc Methods 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000005474 detonation Methods 0.000 abstract description 3
- 208000012260 Accidental injury Diseases 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 239000004927 clay Substances 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B8/00—Practice or training ammunition
- F42B8/12—Projectiles or missiles
- F42B8/26—Hand grenades
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42C—AMMUNITION FUZES; ARMING OR SAFETY MEANS THEREFOR
- F42C15/00—Arming-means in fuzes; Safety means for preventing premature detonation of fuzes or charges
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses a controllable safety training grenade, which comprises a grenade body, wherein a control unit for positioning a grenade drop point and controlling the detonation of the grenade is arranged in the grenade body, the control unit is arranged in an inner cavity of the grenade body, and the control unit is connected with explosives in the grenade body. Through at this internal control unit that sets up of grenade, the wireless signal that the reference node that combines to arrange in advance in grenade training throws the place carries out grenade location and calculates, obtains the placement position of grenade, and control unit if it falls to the safe position that can explode to detect the grenade, then detonates the grenade, if it does not fall to safe position to detect the grenade, and then control unit cuts off the power, prevents that the grenade from detonating. The invention has the advantages of ensuring the training effect and preventing the potential safety hazard caused by the phenomena of too close drop point and accidental injury of the grenade due to the hand drop and the accidental throwing of the grenade.
Description
Technical field
The invention belongs to equipment training field, more particularly to a kind of controllable safety training antitank grenade.
Background technology
In antitank grenade live grenade throw training process, can all occur security incident every year, cause serious personnel's economic loss.To the greatest extent
Before live grenade throw, trainee had received certain imitating shell and has thrown training pipe, but still can be by field is thrown
In overstretched, produce antitank grenade and the dangerous situation such as slip out of the hand, miscarry, cause antitank grenade drop point too near, blast accidental injury.
Antitank grenade training of safety problem is all the difficult problems in terms of army of various countries training of safety all the time.At present, antitank grenade
Live grenade throw method for protecting mainly has：
1. the antitank grenade training method that my army uses is first to carry out imitating shell to throw training, it is laggard to grasp certain skill in soldier
Row live-fire training.During live-fire training, operation typically is carried out in the top of foxhole, by a more rich guarantee of experience
Personnel are ensured, once miscarrying, support personnel coorinated training person hides rapidly hides blast into foxhole.This training effect
Although fruit presses close to actual combatization, effect is preferable, still, when antitank grenade, which occurs, in trainer throws error, if support personnel and training
Person's reaction is not prompt enough, or is slipped up for the walking direction of miscarrying, may result in accident, it is hidden to there is very big safety
Suffer from.
2. and a kind of training antitank grenade that U.S. army once developed, replace real steel with solid rubber, bomb body is transparent, play it is built-in
There is one piece of flashing light operated with 9 voltaic elements, after antitank grenade is launched, timer starts timing, and the flashing light flicker in bullet represents hand
Fulminating is fried, it might even be possible to represents which soldier is hit by shocking by electricity.But this antitank grenade is particularly suited in manoeuvre, and
Non- training.Because very big difference with live shell in appearance be present in this antitank grenade, secondly, in antitank grenade throwing, often caused by
Trainer is because the factors such as psychological stress result in miscarrying, and this training antitank grenade can not provide the tension of live-fire training, because
And had a greatly reduced quality on training effect.
3. another have a kind of training antitank grenade by word bomb cylinder, thin river sand, the iron powder that turns blue, clay, fireworks explosive, the lucky drawing fire of fuse cord
Device feature is formed, although this dummy round relatively live shell in appearance, is but differed greatly, is lacked on explosive effect
, no small gap with live practice on training effect still be present in due live shell experience.
Either at home still abroad, in antitank grenade throws training program, safety and training are not handled well all the time
The relation of effect, often excessively focus on training effect and result in very big potential safety hazard, or ensure good safety but
The training effect of actual combatization is not reached.
The content of the invention
The technical problem to be solved in the present invention is to provide one kind both can guarantee that training effect, and can prevent because antitank grenade slips out of the hand,
Miscarrying causes antitank grenade drop point too near, and the controllable safety training antitank grenade of potential safety hazard caused by phenomenon is accidentally injured in blast.
To solve the above problems, the technical solution adopted in the present invention is：
A kind of controllable safety trains antitank grenade, including antitank grenade body, it is characterised in that：It is equiped with and is used in the antitank grenade body
The control unit for being positioned and being controlled the antitank grenade to ignite to antitank grenade drop point, described control unit are installed in the antitank grenade body
Inner chamber, control unit is connected with the intrinsic explosive of antitank grenade.
As a further improvement on the present invention：
Further, the distance parameter that described control unit includes range finder module, passed back for reading the range finder module
Single-chip microcomputer and the electric arc that controls electric arc to strike sparks by the single-chip microcomputer strike sparks module, electric arc sparking module and antitank grenade
The connection of intrinsic explosive, the single-chip microcomputer are connected with range finder module and electric arc sparking module respectively, when the single-chip microcomputer according to
The distance parameter of reading judges that antitank grenade is in home, and single-chip microcomputer control electric arc sparking module carries out electric arc sparking and ignites hand
Thunder, when the single-chip microcomputer judges that antitank grenade is not in home according to the distance parameter of reading, single-chip microcomputer cuts off the electric arc
The power supply for module of striking sparks, antitank grenade will not be ignited.
Further, described control unit also includes being used for the power module to single-chip microcomputer power supply, the single-chip microcomputer
It is connected respectively with range finder module and electric arc sparking module.
Further, described control unit also includes switching for the single-chip microcomputer of control single chip computer switching on and shutting down, the monolithic
Machine switch is arranged on the antitank grenade outer body, and after single-chip microcomputer, which switchs, to be opened, the single-chip microcomputer starts, and according to range finder module
The distance signal passed back realizes distance detection.
Further, the range finder module is including the use of wireless module and antenna based on ZigBee range measurement principles.
Further, described wireless module is cc2530 chips.
Further, the antitank grenade is originally provided with antitank grenade throw-over switch in vitro, after throw-over switch activates, the antitank grenade
Safeties are opened, stage when antitank grenade enters explosimeter.
Further, the antitank grenade body also includes being used for the lid for closing the antitank grenade chamber body, the single-chip microcomputer
Switch and antitank grenade throw-over switch are installed on lid.
Further, the throwing training court of the antitank grenade is provided with host computer, ZigBee gateways and multiple Zigbee moulds
Block reference mode signal installation aiding device, wherein host computer and Zigbee gateway wired connections, the coordinative role of whole network is played,
Range finder module wireless connection on Zigbee gateways and other multiple Zigbee module reference modes and the antitank grenade body, rise
Acted on to the control to reference mode and adjustment parameter.
Further, after antitank grenade is ignited, the movement locus and cast of antitank grenade pass through antitank grenade training throwing field cloth
If multiple Zigbee reference modes carry out position computing and obtain, and the movement locus of antitank grenade and cast be uploaded to upper
Machine.
Compared with prior art, beneficial effects of the present invention are：
A kind of controllable safety training antitank grenade of the present invention, by being provided for positioning antitank grenade drop point in antitank grenade body
And the control unit for controlling the antitank grenade to ignite, and the reference mode arranged in advance in antitank grenade training throwing field are sent
Wireless signal carry out antitank grenade location Calculation, so as to judge the drop point site of antitank grenade, if detecting that antitank grenade is fallen on can explode
Home, then control unit ignites antitank grenade, if detecting that antitank grenade does not fall on home, control unit cut-out electricity
Source, prevent antitank grenade from igniting.The present invention, which has, both can guarantee that training effect, and and can prevents that antitank grenade falls caused by antitank grenade is slipped out of the hand, miscarried
The advantages of point is too near, and potential safety hazard caused by phenomenon is accidentally injured in blast.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the modular structure schematic diagram of the present invention；
Fig. 3 is antitank grenade ranging three-point fix schematic diagram.
Fig. 4 is to train to be used for each reference mode location arrangements figure for detecting antitank grenade drop point in throwing field in the present invention.
Fig. 5 is the annexation figure that each detecting signal unit in throwing field is trained in the present invention.
Marginal data
1st, antitank grenade body；11st, antitank grenade throw-over switch；12nd, lid；13rd, explosive；2nd, control unit；21st, range finder module；
211st, wireless module；212nd, antenna；22nd, single-chip microcomputer；23rd, electric arc sparking module；24th, power module；25th, single-chip microcomputer switchs.
Embodiment
Fig. 1 to Fig. 5 shows a kind of present invention controllable safety training antitank grenade, including antitank grenade body 1, antitank grenade body 1 are built-in
Provided with the control unit 2 for being positioned and being controlled antitank grenade to ignite to antitank grenade drop point, control unit 2 is installed in antitank grenade body 1
Inner chamber, control unit 2 is connected with the explosive 13 in antitank grenade body 1.By being provided in antitank grenade body to antitank grenade drop point
The control unit for being positioned and being controlled antitank grenade to ignite, and be disposed with antitank grenade training throwing field by control unit institute
The wireless signal that sends carries out antitank grenade location Calculation, so as to judge the drop point site of antitank grenade, if detecting that antitank grenade is fallen on can be with
The home of blast, then control unit ignites antitank grenade, if detecting that antitank grenade does not fall on home, control unit cut-out
Power supply, prevent antitank grenade from igniting.The present invention, which has, both can guarantee that training effect, and and can prevents the antitank grenade caused by antitank grenade is slipped out of the hand, miscarried
The advantages of drop point is too near, and potential safety hazard caused by phenomenon is accidentally injured in blast.
In the present embodiment, distance parameter that control unit 2 includes range finder module 21, passed back for reading range finder module 21
Single-chip microcomputer 22 and the electric arc sparking module 23 that electric arc sparking is controlled by single-chip microcomputer 22, electric arc ignition device and antitank grenade body 1
The part connection of interior filling explosive, single-chip microcomputer 22 are connected with range finder module 21 and electric arc sparking module 23 respectively.Single-chip microcomputer 22 is read
The distance parameter for taking range finder module 21 to pass back, the position of antitank grenade is judged, when judging that antitank grenade is in safe detonation region, single-chip microcomputer
22 control electric arc sparking modules 23 carry out electric arc sparking, and the explosive in antitank grenade body 1 is ignited in sparking, and then ignites antitank grenade；When sentencing
Break and antitank grenade and be not in safe detonation region, the breaking arc of single-chip microcomputer 22 is struck sparks the power supply of module 23, and antitank grenade will not be ignited.This hair
The bright security that can either effectively improve antitank grenade, and can ensure training effect.The side that the present invention passes through electric arc sparking ignition charge
Formula changes tradition by way of striker physical shock is ignited, and then electric arc sparking module can be controlled by single-chip microcomputer 22
23.Electric arc sparking principle of the mode based on electrion, the voltage of general battery is entered by the transforming portion of electricity sparking module
Row amplification, so as to form high pressure between two electrodes, breakdown air forms electric arc, draws so as to light the explosive of antitank grenade and realize
It is quick-fried.
In the present embodiment, control unit 2 also includes being used for the power module 24 powered to single-chip microcomputer 22.Single-chip microcomputer 22 is with surveying
It is connected away from module 21 with electric arc sparking module 23, power module 24 is carried out using dry cell, button cell or mass customized battery
Power supply.
In the present embodiment, control unit 2 also includes the single-chip microcomputer switch 25 for the switching on and shutting down of control single chip computer 22, single-chip microcomputer
Switch 25 is arranged on the outside of antitank grenade body 1, and after single-chip microcomputer switch 25 is opened, single-chip microcomputer 22 starts, and reads range finder module 21
The distance signal passed back realizes distance detection.Single-chip microcomputer switch 25 starts single-chip microcomputer 22, and antitank grenade enters working condition, and according to survey
The distance signal detecting distance passed back away from module.Ranging localization is realized by the positioning principle based on signal intensity RSSF, passes through survey
Fixed node to be measured utilizes signal propagation attenuation mould to the calibration power of signal power and the contrast signal transmitting of different reference modes
Type, the information of signal attenuation is converted into range information, determines the position of node to be determined by three side positioning principles afterwards.
As shown in figure 3, the localization method of antitank grenade node uses three-point fix principle, antitank grenade and closest three ZigBee moulds are measured
After the distance of block reference mode, positioned according to three-point fix principle.Antitank grenade position coordinates (xt,yt) be
Wherein, (x1,y1)、(x2,y2)、(x3,y3) be respectively three ZigBee module reference modes position coordinates, d1,
d2,d3Respectively the distance between antitank grenade node and three ZigBee module reference modes.
In the present embodiment, range finder module 21 is including the use of wireless module 211 and antenna based on ZigBee range measurement principles
212.Wireless module 211 uses cc2530 chips, because being disposed with multiple ZigBee modules in antitank grenade training throwing field in advance
Reference mode, antitank grenade is interior to use the cc2530 chips based on ZigBee range measurement principles so that can be according to the nothing of cc2530 chips
Line signal intensity calculates antitank grenade and reference mode distance.In the present embodiment, cc2530 modules wireless module can realize one
To one and one-to-many radio communication, the communication distance using the cc2530 wireless modules of pcb board antenna can reach 200 meters,
It can reach 1000m using external antenna highest in spacious region.The present invention is to improve positioning precision, Support Training security,
Extended antenna 212 is installed for cc2530 modules, the extended antenna 212 is ipex omnidirectional antennas.
In the present embodiment, antitank grenade throw-over switch 11 is installed outside antitank grenade body 1, after throw-over switch 11 activates, antitank grenade
Safeties are opened, stage when antitank grenade enters explosimeter.The timing time of antitank grenade is set according to the burst period of actual antitank grenade
It is fixed, while range finder module 21 works on, the location of detection antitank grenade coordinate information.
In the present embodiment, as shown in figure 1, antitank grenade body 1 also includes being used for the lid 12 for closing the inner chamber of antitank grenade body 1, it is single
Piece machine switch 25 and antitank grenade throw-over switch 11 are installed on lid 12.Lid 12 be used for seal antitank grenade body 1 fill out medicine part and
Place the lumen portion of control unit 2.
For the safety training antitank grenade using the present invention, as shown in Figure 4, Figure 5, the throwing training court of antitank grenade includes antitank grenade
Circle and antitank grenade throw point of impact area, are provided with host computer, ZigBee gateways and multiple Zigbee module reference mode signals
Installation aiding device, wherein host computer and Zigbee gateways couple, and play the coordinative role of whole network, Zigbee gateways and others
Zigbee module reference mode and the wireless connection of range finder module 21, play control and adjustment parameter effect to reference mode.
In the wireless positioning network of cc2530 compositions, including Zigbee module reference mode, gateway and host computer three parts.Wherein
ZigBee gateways function as telegon, are responsible for whole positioning any wireless network services, coordinate.Positioned in cc2530 wireless networks
In system, positioning precision is relevant with reference mode quantity, it is however generally that, reference mode is more, and positioning precision is higher.Therefore with 3-12
Individual reference mode, forms the wireless location net that maximum region is 64X64 rice, between reference mode, passes through 802.15.4/
ZigBee wireless communication standards, radio contact is kept, realized by upper computer software and the wireless parameter all referring to node is matched somebody with somebody
Put.To improve the accuracy of reference mode network, positioning precision can be improved by way of increasing reference mode, it is only necessary to
Increase reference mode quantity during laying, connect gateway and configured in host computer.
After antitank grenade is ignited, Zigbee that the movement locus and cast of antitank grenade are laid by antitank grenade training throwing field
Module references node carries out position computing and obtained, and the movement locus of antitank grenade and cast are uploaded into host computer, as instruction
Practice data to be stored, extraordinary reference frame is provided for the training for instructing next step.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
For those of ordinary skill, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of controllable safety trains antitank grenade, including antitank grenade body (1), it is characterised in that：It is equiped with the antitank grenade body (1)
For the control unit (2) for being positioned and being controlled the antitank grenade to ignite to antitank grenade drop point, described control unit (2) is installed in institute
The inner chamber of antitank grenade body (1) is stated, control unit (2) is connected with the explosive (13) in antitank grenade body (1).
A kind of 2. controllable safety training antitank grenade according to claim 1, it is characterised in that：Described control unit (2) includes
Range finder module (21), the single-chip microcomputer (22) for the distance parameter passed back for reading the range finder module (21) and by described
The electric arc sparking module (23) of single-chip microcomputer (22) control electric arc sparking, the electric arc are struck sparks in module (23) and antitank grenade body (1)
Explosive (13) connection, the single-chip microcomputer (22) module (23) of being struck sparks respectively with range finder module (21) and electric arc is connected, when described
Single-chip microcomputer (22) judges that antitank grenade is in home, single-chip microcomputer (22) control electric arc sparking module according to the distance parameter of reading
(23) antitank grenade is ignited in electric arc sparking, when the single-chip microcomputer (22) judges that antitank grenade is not in security bit according to the distance parameter of reading
Put, single-chip microcomputer (22) cuts off the power supply of the electric arc sparking module (23), and antitank grenade will not be ignited.
A kind of 3. controllable safety training antitank grenade according to claim 2, it is characterised in that：Described control unit (2) is also wrapped
Include for the power module (24) to the single-chip microcomputer (22) power supply.
A kind of 4. controllable safety training antitank grenade according to claim 3, it is characterised in that：Described control unit (2) is also wrapped
The single-chip microcomputer included for control single chip computer (22) switching on and shutting down switchs (25), and the single-chip microcomputer switch (25) is arranged on the antitank grenade sheet
On the outside of body (1), after single-chip microcomputer switch (25) is opened, the single-chip microcomputer (22) starts, and passed back according to range finder module (21)
Distance signal realizes distance detection.
A kind of 5. controllable safety training antitank grenade according to claim 4, it is characterised in that：The range finder module (21) includes
Use wireless module (211) and antenna (212) based on ZigBee range measurement principles.
A kind of 6. controllable safety training antitank grenade according to claim 5, it is characterised in that：Described wireless module (211)
It is cc2530 chips.
A kind of 7. controllable safety training antitank grenade according to any one of claim 1 to 6, it is characterised in that：The antitank grenade
Antitank grenade throw-over switch (11) is installed outside body (1), after throw-over switch (11) activates, the safeties of the antitank grenade are opened,
Stage when antitank grenade enters explosimeter.
A kind of 8. controllable safety training antitank grenade according to claim 7, it is characterised in that：The antitank grenade body (1) is also wrapped
Include the lid (12) for closing antitank grenade body (1) inner chamber, the single-chip microcomputer switch (25) and antitank grenade throw-over switch (11)
It is installed on lid (12).
A kind of 9. controllable safety training antitank grenade according to any one of claim 1 to 6, it is characterised in that：The antitank grenade
Throwing training court be provided with host computer, ZigBee gateways and multiple Zigbee module reference mode signal installation aiding devices, its
Middle host computer and Zigbee gateway connection, play the coordinative role of whole network, Zigbee gateways and other multiple Zigbee
Module references node and the range finder module (21) wireless connection, play control and adjustment parameter effect to reference mode.
A kind of 10. controllable safety training antitank grenade according to claim 9, it is characterised in that：After antitank grenade is ignited, antitank grenade
Multiple Zigbee module reference modes that movement locus and cast are laid by antitank grenade training throwing field carry out position fortune
Obtain, and the movement locus of antitank grenade and cast are uploaded to host computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711234687.5A CN107806795B (en) | 2017-11-30 | 2017-11-30 | Controllable safety training grenade |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711234687.5A CN107806795B (en) | 2017-11-30 | 2017-11-30 | Controllable safety training grenade |
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| CN107806795A true CN107806795A (en) | 2018-03-16 |
| CN107806795B CN107806795B (en) | 2024-03-22 |
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| CN201711234687.5A Active CN107806795B (en) | 2017-11-30 | 2017-11-30 | Controllable safety training grenade |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109990670A (en) * | 2019-05-22 | 2019-07-09 | 安徽慈光教育科技有限公司 | A kind of electric shock type resisting stress training grenade and its resisting stress training method |
| CN110631434A (en) * | 2019-09-19 | 2019-12-31 | 中国人民解放军陆军工程大学 | Intelligent grenade and use method thereof |
| CN111721165A (en) * | 2020-05-21 | 2020-09-29 | 重庆致郢科技发展有限公司 | Anti-false-explosion auxiliary device for grenade throwing based on electromagnetic damping |
| CN113883973A (en) * | 2021-10-09 | 2022-01-04 | 孟义淳 | Anti-accidental-injury grenade based on radio ranging and using method |
| CN115200425A (en) * | 2022-08-23 | 2022-10-18 | 广东明华机械有限公司 | Electromechanical combined fuze grenade and command control method and system thereof |
| CN117392892A (en) * | 2023-10-24 | 2024-01-12 | 中国人民解放军国防科技大学 | XR-based simulated grenade training method, system, equipment and storage medium |
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|---|---|---|---|---|
| CN109990670A (en) * | 2019-05-22 | 2019-07-09 | 安徽慈光教育科技有限公司 | A kind of electric shock type resisting stress training grenade and its resisting stress training method |
| CN109990670B (en) * | 2019-05-22 | 2023-05-12 | 安徽慈光教育科技有限公司 | Electric shock type anti-stress training grenade and anti-stress training method thereof |
| CN110631434A (en) * | 2019-09-19 | 2019-12-31 | 中国人民解放军陆军工程大学 | Intelligent grenade and use method thereof |
| CN110631434B (en) * | 2019-09-19 | 2021-08-24 | 中国人民解放军陆军工程大学 | Intelligent grenade and use method thereof |
| CN111721165A (en) * | 2020-05-21 | 2020-09-29 | 重庆致郢科技发展有限公司 | Anti-false-explosion auxiliary device for grenade throwing based on electromagnetic damping |
| CN111721165B (en) * | 2020-05-21 | 2022-04-12 | 重庆致郢科技发展有限公司 | Anti-false-explosion auxiliary device for grenade throwing based on electromagnetic damping |
| CN113883973A (en) * | 2021-10-09 | 2022-01-04 | 孟义淳 | Anti-accidental-injury grenade based on radio ranging and using method |
| CN113883973B (en) * | 2021-10-09 | 2023-12-26 | 孟义淳 | Accidental injury prevention grenade based on radio ranging and use method |
| CN115200425A (en) * | 2022-08-23 | 2022-10-18 | 广东明华机械有限公司 | Electromechanical combined fuze grenade and command control method and system thereof |
| CN115200425B (en) * | 2022-08-23 | 2023-03-14 | 广东明华机械有限公司 | Electromechanical combined fuze grenade and command control method and system thereof |
| CN117392892A (en) * | 2023-10-24 | 2024-01-12 | 中国人民解放军国防科技大学 | XR-based simulated grenade training method, system, equipment and storage medium |
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| CN107806795B (en) | 2024-03-22 |
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