CN110360878A - A kind of man-machine coordination simulative training system and its method - Google Patents
A kind of man-machine coordination simulative training system and its method Download PDFInfo
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- CN110360878A CN110360878A CN201910743126.0A CN201910743126A CN110360878A CN 110360878 A CN110360878 A CN 110360878A CN 201910743126 A CN201910743126 A CN 201910743126A CN 110360878 A CN110360878 A CN 110360878A
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- 238000012549 training Methods 0.000 title claims abstract description 120
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000010304 firing Methods 0.000 claims abstract description 43
- 238000004088 simulation Methods 0.000 claims abstract description 40
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 239000000523 sample Substances 0.000 claims abstract description 7
- 230000002452 interceptive effect Effects 0.000 claims description 79
- 230000033001 locomotion Effects 0.000 claims description 27
- 230000035939 shock Effects 0.000 claims description 27
- 230000006698 induction Effects 0.000 claims description 19
- 230000003993 interaction Effects 0.000 claims description 19
- 208000027418 Wounds and injury Diseases 0.000 claims description 18
- 239000011324 bead Substances 0.000 claims description 16
- 208000014674 injury Diseases 0.000 claims description 16
- 230000006378 damage Effects 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000007306 turnover Effects 0.000 claims description 12
- 238000004886 process control Methods 0.000 claims description 9
- 238000007405 data analysis Methods 0.000 claims description 8
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- 230000005540 biological transmission Effects 0.000 claims 1
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- 238000010586 diagram Methods 0.000 description 5
- 238000005553 drilling Methods 0.000 description 5
- 239000000443 aerosol Substances 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 208000012260 Accidental injury Diseases 0.000 description 2
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A33/00—Adaptations for training; Gun simulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J11/00—Target ranges
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Abstract
The invention discloses a kind of man-machine coordination simulative training system and method, which is made of simulated gunnery field, control system platform, mobile robot target and firing signal generator；Simulation light and monitoring probe are equipped in simulated gunnery field；Mobile robot target is made of intelligent family moving platform and shoot-simulating target system, and shoot-simulating target system includes that simulated gunnery people mould, identity recognition device, firing signal reception device and simulation are hit by a bullet feedback device etc..The present invention by different identity mobile robot target without desired trajectory and speed move freely and the cooperation of acousto-optic mixed effect, it more can completely simulate the site environment of the Urban Emergencies such as the attack of terrorism, so that rehearsal is no longer only confrontation between ourselves and the enemy, but the true environment of closer Urban Emergency, it is highly suitable for army, the operational training of police or People's Armed Police personnel usually, it is horizontal can effectively to propose the skill war that it is dealt with contingencies.
Description
Technical field
The invention belongs to mobile robot application fields, and in particular to a kind of man-machine coordination simulative training system and its side
Method.
Background technique
Small arms ball firing training be the Chinese People's Liberation Army and public security, in People's Armed Police's system normalization training can not or
Scarce subject.Mainly take following training method at present:
(1) fixed target gunnery training: fixed target is placed in a certain distance, target position is immovable, but can be hidden
Aobvious, trained personnel is shot at training by directly shooting fixed target, and indication of shots mode can be with precision and hit indication of shots
A kind of basic unidirectional shooting.
(2) move target gunnery training: in a certain distance setting movement target, target can according to regulation straight line and
Speed movement, trained personnel are shot at training by direct shooting sports target, and indication of shots mode can be with precision and hit
Indication of shots is that a kind of advanced type on the basis of fixed target gunnery training is unidirectionally shot.
Since the position of fixed target is fixed, can only disappearing, therefore trainee can be with after long-time training
By forming muscle memory, to easily cope with fixed target gunnery training.Although and move target can relative to fixed target
With movement, but since motion target target moving line and speed are fixed, has predictability, therefore trainee is by for a long time
Inertia can be formed after training to take aim in advance a little, is convenient for aimed fire, so as to more comfortably cope with movement target gunnery training.
It is well known that when army and public security, People's Armed Police's system personnel are when in face of great dangers such as the attacks of terrorism, field condition
Usually all be it is extremely complex, the common people are mixed in together with terrorist, different sound and light also weave in.And from
Existing small arms ball firing training mode can be seen that current gunnery training solution and be all based on a certain distance
It is drilled to be shot at, and is all only based on rehearsal between ourselves and the enemy, fixed target or moving target mark also can not be to trained
Personnel are shot at, and more cannot completely reflect the truth in battlefield, thus can not be completely suitable for it is tactical right
Anti- training.How for the great danger environment progress simulated actual combat training such as the attack of terrorism, solution there is no.
Summary of the invention
For above-mentioned problems of the prior art, the present invention is intended to provide a kind of man-machine coordination simulative training system and
Its method, with the simcity burst attack of terrorism, simulation Field Force mixes scene, improves police, the disposition of army is dashed forward
The technical and tactical levels of hair event.
To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme:
A kind of man-machine coordination simulative training system, by a piece of simulated gunnery field, a control system platform, several movement machines
People's target and at least one firing signal generator form；
The simulated gunnery field is a piece of training court with certain area, is disposed with and differs in size in the simulated gunnery field
Blindage or barrier；
Several described mobile robot targets are freely movably arranged in the simulated gunnery field, are used for stochastic simulation " gangster
Apprentice " or " common people "；The mobile robot target includes an intelligent family moving platform and at least one is mounted on the intelligent platform
On shoot-simulating target system；The intelligent family moving platform is responsible for movement velocity and the direction of the mobile robot target, described
Shoot-simulating target system is responsible for receiving the firing signal from trainee, and the mobile robot target is also integrated at least one
Interactive module is controlled, the control interactive module is responsible for realizing the receipts to the control of the intelligent family moving platform and state feedback
Collection is responsible for realizing to the control of the shoot-simulating target system and the collection for feedback of being hit by a bullet, and is responsible for realizing the moving machine
The interactive correspondence of device people target and the control system platform；
The firing signal generator is mounted on small arms used in the trainee, for flat to the control system
Platform feeds back the shooting information of the trainee；
The control system platform is laid in backstage, the control system platform respectively with the control interactive module and described penetrate
It hits signal generator remotely to connect, the control system platform is real by the control interactive module and the mobile robot target
Existing interactive correspondence, the control system platform are respectively used to receive the shooting information transmitted by the firing signal generator, use
In sending training instruction to the control interactive module, receive by the data of being hit by a bullet of the control interactive module passback, and count
Shooting grade.
Further, the intelligent family moving platform is the intelligence with functions such as navigation, avoidance, visual sensing, active posture adjustments
It can moving wheeled type trolley or intelligent crawler type trolley.
Further, the shoot-simulating target system includes in simulated gunnery people mould, firing signal reception device and simulation
Play feedback device, wherein the simulated gunnery people mould is arranged on the intelligent family moving platform, to simulate " bandit " or " flat
The people's " is humanoid, is responsible for bearing the shooting injury from the trainee；The simulation is hit by a bullet feedback device as a tipper
Structure, the simulated gunnery people mould are connected by the turnover mechanism with the intelligent family moving platform, the turnover mechanism and institute
Control interactive module connection is stated, the turnover mechanism is by driving the simulated gunnery people mould to topple over to simulate the mobile machine
" being hit by a bullet dead " of people's target；The firing signal reception device is the shock wave target-reading sensor of a settable induction range, institute
State any position that shock wave target-reading sensor is arranged on the simulated gunnery people mould or the intelligent family moving platform, the shock wave
Reporting target sensor is connect with the control interactive module, and the shock wave target-reading sensor is used to form with the simulated gunnery people mould
On the basis of actual induction range, to simulate the region that can be hit by a bullet, and be responsible for receiving the firing signal from the trainee
And it is responsible for feeding back situation of being hit by a bullet to the control interactive module.
Preferably, the firing signal reception device can also be several and the piezoelectricity for controlling interactive module and connecting
Formula sensor, the piezoelectric transducer are laid in uniformly and densely the simulated gunnery people mould by people's mould leather sheath
On, the actual induction range on the basis of the simulated gunnery people mould is formed, to simulate the region that can be hit by a bullet, and is responsible for receiving and
From the firing signal of the trainee and it is responsible for feeding back situation of being hit by a bullet to the control system platform.
Preferably, the simulation is hit by a bullet what feedback device can also connect for one or more with the control interactive module
Lamp bead is flashed, the flashing lamp bead is laid in any position on the simulated gunnery people mould or the intelligent family moving platform, institute
Flashing lamp bead is stated by ceaselessly flashing to simulate " being hit by a bullet dead " of the mobile robot target.
Further, the shoot-simulating target system further includes that the identity connecting with the control interactive module is known
Other device, the identity recognition device are one or more LED lamp beads, and the LED lamp bead is always on or is extinguished by its own
The identification simulated as " bandit " or " common people " identity.The LED lamp bead can be evenly provided on the simulated gunnery people mould
Front and back sides, or be evenly provided on the outer profile of the simulated gunnery people mould, or be arranged on the intelligent family moving platform,
Or other any places for being displayed for the mobile robot target identity.
Further, the shoot-simulating target system further includes the laser signal connecting with the control interactive module
Transmitter, the laser signal transmitter is arranged on the simulated gunnery people mould or the intelligent family moving platform, for simulating
The shooting of bandit；Several and the control system platform are provided in the training clothes of the trainee and the helmet simultaneously
The laser signal receivers remotely connected, for recording the situation of being hit by a bullet of trainee.
Further, one is provided in the training clothes of the trainee remotely to connect with the control system platform
Vibrator, to simulate " injury of being hit by a bullet " of the trainee；One and institute are provided on the helmet of the trainee
The aerosol producer that control system platform remotely connects is stated, to simulate " sacrifice of being hit by a bullet " of the trainee.
Further, the control system platform has the human-computer interaction that training result is operated and shown convenient for staff
Interface.
Further, the simulated gunnery people mould be the human-like target of 3D, the human-like target of plane or other can simulate human-like mark
Target.
Further, this system further includes an environmental simulation system, and the environmental simulation system is by simulation light and mould
Send out acoustic device composition；The surrounding of the simulated gunnery field is arranged in the simulation light, and remote with the control system platform
Journey connection, for simulating the light environment at attack of terrorism scene；The simulation sounding device is arranged in the simulated gunnery people mould
Or on the intelligent family moving platform, and it is connect with the control interactive module, for issuing and " bandit " or " common people " identity phase
Corresponding audio, the acoustic environment at the scene of simulating.
Further, this system further includes a training supervision system, and the training supervision system is visited by several monitoring
Head composition, the surrounding of the simulated gunnery field is arranged in the monitoring probe, and remotely connect with the control system platform, uses
In the entire situation of the simulated gunnery field of monitoring and the training of the trainee.
A kind of man-machine coordination simulated maneuver method, specifically includes the following steps:
1) the firing signal generator for being used to feed back shooting information to control system platform is mounted on used by trainee
On small arms, and confirm the firing signal generator and the control system platform successful connection；
2) trainee be located at simulated gunnery it is over-the-counter in place after, drillmaster passes through the human-computer interaction on the control system platform
Interface control system enters initialization preparation state, and the control system platform controls institute by the control interactive module at this time
There is a shock wave target-reading working sensor on mobile robot target, the shock wave target-reading sensor is according to the external form of simulated gunnery people's mould
Certain indication of shots range is formed, to simulate the effective fire region of human body, and the mobile robot targets all at this time
Identity is " common people ", can be move freely under not past simulated gunnery field range and the mutual principle not bumped against, described
Control system platform is according to demand transferred any one of mobile robot target to institute by the control interactive module
State the arbitrary region of simulated gunnery field；
3) after system initialization is ready, according to training program needs, drillmaster can pass through the institute on the control system platform
The training mode of human-computer interaction interface setting system is stated, at this time the Background control program setting at least one of the control system platform
The identity of a mobile robot target is converted to " bandit " by " common people ", and controls identity by the control interactive module
The LED lamp bead unlatching become on the mobile robot target of " bandit " is always on, using as described with other " common people " identity
The difference of mobile robot target, while the control system platform informs other " common people " identity by the control interactive module
The mobile robot target crowd in occur " bandit " information；
4) all " flat by control interactive module control under the Background control process control of the control system platform
The mobile robot target of the people " identity is moved according to the principle of the mobile robot target far from " bandit " identity,
And by it is described control interactive module control " bandit " identity the mobile robot target then start to run away rapidly, Xiang Yuqi away from
The mobile robot target from nearest " common people " identity moves；
5) trainee enters the simulated gunnery field from periphery, starts to search for and find opportunity " shooting dead " or " wounding " is made
For the mobile robot target of " bandit " identity, while the trainee should be noted that and avoid accidentally injuring the described of " common people " identity
Mobile robot target；
6) when live shell is hit simulated gunnery people's mould of the mobile robot target by the trainee, bullet is also cross institute
The induction range of shock wave target-reading sensor is stated, the shock wave target-reading sensor generates induction of being hit by a bullet immediately, and according to the movement
The identity and sensed position of robot target make an indication of shots to the control system platform by the control interactive module；Together
When, the shooting information including shooting number, shooting duration and firing rate is fed back to institute by the firing signal generator
State control system platform；
7) the control system platform is according to the indication of shots information including be hit by a bullet number and position of being hit by a bullet, therefore, it is determined that each institute
State the casualty situations of mobile robot target；For being determined as the mobile robot target of " injury of being hit by a bullet ", the control system
Platform will control its movement velocity by the control interactive module and gradually decrease, to simulate injury；For being determined as " middle bomb body
Die " the mobile robot target, the control system platform will by the control interactive module by its movement velocity by by
Gradually reducing becomes stopping immediately, while the control system platform controls the described of stop motion by the control interactive module
Turnover mechanism overturning on mobile robot target, to drive the simulated gunnery of the mobile robot target of stop motion
People's mould is toppled over, to simulate death；
8) after training, all mobile robot targets of control system platform courses stop movement, and grasp again
Control system returns to initialization preparation state, preparation wheel training once or closing system；The last control system platform is according to institute
The indication of shots information of shock wave target-reading sensor and the shooting information of the laser signal receivers are stated, to trainee in epicycle training
In including bandit's casualty status, zivile Opfer situation, shooting number, training carry out comprehensive number using the training parameter including the time
Training result is reported according to analysis, and in the human-computer interaction interface.
Further, the training mode is mission mode, concrete mode are as follows:
The mobile robot target of fixed quantity is set as " bandit " identity, the trainee by the control system platform
After member enters the simulated gunnery field, tied using the mobile robot target of " bandit " identity by whole " shooting dead " as training
Beam；
The control system platform is existed according to including bandit's casualty status, zivile Opfer situation, shooting number, training using the time
Interior training parameter carries out comprehensive data analysis, and reports the training result of the mission mode in the human-computer interaction interface,
With the used time is most short, accidental injury " common people " is minimum, shooting number is at least excellent.
Further, the training mode is time mode, concrete mode are as follows:
A fixed training time is set by the control system platform, and sets a mobile robot target at random
For " bandit " identity, the trainee enters the simulated gunnery field, and the described of name " bandit " identity simultaneously " is shot " in searching dead
After mobile robot target, the control system platform with will this mobile robot target identity it is ad hoc be " common people ",
And the identity of another mobile robot target is set at random immediately as " bandit ", the trainee continually looks for simultaneously " hitting
Get killed " the mobile robot target of next name " bandit " identity, circulation is in this way, being exhausted using the training time as training terminates；
The control system platform is including bandit's casualty status, zivile Opfer situation, shooting number, training using including the time
Training parameter carries out comprehensive data analysis, and reports the training result of the mission mode in human-computer interaction interface, " to shoot gangster dead
It is at least excellent that apprentice " is at most, " accidentally injuring the common people " is minimum, shoots number.
Further, when the trainee is shot at trained in the simulated gunnery field, it is in the control
It unites under the Background control process control of platform, the laser signal transmitter on the mobile robot target of " bandit " identity is indefinite
When towards the trainee emit laser signal, with simulate counterattack；
The trainee is shooting or wounding the mobile robot target of " bandit " identity dead while on searching opportunity, it should be noted that
The mobile robot target for hiding " bandit " identity is struck back using the simulation that the laser signal transmitter carries out, and is avoided
Accidentally injure the mobile robot target of " common people " identity；
When the laser signal that the laser signal transmitter is emitted is irradiated to by the mobile robot target of " bandit " identity
When the trainee is located at the laser signal receivers on training clothes or the helmet, during the laser signal receivers generate immediately
Bullet induction, and primary report wound, while the control system platform control are made to the control system platform according to the position of induction
System is located at the vibrator in training clothes and generates primary vibration, makes primary injured warning to trainee；
The control system platform hurts information according to the report including injured number and injury, therefore, it is determined that described trained
The casualty situations of personnel, when the trainee is determined as " sacrifice of being hit by a bullet " by the control system platform, the control system
System platform courses are located at the aerosol producer on trainee's helmet and generate smog, to inform that trainee should immediately exit from
Training.
Further, when the trainee is shot at trained in the simulated gunnery field, it is in the control
It unites under the Background control process control of platform, the simulation light in the simulated gunnery field starts simulating actual combat site environment
Light, the simulation sounding device on the mobile robot target issue that identity therewith is corresponding to scream or shout respectively,
The two simulates the true environment at attack of terrorism scene jointly.
Further, when the trainee is shot at trained in the simulated gunnery field, the simulated gunnery
Monitoring probe in monitors training process in real time, and monitored picture is back to the control system platform, drillmaster
Monitored picture, supervised training process are observed by the human-computer interaction interface.
Compared with prior art, the beneficial effects of the present invention are:
The present invention by different identity mobile robot target move freely and the cooperation of acousto-optic mixed effect, can be more complete
Site preparation simulates the site environment of the Urban Emergencies such as the attack of terrorism, for army, the operation of police or People's Armed Police personnel usually
Training.Simulated maneuver of the invention is no longer only confrontation between ourselves and the enemy, is also added into the peripheral personnel of such as common people, Er Qieben
No matter identity mixes without scheduled motion profile and speed so as to simulate Field Force the mobile robot target of invention
Scene, closer to Urban Emergency true environment, army, police or People's Armed Police personnel can be effectively improved and dealt with contingencies
Skill fight it is horizontal.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, with presently preferred embodiments of the present invention and attached drawing is cooperated to be described in detail below.This hair
Bright specific embodiment is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the architecture diagram of the man-machine co-simulation drilling system of the present invention；
Fig. 2 is the module connection diagram of the man-machine co-simulation drilling system of the present invention；
Fig. 3 is the module connection diagram of the man-machine co-simulation drilling system preferred embodiment of the present invention；
Fig. 4 is the external structure schematic diagram of the mobile robot target of the man-machine co-simulation drilling system of the present invention；
Fig. 5 is that the trainee of the man-machine co-simulation drilling system of the present invention equips schematic diagram.
Specific embodiment
It is below with reference to the accompanying drawings and in conjunction with the embodiments, next that the present invention will be described in detail.
Referring to figure 1 and figure 2, a kind of man-machine coordination simulative training system, by the control of a piece of simulated gunnery field 1, one
System platform 2, several mobile robot targets 3 and at least one firing signal generator 12 composition.
The simulated gunnery field 1 is a piece of training court with certain area, is disposed in the simulated gunnery field 1 big
Small not equal blindage or barrier.
Several described mobile robot targets 3 are freely movably arranged in the simulated gunnery field 1, are used for random mould
Quasi- " bandit " or " common people "；The mobile robot target 3 is mounted on including an intelligent family moving platform 301 at least one described
Shoot-simulating target system 302 on intelligent platform, the intelligent family moving platform 301 are responsible for the movement of the mobile robot target 3
Speed and direction, the shoot-simulating target system 302 are responsible for receiving the firing signal from trainee 6；The mobile machine
People's target 3 is also integrated at least one control interactive module 309, and the control interactive module 309 is responsible for realizing to the intelligent sliding
The control of moving platform 301 and the collection of state feedback are responsible for realizing the control to the shoot-simulating target system 302 and are hit by a bullet anti-
The collection of feedback, and be responsible for realizing the interactive correspondence of the mobile robot target 3 and the control system platform 2.
The firing signal generator 12 is mounted on small arms used in the trainee 6, is used for the control
System platform 2 processed feeds back the shooting information of the trainee 6.
The control system platform 2 is laid in backstage, has and the man-machine of training result is operated and shown convenient for staff
Interactive interface 7；The control system platform remotely connects with the control interactive module 309 and the firing signal generator respectively
It connects, the control system platform 2 realizes interactive correspondence, institute with the mobile robot target 3 by the control interactive module 309
It states control system platform 2 to be respectively used to receive the shooting information transmitted by the firing signal generator 12, be used for the control
Interactive module 309 processed sends training instruction, receives the data of being hit by a bullet returned by the control interactive module 309, and count shooting
Achievement.
Referring to fig. 2, shown in Fig. 3 and Fig. 4, as a preferred embodiment, the intelligent family moving platform 301 can be for leading
The intelligent mobile wheeled carriage of the functions such as boat, avoidance, visual sensing, active posture adjustment or intelligent crawler type trolley；The shooting mould
Quasi- target system 302 then includes simulated gunnery people mould 303, firing signal reception device 305, simulates be hit by a bullet feedback device 306 and body
Part identification device 304.Wherein,
The simulated gunnery people mould 303 is a human-like target of 3D, and the human-like target of 3D is arranged in the intelligent family moving platform 301
On, to simulate the humanoid of " bandit " or " common people ", it is responsible for bearing the shooting injury from the trainee 6；
The simulation is hit by a bullet feedback device 306 as a turnover mechanism 306a, and the simulated gunnery people mould 303 passes through the overturning
Mechanism 306a is connected with the intelligent family moving platform 301, and the turnover mechanism 306a and the control interactive module 309 connect
It connects, the turnover mechanism 306a is by driving the simulated gunnery people mould 303 to topple over to simulate the mobile robot target 3
" being hit by a bullet dead "；
The firing signal reception device 305 is the shock wave target-reading sensor 305a of a settable induction range, the shock wave
Any position on the simulated gunnery people mould 303 or the intelligent family moving platform 301 is arranged in reporting target sensor 305a, described
Shock wave target-reading sensor 305a is connect with the control interactive module 309, the shock wave target-reading sensor 305a be used to form with
Actual induction range on the basis of the simulated gunnery people mould 303 to simulate the region that can be hit by a bullet, and is responsible for receiving from described
The firing signal of trainee 6 and it is responsible for feeding back to the control interactive module 309 and is hit by a bullet situation；
The identity recognition device 304 is one or more LED lamp bead 304a connecting with the control interactive module 309, institute
It states LED lamp bead 304a and is always on or extinguishes the identification as " bandit " or the simulation of " common people " identity by its own.The LED light
Pearl 304a can be evenly provided on the front and back sides of the simulated gunnery people mould 303, or be evenly provided on the simulated gunnery
On the outer profile of people's mould 303, or it is arranged on the intelligent family moving platform 301 or other any are displayed for the shifting
The place of 3 identity of mobile robot target.
Further, the simulated gunnery people mould 303 may be the human-like target of plane or other can simulate human-like mark
Target.
Further, the firing signal reception device 305 may be that several connect with the control interactive module 309
The piezoelectric transducer connect, the piezoelectric transducer, which passes through people's mould leather sheath uniformly and is densely laid in the simulation, to be penetrated
It hits on people's mould 303, forms the actual induction range on the basis of the simulated gunnery people mould 303, to simulate the region that can be hit by a bullet,
And it is responsible for the firing signal received from the trainee 6 and is responsible for feeding back situation of being hit by a bullet to the control system platform 2.
Further, described to simulate be hit by a bullet feedback device 306 or the one or more and control interactive module
The flashing lamp bead of 309 connections, the flashing lamp bead are laid in the simulated gunnery people mould 303 or the intelligent family moving platform 301
On, the flashing lamp bead is by ceaselessly flashing to simulate " being hit by a bullet dead " of the mobile robot target 3.
Further, referring to fig. 2 shown in -5, the shoot-simulating target system 302 of the invention further include one with it is described
The laser signal transmitter 308 that interactive module 309 connects is controlled, the setting of laser signal transmitter 308 is penetrated in the simulation
It hits on people's mould 303 or the intelligent family moving platform 301, for simulating the shooting of bandit；Instructing in the trainee 6 simultaneously
Several laser signal receivers 8 remotely connecting with the control system platform 2 are provided on clothes and the helmet, for recording
The situation of being hit by a bullet of trainee 6.
Further, shown in referring to fig. 2,3 and 5, one and the control are provided in the training clothes of the trainee 6
The vibrator 10 that system platform 2 processed remotely connects, to simulate " injury of being hit by a bullet " of the trainee 6；In the trainee 6
The helmet on be provided with the aerosol producer 11 remotely connecting with the control system platform 2, to simulate the trainee
" sacrifice of being hit by a bullet " of member 6.
Further, referring to shown in Fig. 1-4, as a preferred embodiment, the invention also includes an environmental simulation system, institutes
Environmental simulation system is stated to be made of simulation light 4 and simulation sounding device 307；The setting of simulation light 4 is penetrated in the simulation
The surrounding of field 1 is hit, and is remotely connect with the control system platform 2, for simulating the light environment at attack of terrorism scene；It is described
Simulate sounding device 307 be arranged on the simulated gunnery people mould 303 or the intelligent family moving platform 301, and with the control
Interactive module 309 connects, for issuing audio corresponding with " bandit " or " common people " identity, the acoustic environment at the scene of simulating.
Further, as shown in figure 1 to 3, as a preferred embodiment, the invention also includes a training supervision system, institutes for ginseng
Training supervision system to be stated to be made of several monitoring probes 5, the surrounding of the simulated gunnery field 1 is arranged in the monitoring probe 5,
And remotely connect with the control system platform 2, for monitoring the entirely situation of the simulated gunnery field 1 and the trainee
6 training.
Referring to shown in Fig. 1-5, a kind of man-machine coordination simulated maneuver method, specifically includes the following steps:
1) the firing signal generator 12 that trainee 6 is used to feed back shooting information to control system platform 2, which is mounted on, is used
Small arms on, and confirm the firing signal generator 12 and 2 successful connection of control system platform；
2) after the trainee 6 is located at outside simulated gunnery field 1 in place, drillmaster passes through man-machine on the control system platform 2
7 control system of interactive interface enters initialization preparation state, and the control system platform 2 passes through the control interactive module at this time
Shock wave target-reading sensor 305a work on 309 all mobile robot targets 3 of control, the shock wave target-reading sensor 305a according to
The external form of simulated gunnery people mould 303 forms certain indication of shots range, to simulate the effective fire region of human body, and institute at this time
The identity for having the mobile robot target 3 is " common people ", can not bumped against not past 1 range of simulated gunnery field and mutually
Principle under move freely, the control system platform 2 or according to demand by the control interactive module 309 by any one
The mobile robot target 3 transfers the arbitrary region for arriving the simulated gunnery field 1；
3) after system initialization is ready, according to training program needs, drillmaster can pass through the institute on the control system platform 2
The training mode that human-computer interaction interface 7 sets system is stated, the Background control program setting of the control system platform 2 is at least at this time
The identity of one mobile robot target 3 is converted to " bandit " by " common people ", and is controlled by the control interactive module 309
Identity processed become the LED lamp bead 304a on the mobile robot target 3 of " bandit " unlatching be always on, using as with other " common people "
The difference of the mobile robot target 3 of identity, while the control system platform 2 is accused by the control interactive module 309
Know occur the information of " bandit " in 3 crowd of mobile robot target of other " common people " identity；
4) it under the Background control process control of the control system platform 2, is controlled by the control interactive module 309 all
The mobile robot target 3 of " common people " identity is carried out according to the principle of the mobile robot target 3 far from " bandit " identity
It is mobile, and then start to escape rapidly by the mobile robot target 3 that the control interactive module 309 controls " bandit " identity
It alters, is moved to the mobile robot target 3 of " common people " identity nearest with its distance；
5) trainee 6 enters the simulated gunnery field 1 from periphery, starts to search for and find opportunity " shooting dead " or " wounding "
As the mobile robot target 3 of " bandit " identity, while the trainee 6 is it should be noted that avoid accidentally injuring " common people " identity
The mobile robot target 3；
6) when live shell is hit simulated gunnery people's mould 303 of the mobile robot target 3 by the trainee 6, bullet is simultaneously
Across the induction range of the shock wave target-reading sensor 305a, the shock wave target-reading sensor 305a generates induction of being hit by a bullet immediately,
And according to the identity of the mobile robot target 3 and sensed position by the control interactive module 309 to the control system
Platform 2 makes an indication of shots；Meanwhile the firing signal generator 12 will include shooting number, shooting duration and firing rate
Shooting information inside feeds back to the control system platform 2；
7) the control system platform 2 is according to the indication of shots information including be hit by a bullet number and position of being hit by a bullet, therefore, it is determined that each
The casualty situations of the mobile robot target 3；For being determined as the mobile robot target 3 of " injury of being hit by a bullet ", the control
System platform 2 will control its movement velocity by the control interactive module 309 and gradually decrease, to simulate injury；For determining
For the mobile robot target 3 of " being hit by a bullet dead ", the control system platform 2 will be incited somebody to action by the control interactive module 309
Its movement velocity becomes stopping immediately from gradually decreasing, while the control system platform 2 passes through the control interactive module 309
The turnover mechanism 306a overturning on the mobile robot target 3 of stop motion is controlled, to drive the shifting of stop motion
The simulated gunnery people mould 303 of mobile robot target 3 is toppled over, to simulate death；
8) after training, the control system platform 2 controls all moving machines by the control interactive module 309
Device people target 3 stops movement, and control system returns to initialization preparation state again, and preparation once takes turns training or closes system；Most
The control system platform 2 is according to the indication of shots information and the laser signal receivers 8 of the shock wave target-reading sensor 305a afterwards
Shooting information, to trainee 6 epicycle training in include bandit's casualty status, zivile Opfer situation, shooting number, training
Comprehensive data analysis is carried out using the training parameter including the time, and reports training result in the human-computer interaction interface 7.
Further, the training mode can be set as mission mode, specific training method are as follows:
It is " bandit " identity by the mobile robot target 3 that the control system platform 2 sets fixed quantity, it is described trained
Personnel 6 enter the simulated gunnery field 1 after, using the mobile robot target 3 of " bandit " identity by whole " shooting dead " as instruct
White silk terminates；
The control system platform 2 uses the time according to including bandit's casualty status, zivile Opfer situation, shooting number, training
Training parameter inside carries out comprehensive data analysis, and reports the training knot of the mission mode in the human-computer interaction interface 7
Fruit, with the used time is most short, accidental injury " common people " is minimum, shooting number is at least excellent.
Further, the training mode also can be set as time mode, specific training method are as follows:
A fixed training time is set by the control system platform 2, and sets a mobile robot at random
Target 3 is " bandit " identity, and the trainee 6 enters the simulated gunnery field 1, and name " bandit " identity simultaneously " is shot " in searching dead
After the mobile robot target 3, the control system platform 2 with will the identity of this mobile robot target 3 ad hoc be
" common people ", and the identity of another mobile robot target 3 is set at random immediately as " bandit ", the trainee 6 continues
It finds and simultaneously " shoots " the mobile robot target 3 of next name " bandit " identity dead, circulation is in this way, exhausted as instruction using the training time
White silk terminates；
The control system platform 2 is including bandit's casualty status, zivile Opfer situation, shooting number, training using including the time
Training parameter carry out comprehensive data analysis, and the training result of the mission mode is reported in human-computer interaction interface 7, " to hit
Get killed bandit " at most, " accidentally injure the common people " minimum, shooting number is at least excellent.
Further, as a kind of preferred means of intensive training, in the trainee 6 in the simulated gunnery field 1
When being inside shot at trained, under the Background control process control of the control system platform 2, pass through the control interactive module
Laser signal transmitter 308 on the mobile robot target 3 of 309 control " bandit " identity is sporadically towards the trainee
Member 6 emits laser signal, to simulate counterattack；
The trainee 6 should infuse while shooting or wounding mobile robot target 3 of " bandit " identity dead on searching opportunity
The mobile robot target 3 that meaning hides " bandit " identity is struck back using the simulation that the laser signal transmitter 308 carries out, with
And avoid accidentally injuring the mobile robot target 3 of " common people " identity；
When the laser signal that the mobile robot target 3 of " bandit " identity is emitted the laser signal transmitter 308 shines
When being mapped to the laser signal receivers 8 that the trainee 6 is located on training clothes or the helmet, the laser signal receivers 8 with
Induction of being hit by a bullet is generated, and primary report wound is made to the control system platform 2 according to the position of induction, while the control is
The vibrator 10 that the system control of platform 2 is located in training clothes generates primary vibration, makes primary injured warning to trainee 6；
The control system platform 2 hurts information according to the report including injured number and injury, therefore, it is determined that it is described by
The casualty situations of instruction personnel 6, when the trainee 6 is determined as " sacrifice of being hit by a bullet " by the control system platform 2, the control
The control of system platform 2 processed is located at the aerosol producer 11 on 6 helmet of trainee and generates smog, to inform trainee 6
Training should be immediately exited from.
Further, in order to preferably simulate the live true environment of burst, in the trainee 6 in the simulation
When being shot at trained in shooting range 1, under the Background control process control of the control system platform 2, it is located at the simulation
Simulation light 4 in shooting range 1 starts simulating actual combat site environment light, the simulation hair on the mobile robot target 3
Acoustic device 307 issues that identity therewith is corresponding to scream or shout respectively, and the two simulates the true of attack of terrorism scene jointly
Environment.
Further, in order to preferably observe and control training, in the trainee 6 in the simulated gunnery field
When being shot at trained in 1, the monitoring probe 5 in the simulated gunnery field 1 monitors training process in real time, and will monitoring
Picture is back to the control system platform 2, and drillmaster observes monitored picture, supervised training mistake by the human-computer interaction interface 7
Journey.
Simply to illustrate that technical concepts and features of the invention, its purpose is allows in the art above-described embodiment
Those of ordinary skill cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all
It is changes or modifications equivalent made by the essence of content according to the present invention, should be covered by the scope of protection of the present invention.
Claims (10)
1. a kind of man-machine coordination simulative training system, it is characterised in that: flat by a piece of simulated gunnery field (1), a control system
Platform (2), several mobile robot targets (3) and at least one firing signal generator (12) composition；
The simulated gunnery field (1) is a piece of training court with certain area, is disposed in the simulated gunnery field (1) big
Small not equal blindage or barrier；
Several described mobile robot targets (3) are freely movably arranged in the simulated gunnery field (1), for simulating
" bandit " or " common people "；The mobile robot target (3) includes an intelligent family moving platform (301) and at least one is mounted on institute
The shoot-simulating target system (302) on intelligent platform is stated, the intelligent family moving platform (301) is responsible for the mobile robot target
(3) movement velocity and direction, the shoot-simulating target system (302) are responsible for receiving the firing signal for coming from trainee (6)；
The mobile robot target (3) is also integrated at least one control interactive module (309), and the control interactive module (309) is negative
Duty realizes the collection fed back to the control of the intelligent family moving platform (301) and state, is responsible for realizing to the shoot-simulating target
The control of system (302) and the collection for feedback of being hit by a bullet, and be responsible for realizing the mobile robot target (3) and the control system
The interactive correspondence of platform (2)；
The firing signal generator (12) is mounted on small arms used in the trainee (6), is used for the control
System platform (2) processed feeds back the shooting information of the trainee (6)；
The control system platform (2) be laid in backstage, the control system platform (2) respectively with the control interactive module
(309) it is remotely connected with the firing signal generator (12), the control system platform (2) passes through the control interactive module
(309) interactive correspondence is realized with the mobile robot target (3), the control system platform (2) is respectively used to receive by described
The shooting information of firing signal generator (12) transmission is received for sending training instruction to the control interactive module (309)
By the data of being hit by a bullet of control interactive module (309) passback, and count shooting grade.
2. man-machine coordination simulative training system according to claim 1, it is characterised in that: the intelligent family moving platform
(301) for navigation, avoidance, visual sensing, the intelligent mobile wheeled carriage of active posture adjustment function or intelligence crawler type trolley.
3. man-machine coordination simulative training system according to claim 1, it is characterised in that: the shoot-simulating target system
It (302) include that feedback device (306) are hit by a bullet in simulated gunnery people mould (303), firing signal reception device (305) and simulation；Wherein,
The simulated gunnery people mould (303) is arranged on the intelligent family moving platform (301), with simulation " bandit " or the people of " common people "
Shape is responsible for bearing the shooting injury from the trainee (6)；The simulation is hit by a bullet feedback device (306) as an overturning
Mechanism (306a), the simulated gunnery people mould (303) pass through the turnover mechanism (306a) and the intelligent family moving platform (301)
It is connected, the turnover mechanism (306a) connect with the control interactive module (309), and the turnover mechanism (306a) passes through band
The simulated gunnery people mould (303) is moved to topple over to simulate " being hit by a bullet dead " of the mobile robot target (3)；The firing signal
Reception device (305) is the shock wave target-reading sensor (305a) of a settable induction range, the shock wave target-reading sensor
Any position that (305a) is arranged on the simulated gunnery people mould (303) or the intelligent family moving platform (301), the shock wave
Reporting target sensor (305a) is connect with the control interactive module (309), and the shock wave target-reading sensor (305a) is used to form
Actual induction range on the basis of the simulated gunnery people mould (303) to simulate the region that can be hit by a bullet, and is responsible for receiving and be come from
The firing signal of the trainee (6) and it is responsible for feeding back to the control interactive module (309) and is hit by a bullet situation.
4. man-machine coordination simulative training system according to claim 3, it is characterised in that: the shoot-simulating target system
It (302) further include the identity recognition device (304) being connect with control interactive module (309), the identification dress
(304) are set as one or more LED lamp beads (304a), the LED lamp bead (304a) is arranged in the simulated gunnery people mould (303)
Or any position on the intelligent family moving platform (301).
5. man-machine coordination simulative training system according to claim 1, it is characterised in that: the mobile robot target (3)
It further include the laser signal transmitter (308) being connect with control interactive module (309), the laser signal transmitter
(308) it is arranged on the simulated gunnery people mould (303) or the intelligent family moving platform (301), for simulating the shooting of bandit；
It is long-range with the control system platform (2) that several are provided in the training clothes of the trainee (6) and the helmet simultaneously
The laser signal receivers (8) of connection, for recording the situation of being hit by a bullet of trainee (6).
6. a kind of man-machine coordination simulated maneuver method, which is characterized in that specifically includes the following steps:
The firing signal generator (12) for being used to feed back shooting information to control system platform (2) is mounted on by trainee (6)
On used small arms, and confirm the firing signal generator (12) and control system platform (2) successful connection；
The trainee (6) be located at simulated gunnery field (1) it is in place outside after, drillmaster passes through on the control system platform (2)
Human-computer interaction interface (7) control system enters initialization preparation state, and the control system platform (2) passes through the control at this time
Interactive module (309) controls shock wave target-reading sensor (305a) work on all mobile robot targets (3), the shock wave target-reading
Sensor (305a) forms certain indication of shots range according to the external form of simulated gunnery people mould (303), to simulate the effective of human body
Sector of fire, and the identity of the mobile robot targets (3) all at this time is " common people ", it can be not past the simulation
It is move freely under shooting range (1) range and the mutually principle that does not bump against, the control system platform (2) or according to demand by described
It controls interactive module (309) and any one of mobile robot target (3) is transferred to any area for arriving the simulated gunnery field (1)
Domain；
After system initialization is ready, according to training program needs, drillmaster can pass through the institute on the control system platform (2)
The training mode of human-computer interaction interface (7) setting system is stated, at this time the Background control program setting of the control system platform (2)
The identity of at least one mobile robot target (3) is converted to " bandit " by " common people ", and passes through control interaction mould
Block (309) control identity becomes the unlatching of the LED lamp bead (304a) on the mobile robot target (3) of " bandit " and is always on, to make
For the difference of the mobile robot target (3) with other " common people " identity, at the same the control system platform (2) pass through it is described
The letter for occurring " bandit " in mobile robot target (3) crowd of other " common people " identity is informed in control interactive module (309)
Breath；
Under the Background control process control of the control system platform (2), control interactive module (309) control is all
The mobile robot target (3) of " common people " identity according to far from " bandit " identity the mobile robot target (3) principle
It is moved, and the mobile robot target (3) of described control interactive module (309) control " bandit " identity then starts rapidly
It runs away, is moved to the mobile robot target (3) of " common people " identity nearest with its distance；
The trainee (6) enters the simulated gunnery field (1) from periphery, starts to search for and find opportunity " shooting dead " or " hit
The mobile robot target (3) of the wound " as " bandit " identity, while the trainee (6) is it should be noted that avoid accidentally injuring " flat
The mobile robot target (3) of the people " identity；
When the trainee (6) hits the simulated gunnery people mould (303) of the mobile robot target (3), bullet is worn simultaneously
The induction range of the shock wave target-reading sensor (305a) is crossed, the shock wave target-reading sensor (305a) generates sense of being hit by a bullet immediately
Answer, and according to the identity of the mobile robot target (3) and sensed position by the control interactive module (309) to the control
System platform (2) processed makes an indication of shots；Meanwhile the firing signal generator (12) will include shooting number, shooting duration
And the shooting information including firing rate feeds back to the control system platform (2)；
The control system platform (2) is according to the indication of shots information including be hit by a bullet number and position of being hit by a bullet, therefore, it is determined that each
The casualty situations of the mobile robot target (3)；It is described for being determined as the mobile robot target (3) of " injury of being hit by a bullet "
Control system platform (2) will control its movement velocity by the control interactive module (309) and gradually decrease, to simulate injury；
For being determined as that the mobile robot target (3) of " being hit by a bullet dead ", the control system platform (2) will be handed over by the control
Its movement velocity is become stopping immediately by mutual module (309) from gradually decreasing, while the control system platform (2) is described in
Turnover mechanism (306a) overturning on the mobile robot target (3) of interactive module (309) control stop motion is controlled, thus
The simulated gunnery people mould (303) of the mobile robot target (3) of stop motion is driven to topple over, to simulate death；
After training, the control system platform (2) controls all movements by the control interactive module (309)
Robot target (3) stops movement, and control system returns to initialization preparation state again, and preparation once takes turns training or closes system
System；The last control system platform (2) is believed according to the indication of shots information of the shock wave target-reading sensor (305a) and the laser
The shooting information of number receiver (8), to trainee (6) include in epicycle training bandit's casualty status, zivile Opfer situation,
It shoots number, training and carries out comprehensive data analysis using the training parameter including the time, and reported in the human-computer interaction interface (7)
Accuse training result.
7. man-machine coordination simulated maneuver method according to claim 6, which is characterized in that the training mode is task
Mode, concrete mode are as follows:
Mobile robot target (3) as " bandit " identity of fixed quantity is set by the control system platform (2), it is described
After trainee (6) enters the simulated gunnery field (1), " hit with the mobile robot target (3) of " bandit " identity by whole
Get killed " terminate as training；
When the control system platform (2) is according to including bandit's casualty status, zivile Opfer situation, shooting number, training use
Between including training parameter carry out comprehensive data analysis, and report the instruction of the mission mode in the human-computer interaction interface (7)
Practice as a result, it is most short with the used time, accidentally injure that " common people " minimum, shooting number is at least excellent.
8. man-machine coordination simulated maneuver method according to claim 6, which is characterized in that the training mode is the time
Mode, concrete mode are as follows:
A fixed training time is set by the control system platform (2), and sets a mobile machine at random
People's target (3) is " bandit " identity, and the trainee (6) enters the simulated gunnery field (1), and the name " gangster simultaneously " is shot " in searching dead
On foot " after the mobile robot target (3) of identity, the control system platform (2) is with will this mobile robot target
(3) ad hoc identity is " common people ", and sets the identity of another mobile robot target (3) at random immediately as " bandit ",
The trainee (6) continually looks for the mobile robot target (3) for simultaneously " shooting " next name " bandit " identity dead, and circulation is such as
This, being exhausted using the training time as training terminates；
The control system platform (2) includes that bandit's casualty status, zivile Opfer situation, shooting number, training were existed using the time
Interior training parameter carries out comprehensive data analysis, and reports the training result of the mission mode in human-computer interaction interface (7), with
It is at least excellent that " shooting bandit dead " is at most, " accidentally injuring the common people " is minimum, shoots number.
9. man-machine coordination simulated maneuver method according to claim 6, it is characterised in that: the trainee (6) is in institute
It states when being shot at trained in simulated gunnery field (1), under the Background control process control of the control system platform (2), institute
State the laser signal transmitter (308) on the mobile robot target (3) of control interactive module (309) control " bandit " identity
Laser signal sporadically will be emitted towards the trainee (6), to simulate counterattack；
The trainee (6) while shooting or wounding mobile robot target (3) of " bandit " identity dead on searching opportunity,
It should be noted that the mould that the mobile robot target (3) for hiding " bandit " identity is carried out using the laser signal transmitter (308)
Quasi- counterattack, and avoid accidentally injuring the mobile robot target (3) of " common people " identity；
When the laser that the mobile robot target (3) of " bandit " identity is emitted the laser signal transmitter (308) is believed
When number being irradiated to laser signal receivers (8) that the trainee (6) is located on training clothes or the helmet, the laser signal is connect
It receives device (8) and generates induction of being hit by a bullet immediately, and primary report wound is made to the control system platform (2) according to the position of induction；
The control system platform (2) hurts information according to the report including injured number and injury, therefore, it is determined that described
The casualty situations of trainee (6), when the trainee (6) is determined as " sacrifice of being hit by a bullet " by the control system platform (2)
When, the control system platform (2) informs that trainee (6) should immediately exit from training.
10. man-machine coordination simulated maneuver method according to claim 6, it is characterised in that: exist in the trainee (6)
When being shot at trained in the simulated gunnery field (1), under the Background control process control of the control system platform (2),
Simulation light (4) in the simulated gunnery field (1) starts simulating actual combat site environment light, is located at the mobile machine
Simulation sounding device (307) on people's target (3) issues that identity therewith is corresponding to scream or shout, the two simulate jointly respectively
The true environment at attack of terrorism scene；When the trainee (6) is shot at trained in the simulated gunnery field (1),
Monitoring probe (5) in the simulated gunnery field (1) monitors training process in real time, and monitored picture is back to described
Control system platform (2), drillmaster observe monitored picture, supervised training process by the human-computer interaction interface (7).
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| CN113188376A (en) * | 2021-04-23 | 2021-07-30 | 北京信安通靶场装备科技有限公司 | Target control system |
| CN113280681A (en) * | 2021-07-21 | 2021-08-20 | 中国人民解放军国防科技大学 | Target robot and implementation method thereof |
| CN113280681B (en) * | 2021-07-21 | 2021-11-19 | 中国人民解放军国防科技大学 | Implementation method of target robot |
| CN114061367A (en) * | 2021-11-11 | 2022-02-18 | 湖南数军物联网科技有限公司 | Task simulation training system and training method |
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