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 126
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000004088 simulation Methods 0.000 claims abstract description 70
- 238000012544 monitoring process Methods 0.000 claims abstract description 20
- 238000010304 firing Methods 0.000 claims abstract description 12
- 239000000523 sample Substances 0.000 claims abstract description 8
- 230000003993 interaction Effects 0.000 claims description 87
- 230000035939 shock Effects 0.000 claims description 28
- 208000027418 Wounds and injury Diseases 0.000 claims description 23
- 208000014674 injury Diseases 0.000 claims description 20
- 230000006378 damage Effects 0.000 claims description 19
- 239000011324 bead Substances 0.000 claims description 18
- 230000007306 turnover Effects 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000005553 drilling Methods 0.000 claims description 14
- 230000006698 induction Effects 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000002452 interceptive effect Effects 0.000 claims description 10
- 238000007405 data analysis Methods 0.000 claims description 9
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- 241000289702 Peramelidae Species 0.000 description 2
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- 239000000779 smoke Substances 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
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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 the field of mobile robot application, and particularly relates to a man-machine collaborative simulation drilling system and a man-machine collaborative simulation drilling method.
Background
The training of light weapon ball firing is an indispensable subject in the normalized training of China people liberation army, public security and armed police systems. At present, the following training methods are mainly adopted:
(1) fixed target shooting training: the fixed target is placed at a certain distance, the position of the target cannot be moved, but can be hidden and displayed, the trainee carries out shooting training by directly shooting the fixed target, and the target reporting mode can be achieved by accuracy and hit target reporting, so that the target reporting mode is basic one-way shooting.
(2) Shooting training of a moving target: the moving target is arranged at a certain distance, the target can move according to a specified straight line and speed, the person to be trained carries out shooting training by directly shooting the moving target, and the target scoring mode can be used for scoring the target with precision and hit, so that the target scoring device is advanced one-way shooting on the basis of fixed target shooting training.
Because the position of the fixed target is fixed and can only be hidden and displayed, the trainee can remember through forming muscles after training for a long time, thereby easily dealing with the shooting training of the fixed target. Although the moving target can move relative to the fixed target, due to the fact that the moving route and the speed of the moving target are fixed and have predictability, trained personnel can form an inertia pre-aiming point after long-time training, aiming shooting is facilitated, and therefore shooting training of the moving target can be easily dealt with.
It is well known that when troops and public security and armed police system personnel face a serious threat of terrorist attack, the field situation is often very complicated, civilians are mixed with terrorists, and different sounds and light are also mixed. However, as can be seen from the existing practice shooting training mode of light weapons, the existing shooting training solutions are based on shooting drills at a certain distance, and are based on drills of both enemy and my parties, and neither the fixed targets nor the mobile targets can shoot the trainees, so that the real situation of the battlefield can not be reflected relatively completely, and therefore, the present training solutions are not completely suitable for tactical confrontation training. How to carry out simulated actual combat training aiming at serious dangerous situations such as terrorist attack and the like has no solution.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a man-machine cooperative simulation drilling system and a man-machine cooperative simulation drilling method, so as to simulate urban sudden terrorist attack events, simulate the scene of mixed field personnel and improve the technical and tactical level of police and military forces for handling the sudden events.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
a man-machine cooperation simulation drilling system comprises a simulation shooting ground, a control system platform, a plurality of mobile robot targets and at least one shooting signal generator;
the simulated shooting range is a training field with a certain area, and shelters or barriers with different sizes are arranged in the simulated shooting range;
a plurality of mobile robot targets are freely movably arranged in the simulated shooting field and used for randomly simulating a gangster or a civilian; the mobile robot target comprises an intelligent mobile platform and at least one shooting simulation target system arranged on the intelligent platform; the intelligent mobile platform is responsible for the movement speed and direction of the mobile robot target, the shooting simulation target system is responsible for receiving a shooting signal from a trainee, and the mobile robot target is also integrated with at least one control interaction module which is responsible for realizing the control of the intelligent mobile platform and the collection of state feedback, the control interaction module is responsible for realizing the control of the shooting simulation target system and the collection of medium projectile feedback, and the control interaction module is responsible for realizing the interactive communication between the mobile robot target and the control system platform;
the shooting signal generator is arranged on a light weapon used by the trainee and used for feeding back the shooting information of the trainee to the control system platform;
the control system platform is arranged at the background, the control system platform respectively with control interaction module with shooting signal generator remote connection, the control system platform passes through control interaction module with the mutual communication is realized to the mobile robot target, the control system platform is used for receiving respectively by the shooting information of shooting signal generator conveying, be used for to control interaction module sends the training instruction, receive by the well bullet data of control interaction module passback to statistics shooting score.
Furthermore, the intelligent mobile platform is an intelligent mobile wheel type trolley or an intelligent crawler type trolley with functions of navigation, obstacle avoidance, visual sensing, active posture adjustment and the like.
Furthermore, the shooting simulation target system comprises a simulation shooting man model, a shooting signal receiving device and a simulation medium missile feedback device, wherein the simulation shooting man model is arranged on the intelligent mobile platform to simulate the shape of a gangster or a civilian and is responsible for bearing the shooting injury from the trainee; the simulated medium projectile feedback device is a turnover mechanism, the simulated shooting human model is connected with the intelligent mobile platform through the turnover mechanism, the turnover mechanism is connected with the control interaction module, and the turnover mechanism is used for simulating medium projectile death of the mobile robot target by driving the simulated shooting human model to topple over; the shooting signal receiving device is a shock wave target-scoring sensor capable of setting an induction range, the shock wave target-scoring sensor is arranged at any position on the simulated shooting man model or the intelligent mobile platform and is connected with the control interaction module, and the shock wave target-scoring sensor is used for forming an effective induction range based on the simulated shooting man model so as to simulate a middle bullet area and is responsible for receiving a shooting signal from the trainee and feeding back a middle bullet condition to the control interaction module.
Preferably, the shooting signal receiving device can also be a plurality of piezoelectric sensors connected with the control interaction module, the piezoelectric sensors are uniformly and densely arranged on the simulated shooting man model through a man model leather sheath to form an effective induction range based on the simulated shooting man model so as to simulate a middle-firing area, and the piezoelectric sensors are responsible for receiving the shooting signal from the trainee and feeding back the middle-firing condition to the control system platform.
Preferably, the simulated middle bullet feedback device can also be one or more flashing lamp beads connected with the control interaction module, the flashing lamp beads are arranged at any position of the simulated shooting mannequin or the intelligent mobile platform, and the flashing lamp beads are used for simulating the 'middle bullet death' of the mobile robot target through continuous flashing.
Furthermore, the shooting simulation target system also comprises an identity recognition device connected with the control interaction module, wherein the identity recognition device is one or more LED lamp beads, and the LED lamp beads are used for recognition of identity simulation of a gangster or a civilian through the constant brightness or extinguishment of the LED lamp beads. The LED lamp beads can be uniformly arranged on the front side and the back side of the simulated shooting model, or uniformly arranged on the outer contour of the simulated shooting model, or arranged on the intelligent mobile platform, or any other place which can be used for displaying the target identity of the mobile robot.
Furthermore, the shooting simulation target system also comprises a laser signal transmitter connected with the control interaction module, and the laser signal transmitter is arranged on the simulation shooting mannequin or the intelligent mobile platform and is used for simulating the shooting of a bandit; meanwhile, a plurality of laser signal receivers remotely connected with the control system platform are arranged on the training clothes and the helmet of the trainee and used for recording the middle bullet condition of the trainee.
Further, a vibrator remotely connected with the control system platform is arranged on the training clothes of the trainee to simulate the middle bullet injury of the trainee; a smoke generator remotely connected to the control system platform is provided on the trainee's helmet to simulate the trainee's "shot sacrifice".
Furthermore, the control system platform is provided with a human-computer interaction interface which is convenient for the operation of working personnel and the display of the training result.
Further, the simulated shooting mannequin is a 3D mannequin target, a plane mannequin target or other targets capable of simulating mannequins.
Furthermore, the system also comprises an environment simulation system, wherein the environment simulation system consists of a simulation light and a simulation sound production device; the simulated lamplight is arranged around the simulated shooting range, is remotely connected with the control system platform and is used for simulating the light environment of the terrorist attack site; the simulation sound production device is arranged on the simulation shooting mannequin or the intelligent mobile platform, is connected with the control interaction module and is used for producing sound effect corresponding to the identity of a gangster or a civilian and simulating the sound environment of a scene.
Furthermore, the system also comprises a training monitoring system which is composed of a plurality of monitoring probes, wherein the monitoring probes are arranged around the simulation shooting range, are remotely connected with the control system platform and are used for monitoring the condition of the whole simulation shooting range and the training condition of the trainee.
A man-machine cooperation simulation drilling method specifically comprises the following steps:
1) the trainee installs a shooting signal generator for feeding back shooting information to the control system platform on the used small arms and confirms that the shooting signal generator is successfully connected with the control system platform;
2) after the trainee is positioned outside the simulated shooting range in place, a teacher enters an initialization preparation state through a human-computer interaction interface control system on a control system platform, the control system platform controls shock wave target reporting sensors on all mobile robot targets to work through a control interaction module at the moment, the shock wave target reporting sensors form a certain target reporting range according to the appearance of a simulated shooting man model so as to simulate an effective shooting area of a human body, the identities of all the mobile robot targets are 'civilians', the shock wave target reporting sensors can freely move under the principle that the shock wave target reporting sensors do not exceed the range of the simulated shooting range and do not collide with each other, and the control system platform or the control interaction module can transfer any one of the mobile robot targets to any area of the simulated shooting range according to requirements;
3) after the system initialization preparation is finished, according to the requirement of a training project, a teacher can set a training mode of the system through the human-computer interaction interface on the control system platform, at the moment, a background control program of the control system platform sets the identity of at least one mobile robot target to be converted from "civilian" to "apprentice", and the control interaction module controls the LED lamp beads on the mobile robot target with the identity changed into "apprentice" to be turned on and normally bright to be used as the difference with the mobile robot targets with other "civilian" identities, and meanwhile, the control system platform informs the mobile robot target groups with other "civilian" identities of the "apprentice" of the occurrence of the information of the "apprentice" through the control interaction module;
4) under the control of a background control program of the control system platform, the mobile robot targets of all the 'civilian' identities are controlled by the control interaction module to move according to the principle of the mobile robot targets far away from the 'gangster' identities, and the mobile robot targets of the 'gangster' identities controlled by the control interaction module start to rapidly flee and move to the mobile robot targets of the 'civilian' identities closest to the mobile robot targets;
5) the trainee enters the simulated shooting range from the periphery, starts to search and find the mobile robot target with the opportunity of killing or injuring the bandicoot as the identity, and meanwhile, the trainee should pay attention to avoid injuring the mobile robot target with the identity of the civilian by mistake;
6) when the trainee shoots live ammunition on the simulated shooting mannequin of the mobile robot target, the ammunition simultaneously passes through the sensing range of the shock wave target reporting sensor, the shock wave target reporting sensor immediately generates medium ammunition sensing, and primary target reporting is carried out on the control system platform through the control interaction module according to the identity and the sensing position of the mobile robot target; meanwhile, the shooting signal generator feeds back shooting information including shooting times, shooting duration and shooting frequency to the control system platform;
7) the control system platform judges the casualty condition of each mobile robot target according to target reporting information including the number of middle shots and the middle shot position; for the mobile robot target judged to be in the 'middle-bounce injury', the control system platform controls the movement speed of the mobile robot target to gradually reduce through the control interaction module so as to simulate the injury; for the mobile robot target judged as 'medium projectile death', the control system platform changes the movement speed from gradual reduction to immediate stop through the control interaction module, and simultaneously controls the turnover mechanism on the mobile robot target stopping movement to overturn through the control interaction module, so as to drive the simulated shooting man model of the mobile robot target stopping movement to overturn, and simulate death;
8) after the training is finished, the control system platform controls all the mobile robot targets to stop moving, controls the system again to return to an initialization preparation state, and prepares for next round of training or closes the system; and finally, the control system platform performs comprehensive data analysis on training parameters of the trainee including bandit casualty conditions, civilian casualty conditions, shooting times and training use time in the current round of training according to the target-reporting information of the shock wave target-reporting sensor and the shooting information of the laser signal receiver, and reports a training result on the human-computer interaction interface.
Further, the training mode is a task mode, and the specific mode is as follows:
setting a fixed number of the mobile robot targets as 'bander' identities through the control system platform, and finishing training by taking all 'killing' of the mobile robot targets with the 'bander' identities after the trainees enter the simulated shooting range;
the control system platform carries out comprehensive data analysis according to training parameters including bandit casualty conditions, civilian casualty conditions, shooting times and training use time, reports the training result of the task mode on the human-computer interaction interface, and is optimal in shortest use time, least injury to the civilian by mistake and least shooting times.
Further, the training mode is a time mode, and the specific mode is as follows:
setting a fixed training time through the control system platform, randomly setting one mobile robot target as a "bandit" identity, enabling the trainee to enter the simulated shooting ground, searching and "killing" the mobile robot target of the "bandit" identity, then enabling the control system platform to set the identity of the mobile robot target as "civilian" and immediately randomly setting the identity of the other mobile robot target as "bandit", enabling the trainee to continuously search and "kill" the mobile robot target of the next "bandit" identity, and circulating the way, and finishing training by using the exhausted training time as training;
the control system platform carries out comprehensive data analysis on training parameters including bandit casualty conditions, civilian casualty conditions, shooting times and training use time, reports the training result of the task mode on a human-computer interaction interface, and is superior to the effects that the bandit casualty is the most, the citizen is injured by mistake is the least and the shooting times are the least.
Further, when the trainee carries out shooting training in the simulated shooting ground, a laser signal emitter on the mobile robot target of the "gangster" identity emits a laser signal towards the trainee at random under the control of a background control program of the control system platform so as to simulate counterattack;
the trainees can kill or hurt the mobile robot target of the identity of the gangster at the time of searching, and simultaneously pay attention to the simulation counterattack of the mobile robot target avoiding the identity of the gangster by utilizing the laser signal transmitter and avoid accidentally injuring the mobile robot target of the identity of the civilian;
when the mobile robot target of the "gangster" identity irradiates the laser signal emitted by the laser signal emitter to the laser signal receiver of the trainee on the training clothes or the helmet, the laser signal receiver immediately generates the middle-bounce induction and gives a wound report to the control system platform according to the induction part, and meanwhile, the control system platform controls the vibrator on the training clothes to generate a vibration and gives a wound warning to the trainee;
the control system platform judges the casualty condition of the trainee according to injury information including the number of injuries and the injured part, and controls a smoke generator on the helmet of the trainee to generate smoke when the trainee is judged to be 'middle bullet sacrificial' by the control system platform so as to inform the trainee that the trainee should immediately quit training.
Furthermore, when the trainee carries out shooting training in the simulated shooting ground, under the control of a background control program of the control system platform, simulated lamplight positioned in the simulated shooting ground starts to simulate the ambient light of the actual battle field, the simulated sound generating devices positioned on the mobile robot targets respectively send out screams or shouts corresponding to the identities of the simulated lamplight, and the screams or the shouts simulate the real environment of the terrorist attack field together.
Furthermore, when the trainee carries out shooting training in the simulated shooting ground, the monitoring probe in the simulated shooting ground monitors the training process in real time and transmits a monitoring picture back to the control system platform, and a teacher observes the monitoring picture through the human-computer interaction interface and supervises the training process.
Compared with the prior art, the invention has the beneficial effects that:
the invention can simulate the scene environment of terrorist attack and other urban emergencies more completely through the cooperation of free movement of the mobile robot targets with different identities and the acousto-optic mixed effect, and is used for the usual combat training of military, police or armed police personnel. The simulation exercise of the invention is not only the confrontation of the enemy and the my, but also the addition of peripheral personnel such as civilian and the like, and the mobile robot target of the invention has no preset movement track and speed no matter the identity, thereby being capable of simulating the scene of mixed field personnel, being closer to the real environment of urban emergency, and being capable of effectively improving the technical and warfare level of army, police or armed police personnel for dealing with the emergency.
The foregoing is a summary of the present invention, and in order to provide a clear understanding of the technical means of the present invention and to be implemented in accordance with the present specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is an architecture diagram of the human-computer collaborative simulation drilling system of the present invention;
FIG. 2 is a schematic diagram of the module connection of the human-computer collaborative simulation drilling system according to the present invention;
FIG. 3 is a schematic block diagram of a preferred embodiment of the human-computer collaborative simulation drilling system according to the present invention;
FIG. 4 is a schematic diagram of an external structure of a mobile robot target of the human-machine collaborative simulation drilling system according to the present invention;
FIG. 5 is a schematic diagram of trainee equipment of the human-computer collaborative simulation exercise system according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1 and 2, a man-machine cooperation simulation drill system is composed of a simulation shooting ground 1, a control system platform 2, a plurality of mobile robot targets 3 and at least one shooting signal generator 12.
The simulated shooting range 1 is a training field with a certain area, and shelters or barriers with different sizes are arranged in the simulated shooting range 1.
A plurality of the mobile robot targets 3 are freely movably arranged in the simulated shooting range 1 and used for randomly simulating a gangster or a civilian; the mobile robot target 3 comprises an intelligent mobile platform 301 and at least one shooting simulation target system 302 installed on the intelligent platform, wherein the intelligent mobile platform 301 is responsible for the movement speed and direction of the mobile robot target 3, and the shooting simulation target system 302 is responsible for receiving a shooting signal from a trainee 6; the mobile robot target 3 is further integrated with at least one control interaction module 309, and the control interaction module 309 is responsible for realizing the control of the intelligent mobile platform 301 and the collection of state feedback, the control of the shooting simulation target system 302 and the collection of medium projectile feedback, and the interaction communication between the mobile robot target 3 and the control system platform 2.
The fire signal generator 12 is mounted on a firearm used by the trainee 6 for feeding back the firing information of the trainee 6 to the control system platform 2.
The control system platform 2 is arranged at a background and is provided with a human-computer interaction interface 7 which is convenient for a worker to operate and display a training result; the control system platform respectively with control interactive module 309 with firing signal generator remote connection, control system platform 2 passes through control interactive module 309 with the mutual communication is realized to mobile robot target 3, control system platform 2 is used for receiving respectively by the shooting information of firing signal generator 12 conveying, be used for to control interactive module 309 sends the training instruction, receive by the well bullet data of control interactive module 309 passback to the statistics shooting score.
Referring to fig. 2, 3 and 4, as a preferred embodiment, the intelligent mobile platform 301 may be an intelligent mobile wheeled cart or an intelligent tracked cart having functions of navigation, obstacle avoidance, visual sensing, active posture adjustment, and the like; the shooting simulation target system 302 comprises a simulation shooting dummy 303, a shooting signal receiving device 305, a simulation medium feedback device 306 and an identification device 304. Wherein,
the simulated shooting mannequin 303 is a 3D mannequin, and the 3D mannequin is arranged on the intelligent mobile platform 301 to simulate the humanoid form of a gangster or a civilian and is responsible for bearing the shooting injury from the trainee 6;
the simulated middle projectile feedback device 306 is a turnover mechanism 306a, the simulated shooting human model 303 is connected with the intelligent mobile platform 301 through the turnover mechanism 306a, the turnover mechanism 306a is connected with the control interaction module 309, and the turnover mechanism 306a drives the simulated shooting human model 303 to tilt so as to simulate the 'middle projectile death' of the mobile robot target 3;
the shooting signal receiving device 305 is a shock wave target-scoring sensor 305a capable of setting an induction range, the shock wave target-scoring sensor 305a is arranged at any position on the simulated shooting mannequin 303 or the intelligent mobile platform 301, the shock wave target-scoring sensor 305a is connected with the control interaction module 309, and the shock wave target-scoring sensor 305a is used for forming an effective induction range based on the simulated shooting mannequin 303 to simulate a shooting available area and is responsible for receiving a shooting signal from the trainee 6 and feeding back a shooting condition to the control interaction module 309;
the identification device 304 is one or more LED lamp beads 304a connected with the control interaction module 309, and the LED lamp beads 304a are used for identification of "bandit" or "citizen" identification simulation through their own constant on or off. The LED lamp beads 304a may be uniformly disposed on the front and back sides of the simulated shooting mannequin 303, or uniformly disposed on the outer contour of the simulated shooting mannequin 303, or disposed on the intelligent moving platform 301, or any other place that can be used to display the identity of the mobile robot target 3.
Further, the simulated shooting mannequin 303 can also be a planar mannequin target or other targets that can simulate the mannequin.
Further, the fire signal receiving device 305 may also be a plurality of piezoelectric sensors connected to the control interaction module 309, and the piezoelectric sensors are uniformly and densely arranged on the simulated shooting model 303 through a model leather sheath to form an effective sensing range with the simulated shooting model 303 as a reference, so as to simulate a middle-firing area, and be responsible for receiving the fire signal from the trainee 6 and feeding back the middle-firing condition to the control system platform 2.
Furthermore, the simulated middle missile feedback device 306 can also be one or more flashing lamp beads connected with the control interaction module 309, the flashing lamp beads are arranged on the simulated shooting man model 303 or the intelligent mobile platform 301, and the flashing lamp beads can simulate the middle missile death of the mobile robot target 3 through continuous flashing.
Further, as shown in fig. 2-5, the shooting simulation target system 302 of the present invention further includes a laser signal emitter 308 connected to the control interaction module 309, wherein the laser signal emitter 308 is disposed on the simulated shooter module 303 or the intelligent mobile platform 301 for simulating the shooting of a bandit; meanwhile, a plurality of laser signal receivers 8 remotely connected with the control system platform 2 are arranged on the training clothes and the helmet of the trainee 6 and used for recording the middle bullet condition of the trainee 6.
Further, as shown in fig. 2, 3 and 5, a vibrator 10 remotely connected to the control system platform 2 is provided on the training clothes of the trainee 6 to simulate a "mid-elastic injury" of the trainee 6; a smoke generator 11 is remotely connected to the control system platform 2 on the trainee's 6 helmet to simulate the "mesoelastic sacrifice" of the trainee 6.
Further, referring to fig. 1-4, as a preferred embodiment, the present invention further comprises an environment simulation system, wherein the environment simulation system is composed of a simulated light 4 and a simulated sound device 307; the simulated lamplight 4 is arranged around the simulated shooting range 1, is remotely connected with the control system platform 2 and is used for simulating the light environment of a terrorist attack site; the simulation sound production device 307 is arranged on the simulation shooting mannequin 303 or the intelligent mobile platform 301, is connected with the control interaction module 309, and is used for producing a sound effect corresponding to the identity of a gangster or a citizen and simulating a field sound environment.
Further, as shown in fig. 1-3, as a preferred embodiment, the present invention further comprises a training monitoring system, wherein the training monitoring system is composed of a plurality of monitoring probes 5, and the monitoring probes 5 are disposed around the simulated shooting range 1 and remotely connected to the control system platform 2 for monitoring the conditions of the whole simulated shooting range 1 and the training conditions of the trainee 6.
Referring to fig. 1-5, a man-machine collaborative simulation drilling method specifically includes the following steps:
1) the shooting signal generator 12 used by the trainee 6 to feed back the shooting information to the control system platform 2 is installed on the used small arms, and the successful connection between the shooting signal generator 12 and the control system platform 2 is confirmed;
2) after the trainee 6 is located outside the simulated shooting range 1, the instructor controls the system to enter an initialization preparation state through the human-computer interaction interface 7 on the control system platform 2, at this time, the control system platform 2 controls the shock wave target-reporting sensors 305a on all the mobile robot targets 3 to work through the control interaction module 309, the shock wave hit-indicating sensor 305a forms a certain hit-indicating range according to the shape of the simulated shooting human model 303, so as to simulate the effective shooting area of the human body, and at the moment, the identities of all the mobile robot targets 3 are 'civilians', can freely move under the principle that the identities do not exceed the range of the simulated shooting range 1 and do not collide with each other, the control system platform 2 or the control interaction module 309 transfers any one of the mobile robot targets 3 to any area of the simulated shooting range 1 according to the requirement;
3) after the system initialization preparation is completed, according to the requirement of a training project, a teacher can set a training mode of the system through the human-computer interaction interface 7 on the control system platform 2, at this time, a background control program of the control system platform 2 sets that the identity of at least one mobile robot target 3 is converted from "civilian" to "bandit", and controls an LED lamp bead 304a on the mobile robot target 3 with the identity changed to "bandit" to be turned on and normally bright through the control interaction module 309 to be used as a difference with the mobile robot targets 3 with other "civilian" identities, and meanwhile, the control system platform 2 informs the mobile robot targets 3 with other "civilian" identities of the occurrence of "bandit" through the control interaction module 309;
4) under the control of a background control program of the control system platform 2, the control interaction module 309 controls all the mobile robot targets 3 with the identity of the "civilian" to move according to the principle of the mobile robot target 3 away from the identity of the "gangster", and the control interaction module 309 controls the mobile robot target 3 with the identity of the "gangster" to rapidly escape and move to the mobile robot target 3 with the identity of the "civilian" closest to the mobile robot target 3;
5) the trainee 6 enters the simulated shooting ground 1 from the periphery, starts to search and find the mobile robot target 3 with the opportunity of killing or injuring the bandicoot as the identity, and meanwhile, the trainee 6 should pay attention to the mobile robot target 3 avoiding injuring the identity of the civilian by mistake;
6) when the trainee 6 hits live ammunition on the simulated shooting mannequin 303 of the mobile robot target 3, the ammunition simultaneously passes through the sensing range of the shock wave target-reporting sensor 305a, the shock wave target-reporting sensor 305a immediately generates medium ammunition sensing, and once target reporting is performed to the control system platform 2 through the control interaction module 309 according to the identity and sensing position of the mobile robot target 3; meanwhile, the shooting signal generator 12 feeds back shooting information including shooting times, shooting duration and shooting frequency to the control system platform 2;
7) the control system platform 2 judges the casualty condition of each mobile robot target 3 according to target reporting information including the number of middle shots and the middle shot position; for the mobile robot target 3 judged as "middle bullet injury", the control system platform 2 will control its motion speed to gradually decrease through the control interaction module 309 to simulate injury; for the mobile robot target 3 judged as "medium bullet death", the control system platform 2 will change its moving speed from gradually decreasing to immediately stopping through the control interaction module 309, and at the same time, the control system platform 2 controls the turnover mechanism 306a on the mobile robot target 3 stopping moving through the control interaction module 309 to turn over, so as to drive the simulated shooting man model 303 of the mobile robot target 3 stopping moving to topple over to simulate death;
8) after the training is finished, the control system platform 2 controls all the mobile robot targets 3 to stop moving through the control interaction module 309, controls the system to return to the initial preparation state again, and prepares for next round of training or closes the system; finally, the control system platform 2 performs comprehensive data analysis on training parameters including bandit casualty conditions, civilian casualty conditions, shooting times and training use time of the trainee 6 in the current round of training according to the target-reporting information of the shock wave target-reporting sensor 305a and the shooting information of the laser signal receiver 8, and reports the training result on the human-computer interaction interface 7.
Further, the training mode may be set as a task mode, and the specific training mode is as follows:
setting a fixed number of the mobile robot targets 3 as "bandit" identities through the control system platform 2, and after the trainee 6 enters the simulated shooting ground 1, taking the situation that all the mobile robot targets 3 with "bandit" identities are completely "killed" as training completion;
the control system platform 2 carries out comprehensive data analysis according to training parameters including bandit casualty conditions, civilian casualty conditions, shooting times and training use time, reports the training result of the task mode on the human-computer interaction interface 7, and is optimal in shortest use time, least casualty injury and least shooting times.
Further, the training mode may also be set to a time mode, and the specific training mode is as follows:
setting a fixed training time through the control system platform 2, randomly setting one mobile robot target 3 as a "bandit" identity, enabling the trainee 6 to enter the simulated shooting range 1, searching and "killing" the mobile robot target 3 of the bandit "identity, enabling the control system platform 2 to set the identity of the mobile robot target 3 as" civilian "immediately, randomly setting the identity of the other mobile robot target 3 as" bandit ", enabling the trainee 6 to continuously search and" kill "the mobile robot target 3 of the next bandit" identity, and cycling the process so as to finish training by using the exhausted training time;
the control system platform 2 carries out comprehensive data analysis on training parameters including bandit casualty conditions, civilian casualty conditions, shooting times and training use time, reports the training result of the task mode on the human-computer interaction interface 7, and is superior to the effects that the bandit casualty is killed the most, the citizen is injured the least by mistake and the shooting times are the least.
Further, as a preferable means for enhancing training, when the trainee 6 performs shooting training in the simulated shooting ground 1, under the control of the background control program of the control system platform 2, the laser signal transmitter 308 on the mobile robot target 3 of "gangster" identity is controlled by the control interaction module 309 to randomly transmit laser signals to the trainee 6 so as to simulate counterattack;
the trainee 6 needs to pay attention to the simulation counterattack of the mobile robot target 3 avoiding the identity of the bandit by using the laser signal transmitter 308 and avoid the accidental injury of the mobile robot target 3 of the identity of the civilian while searching for the mobile robot target 3 killing or injuring the identity of the bandit at the moment;
when the mobile robot target 3 with "gangster" identity irradiates the laser signal emitted by the laser signal emitter 308 to the laser signal receiver 8 of the trainee 6 on the training clothes or helmet, the laser signal receiver 8 immediately generates a medium bounce induction and gives a wound report to the control system platform 2 according to the induction part, and meanwhile, the control system platform 2 controls the vibrator 10 on the training clothes to generate a vibration to give a wound warning to the trainee 6;
the control system platform 2 judges the casualty condition of the trainee 6 according to the reported injury information including the number of injuries and the injured part, and when the trainee 6 is judged to be 'middle missile sacrifice' by the control system platform 2, the control system platform 2 controls a smoke generator 11 on the helmet of the trainee 6 to generate smoke so as to inform the trainee 6 that the trainee 6 should immediately quit training.
Further, in order to better simulate the real environment of the emergency scene, when the trainee 6 performs shooting training in the simulated shooting ground 1, under the control of the background control program of the control system platform 2, the simulated light 4 in the simulated shooting ground 1 starts to simulate the light rays of the real-world scene, the simulated sound devices 307 on the mobile robot target 3 respectively emit screams or shouts corresponding to the identities of the simulated light, and the screams or the shouts jointly simulate the real environment of the terrorist attack scene.
Further, in order to better observe and control the training situation, when the trainee 6 performs shooting training in the simulated shooting ground 1, the monitoring probe 5 in the simulated shooting ground 1 monitors the training process in real time and transmits the monitoring picture back to the control system platform 2, and the instructor observes the monitoring picture through the human-computer interaction interface 7 and supervises the training process.
The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention accordingly, and not to limit the protection scope of the present invention accordingly. All equivalent changes or modifications made in accordance with the spirit of the present disclosure are intended to be covered by the scope of the present disclosure.
Claims (10)
1. A man-machine cooperation simulation drilling system is characterized in that: the shooting simulation system is composed of a simulated shooting range (1), a control system platform (2), a plurality of mobile robot targets (3) and at least one shooting signal generator (12);
the simulated shooting range (1) is a training field with a certain area, and shelters or barriers with different sizes are arranged in the simulated shooting range (1);
a plurality of mobile robot targets (3) are freely movably arranged in the simulated shooting range (1) and used for simulating gangster or civilian; the mobile robot target (3) comprises an intelligent mobile platform (301) and at least one shooting simulation target system (302) installed on the intelligent platform, wherein the intelligent mobile platform (301) is responsible for the movement speed and direction of the mobile robot target (3), and the shooting simulation target system (302) is responsible for receiving a shooting signal from a trainee (6); the mobile robot target (3) is further integrated with at least one control interaction module (309), and the control interaction module (309) is responsible for realizing control of the intelligent mobile platform (301) and collection of state feedback, control of the shooting simulation target system (302) and collection of medium shot feedback, and interactive communication between the mobile robot target (3) and the control system platform (2);
the firing signal generator (12) is mounted on a firearm used by the trainee (6) for feeding back firing information of the trainee (6) to the control system platform (2);
the backstage is laid in control system platform (2), control system platform (2) respectively with control interactive module (309) with shooting signal generator (12) remote connection, control system platform (2) pass through control interactive module (309) with mobile robot target (3) realize mutual communication, control system platform (2) are used for respectively receiving by the shooting information of shooting signal generator (12) conveying, be used for to control interactive module (309) send training instruction, receive by the well bullet data of control interactive module (309) passback to statistics shooting score.
2. The human-computer collaborative simulation drill system according to claim 1, wherein: the intelligent mobile platform (301) is an intelligent mobile wheel type trolley or an intelligent crawler type trolley with functions of navigation, obstacle avoidance, visual sensing and active posture adjustment.
3. The human-computer collaborative simulation drill system according to claim 1, wherein: the shooting simulation target system (302) comprises a simulation shooting man model (303), a shooting signal receiving device (305) and a simulation medium projectile feedback device (306); the simulated shooting man model (303) is arranged on the intelligent mobile platform (301) to simulate the shape of a gangster or a civilian and is responsible for bearing shooting injuries from the trainee (6); the simulated middle projectile feedback device (306) is a turnover mechanism (306 a), the simulated shooting man model (303) is connected with the intelligent mobile platform (301) through the turnover mechanism (306 a), the turnover mechanism (306 a) is connected with the control interaction module (309), and the turnover mechanism (306 a) is used for simulating 'middle projectile death' of the mobile robot target (3) by driving the simulated shooting man model (303) to dump; the shooting signal receiving device (305) is a shock wave target-reporting sensor (305 a) capable of setting an induction range, the shock wave target-reporting sensor (305 a) is arranged at any position on the simulated shooting man model (303) or the intelligent mobile platform (301), the shock wave target-reporting sensor (305 a) is connected with the control interaction module (309), and the shock wave target-reporting sensor (305 a) is used for forming an effective induction range taking the simulated shooting man model (303) as a reference so as to simulate a middleable bullet area and be responsible for receiving a shooting signal from the trainee (6) and feeding back a middleable bullet condition to the control interaction module (309).
4. The human-computer collaborative simulation drill system according to claim 3, wherein: the shooting simulation target system (302) further comprises an identity recognition device (304) connected with the control interaction module (309), the identity recognition device (304) is one or more LED lamp beads (304 a), and the LED lamp beads (304 a) are arranged at any position on the simulation shooting model (303) or the intelligent mobile platform (301).
5. The human-computer collaborative simulation drill system according to claim 1, wherein: the mobile robot target (3) further comprises a laser signal emitter (308) connected with the control interaction module (309), and the laser signal emitter (308) is arranged on the simulated gunnery model (303) or the intelligent mobile platform (301) and used for simulating the shooting of a gangster; meanwhile, a plurality of laser signal receivers (8) remotely connected with the control system platform (2) are arranged on the training clothes and the helmet of the trainee (6) and used for recording the middle bullet condition of the trainee (6).
6. A man-machine cooperation simulation drilling method is characterized by comprising the following steps:
the trainee (6) installs a shooting signal generator (12) for feeding back shooting information to the control system platform (2) on the used small arms, and confirms that the connection between the shooting signal generator (12) and the control system platform (2) is successful;
after the trainee (6) is located outside the simulated shooting range (1) in place, a teacher controls a system to enter an initialization preparation state through a human-computer interaction interface (7) on the control system platform (2), at the moment, the control system platform (2) controls shock wave target reporting sensors (305 a) on all mobile robot targets (3) to work through the control interaction module (309), the shock wave target reporting sensors (305 a) form a certain target reporting range according to the shapes of the simulated shooting man models (303) to simulate an effective shooting area of a human body, at the moment, the identities of all the mobile robot targets (3) are 'civilians', the trainees can freely move under the principles that the trainee does not exceed the range of the simulated shooting range (1) and do not collide with each other, and the control system platform (2) or the control interaction module (309) can transfer any one mobile robot target (3) to any shooting range of the simulated shooting range (1) according to requirements A favorite region;
after the system initialization preparation is finished, according to the requirement of a training project, a teacher can set a training mode of the system through the human-computer interaction interface (7) on the control system platform (2), at the moment, a background control program of the control system platform (2) sets that the identity of at least one mobile robot target (3) is converted into a "prison" from a "civilian" state, and an LED lamp bead (304 a) on the mobile robot target (3) of which the identity is changed into the "prison" is controlled to be turned on and normally bright through the control interaction module (309) to be used as a difference with the mobile robot targets (3) of other "civilian" identities, and meanwhile, the control system platform (2) informs the mobile robot targets (3) of other "civilian" identities of the occurrence of a "prison" through the control interaction module (309);
under the control of a background control program of the control system platform (2), the control interaction module (309) controls all the mobile robot targets (3) with the 'citizen' identity to move according to the principle of the mobile robot target (3) far away from the 'bandit' identity, and the control interaction module (309) controls the mobile robot target (3) with the 'bandit' identity to begin to rapidly flee and move to the mobile robot target (3) with the 'citizen' identity closest to the mobile robot target;
the trainee (6) enters the simulated shooting range (1) from the periphery, and starts to search and find the mobile robot target (3) with the opportunity of 'killing' or 'wounding' as the identity of a bander, and meanwhile, the trainee (6) should pay attention to avoid accidentally injuring the mobile robot target (3) with the identity of a 'civilian';
when the trainee (6) hits the simulated shooting human model (303) of the mobile robot target (3), bullets simultaneously pass through the sensing range of the shock wave target-reporting sensor (305 a), the shock wave target-reporting sensor (305 a) generates medium bullet sensing immediately, and one-time target reporting is carried out to the control system platform (2) through the control interaction module (309) according to the identity and the sensing position of the mobile robot target (3); meanwhile, the shooting signal generator (12) feeds shooting information including shooting times, shooting duration and shooting frequency back to the control system platform (2);
the control system platform (2) judges the casualty condition of each mobile robot target (3) according to target reporting information including the number of middle shots and the middle shot position; for the mobile robot target (3) judged as the 'middle-bounce injury', the control system platform (2) controls the movement speed thereof to gradually reduce through the control interaction module (309) so as to simulate the injury; for the mobile robot target (3) judged as 'medium projectile death', the control system platform (2) changes the movement speed from gradual reduction to immediate stop through the control interaction module (309), and simultaneously the control system platform (2) controls the turnover mechanism (306 a) on the mobile robot target (3) which stops moving to turn over through the control interaction module (309), so as to drive the simulated shooting man model (303) of the mobile robot target (3) which stops moving to dump to simulate death;
after training is finished, the control system platform (2) controls all the mobile robot targets (3) to stop moving through the control interaction module (309), controls the system to return to an initialization preparation state again, and prepares to train in a next round or close the system; and finally, the control system platform (2) carries out comprehensive data analysis on training parameters of the trainee (6) including the condition of the casualties, the condition of the casualties of civilians, the shooting times and the training use time in the current round of training according to the target-reporting information of the shock wave target-reporting sensor (305 a) and the shooting information of the laser signal receiver (8), and reports the training result on the human-computer interaction interface (7).
7. The method of claim 6, wherein the training mode is a task mode, and the specific method is as follows:
setting a fixed number of the mobile robot targets (3) as the identity of a gangster through the control system platform (2), and taking the complete 'killing' of the mobile robot targets (3) of the identity of the gangster as the training end after the trainee (6) enters the simulated shooting range (1);
the control system platform (2) carries out comprehensive data analysis according to training parameters including bandit casualty conditions, civilian casualty conditions, shooting times and training use time, and reports the training result of the task mode on the human-computer interaction interface (7), wherein the shortest time, the fewest people injured by mistake and the fewest shooting times are the best.
8. The method of claim 6, wherein the training mode is a time mode, and the specific method is as follows:
setting a fixed training time through the control system platform (2), randomly setting one mobile robot target (3) as a 'bandit' identity, enabling the trainee (6) to enter the simulated shooting range (1), searching and 'killing' the mobile robot target (3) of the 'bandit' identity, then immediately setting the identity of the mobile robot target (3) as 'civilian' through the control system platform (2), randomly setting the identity of the other mobile robot target (3) as 'bandit', enabling the trainee (6) to continuously search and 'kill' the mobile robot target (3) of the next 'bandit' identity, and circulating the steps, wherein the end of training is the exhaustion of the training time;
the control system platform (2) carries out comprehensive data analysis on training parameters including bandit casualty conditions, civilian casualty conditions, shooting times and training use time, reports the training result of the task mode on a human-computer interaction interface (7), and is optimal in terms of the maximum bandit casualty, the minimum casualty and shooting times.
9. The human-computer collaborative simulation drill method according to claim 6, wherein: when the trainee (6) carries out shooting training in the simulated shooting range (1), under the control of a background control program of the control system platform (2), the control interaction module (309) controls a laser signal transmitter (308) on the mobile robot target (3) with a "gangster" identity to emit a laser signal towards the trainee (6) at an indefinite time so as to simulate counterattack;
the trainee (6) can kill or hurt the mobile robot target (3) of the bandit identity at the time of searching for the time, and meanwhile, the mobile robot target (3) avoiding the bandit identity can be subjected to simulation counterattack by the laser signal transmitter (308), and the mobile robot target (3) of the civilian identity can be prevented from being hurt by mistake;
when the mobile robot target (3) with the identity of a gangster irradiates a laser signal emitted by the laser signal emitter (308) to a laser signal receiver (8) of the trainee (6) on a training uniform or a helmet, the laser signal receiver (8) immediately generates a middle-bounce induction and gives a report to the control system platform (2) according to the induction part;
the control system platform (2) judges the casualty condition of the trainee (6) according to injury information including the number of injuries and the injured part, and when the trainee (6) is judged to be 'middle missile sacrifice' by the control system platform (2), the control system platform (2) informs the trainee (6) that the trainee should immediately quit training.
10. The human-computer collaborative simulation drill method according to claim 6, wherein: when the trainee (6) carries out shooting training in the simulated shooting ground (1), under the control of a background control program of the control system platform (2), the simulated lamplight (4) positioned in the simulated shooting ground (1) starts to simulate the light rays of the environment of the actual combat site, the simulated sound-producing devices (307) positioned on the mobile robot targets (3) respectively emit screams or shouts corresponding to the identities of the simulated lamplight and the simulated sound-producing devices, and the screams and the shores jointly simulate the real environment of the terrorist attack site; when the trainee (6) carries out shooting training in the simulated shooting range (1), the monitoring probe (5) in the simulated shooting range (1) carries out real-time monitoring on the training process, and transmits a monitoring picture back to the control system platform (2), and a teacher observes the monitoring picture through the human-computer interaction interface (7) to supervise the training process.
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Application publication date: 20191022 |