CN110425940A - A kind of ballistic calculation of back starting target machine and target drone - Google Patents
A kind of ballistic calculation of back starting target machine and target drone Download PDFInfo
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- CN110425940A CN110425940A CN201910873699.5A CN201910873699A CN110425940A CN 110425940 A CN110425940 A CN 110425940A CN 201910873699 A CN201910873699 A CN 201910873699A CN 110425940 A CN110425940 A CN 110425940A
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- 238000004364 calculation method Methods 0.000 title claims description 10
- 230000001681 protective effect Effects 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000000694 effects Effects 0.000 claims abstract description 5
- 229920001971 elastomer Polymers 0.000 claims description 13
- 239000000806 elastomer Substances 0.000 claims description 8
- 230000035939 shock Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 2
- 238000012549 training Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 12
- 230000007547 defect Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
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- 238000004064 recycling Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/06—Acoustic hit-indicating systems, i.e. detecting of shock waves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J7/00—Movable targets which are stationary when fired at
- F41J7/04—Movable targets which are stationary when fired at disappearing or moving when hit
Abstract
The present invention provides a kind of back starting target machines, including host, protective plate, battery case and multiple sensors, wherein, host includes upper casing and chassis, the side on chassis is fixedly installed protective plate eye-splice, the integrally formed of anti-protective plate bottom is provided with plate, is plugged and fixed between plate and protective plate eye-splice and then blocks protective plate in the front of host.Motor cabinet is fixed on chassis, motor, motor swing arm, flake bulb and positive backward leading screw are provided on motor cabinet, motor rotation drives motor swing arm to do 360 degree of movements, positive backward leading screw, main shaft swing arm, main shaft is driven to move reciprocatingly by flake bulb, limit switch controls start-stop, it realizes and drives the movement of target set by fixed angle, generated down effect.The configuration of the present invention is simple, easy to use, entire target drone is structure lightened, is conducive to placement training place whenever and wherever possible, and acts that mechanism controls are accurate, and algorithm is accurate.
Description
Technical field
The present invention is military or police exercising device technical field, is specifically related to the trajectory meter of a kind of back starting target machine and target drone
Calculation method.
Background technique
The hit rate and precision of shooting are especially important for the player of soldier, police or gunnery meeting.And it penetrates
Hit the raising of hit rate and precision, key is gunnery training quality and efficiency, this just need using to training target drone.Tradition
Target be fixed in target range and upright bar is embedded in underground, after shooting, need personnel observe calculate after quote shooting number of rings,
Time-consuming and laborious and inefficiency, so, this traditional target has not conformed to army and police at this stage or gunnery meeting personnel very much
Gunnery training, examination or match needs.
With development in science and technology, there is the running target of various kinds or automatic target-indicating.Running target is guided using track, linear movement
Direction is arranged the transverse shifting target of Electronic control in target range, mountable multiple targets simultaneously on target toter (target vehicle)
Mark.And automatic target-indicating at this stage, mostly use matrix form coordinate to calculate the coordinate setting of point of impact, lateral coordinates sensor and
The output of longitudinal coordinate sensor corresponds to the voltage signal of point of impact position, and microcontroller is completed to the sampling of coordinate signal, protected
It holds, A/D conversion, and calculates the X-Y coordinate value of practical point of impact, finally by quoting shooting number of rings.But this automatic target-indicating
Device error rate height, low precision, directly result in the error of statistical data.
To solve this technical problem, the present inventor proposed a kind of patent application of automatic scoring round target device in 2010,
Publication number: 201697560 U of CN, this device are scored a target using sensor, but there are still some defects, such as: 1, rising
Control is inaccurate；2, it can not accomplish lightweight (cannot arrange at any time target drone in environment such as montane deserts)；3, algorithm is deposited
In defect, there are error or wrong reports.
To solve this technical problem, the present inventor's sustained improvement proposes a kind of structure letter in original design basis
Single, easy to use, entire target drone is structure lightened, is conducive to placement training place whenever and wherever possible, and it is accurate to act mechanism controls, calculates
The ballistic calculation of method accurately a kind of back starting target machine and target drone.
Summary of the invention
The purpose of the present invention is to provide a kind of structure is simple, easy to use, entire target drone is structure lightened, is conducive at any time
Placement training place everywhere, and act that mechanism controls are accurate, the ballistic computation side of algorithm accurately a kind of back starting target machine and target drone
Method.
To solve the above problems, the present invention provides a kind of back starting target machine, including host, protective plate, battery case and multiple
Sensor, wherein host further comprises upper casing and chassis, and the side on chassis is fixedly installed protective plate eye-splice, protective plate top
The side in portion is provided with protective plate handle, and the side of protective plate bottom is integrally formed to be provided with plate, and plate and protective plate are inserted
It is plugged and fixed between button and then blocks protective plate in the front of host.
Further, it is fixed by screw after being fastened between upper casing and chassis, the surface on upper casing upper surface and chassis is in
"convex" shaped, the upper surface of upper casing 1 are fixed with front and back sensor jacket and left and right sensor jacket；The two sides of host are provided with master
Machine handle is provided with panel beside one of host handle, and panel is embedded into host；" convex " shape head position of upper casing
It is provided with power socket board and battery case hanging wire, the top of battery case is provided with battery case handle, the fixed dress of the side wall of battery case
Equipped with hanging plate, hanging plate and battery case hanging wire are hooked and are connected, and are electrically connected between battery case and power socket board by power supply line.
Further, it is fixed with motor cabinet on chassis, motor, motor swing arm, flake bulb and just are provided on motor cabinet
The two sides of backward leading screw, " convex " the shape head on chassis are fixedly installed with bearing block, and bearing is fixed on bearing block, and axis connects on bearing
It is connected to main shaft, the both ends of main shaft are fixedly connected with target rod set, and battery case is electrically connected with motor, main shaft swing arm is provided on main shaft,
Motor swing arm is connect with positive backward leading screw in 0 degree of angle, and positive backward leading screw is in fix 135 degree of angles to connect with main shaft swing arm, main shaft pendulum
Arm is connect with main shaft in 45 degree of angles；The rotation of motor drives motor swing arm to do 360 degree rotation movement, and then by flake bulb
Synchronous rotary drives positive backward leading screw and main shaft swing arm to move reciprocatingly, and then main shaft is driven to do 90 degree of reciprocating motions；Motor rotation
Turn drive motor swing arm motion so that realize target rod set fixation an angle of 90 degrees degree rise have bad luck it is dynamic.
Further, limit switches are fixedly installed on chassis, the side of one of limit switch is provided with limit pendulum
Arm, limit swing arm are socketed on main shaft.Upper and lower two limit switches are installed in an angle of 90 degrees, when limit switch is passed through in limit swing arm
Triggering induction generates signal, and motor start-stop is controlled after master control links, and then consolidating for target rod set is completed in the rotation for controlling main shaft
Determine an angle of 90 degrees and plays reverse motion.
Further, motor rotation drives motor swing arm to do 360 degree of movements, by the positive backward leading screw of flake bulb drive,
Main shaft swing arm, main shaft move reciprocatingly, and limit switch controls start-stop, realize and drive the movement of target set by fixed angle, generate
Effect.
Further, elastomer is further provided in the middle part of protective plate side, elastomer is held in 8 front of host
Between plate and protective plate；There are 0-30 degree angles with host front panel for protective plate.
Further, the elastomer is triangular prism shape, and protective plate is close to the elastomer of triangular prism shape, leads to protective plate court
It tilts to the ground, for making ricochet fire to the ground.
Further, elastomer is polyurethane or rubber.
Further, being embedded into host for plug-in of the panel in host, in field exercise, host is not recycled
In the case where, it can only be safeguarded recycling panel.
Further, the bottom on the chassis is adhesively fixed with rubber foot, front and back sensor jacket and left and right sensor
Sensor is equipped in sheath；Sensor, motor, battery case are electricly connected by panel；It is threadedly coupled lock plunger in target rod set,
Target bar on target is plugged together with target rod set connect after be locked by lock plunger.
Purpose to better implement the present invention, invention further provides the ballistic calculations of back starting target machine, wherein group
At as follows:
Play the algorithm of chamfer angle:
Motor swing arm and main shaft swing arm are installed in fixed angle, can be to target by the control to motor rotational angle
Required angle is accurately positioned, and realizes target angularly reciprocal disappearing；
If target axis of rotation point is O1, motor rotary middle point is O2, A, B two o'clock have been respectively the both ends of falling mechanism rod
Rotation center；
When motor is rotated along needle, motor drives O2Rotation, O2 drive B, B that A, A is driven to drive O1, O1Band moving-target rod set joins
It is dynamic.At this point, the relation formula between the angle and target rod set angle C of motor rotation are as follows: ∠ c=∠ O2 turns-(∠a+∠b)；
At this point, the angle of target rod set can be controlled by control motor rotational angle, or realized down in a manner of fixed angle.
It is further:
Point of impact algorithm:
Target surface region is defined as plane right-angle coordinate using target type center；
Sensor is mounted on upper housing, and T-shaped arrangement, postposition 3, is respectively defined as S by preposition 11、S2、S3、S4, target
Mark is mounted in target set, keeps target surface rectangular with sensor plane, parallel with 3 sensor lines of postposition, and target center is located at the 3rd
Right above sensor；
Defining the target center height started from sensor plane is HB, the spacing of sensor 2,3 is D1, the spacing of sensor 3,4
For D2；
When projectile signal passes through, S1When triggering, link S2、S3、S4Start timing and intercepts the instantaneous optimum signal moment, point
Not defining each moment is T1、T2、T3、T4；
When projectile is from frontal fire target surface D point, sensor obtains T2、T3、T4Point of impact is calculated using following formula
Coordinate:
X axis coordinate is XD:
If T1>T3, then XDIt is positive,
XD=D2×[T3÷(T3+T4)]
If T1<T3, then XDIt is negative.
XD=D1×[T3÷(T2+T3)]
If T1=T3, then XDIt is 0.
Y axis coordinate is YD:
Because shock wave is sound, velocity of sound is used to assist calculating as constant at this time, it is known that the velocity of sound in air is in 1 standard
About 340m/ seconds under conditions of atmospheric pressure and 15 DEG C, it is defined as VSound。
Y is calculated using T2 at this timeDAlgorithm is as follows:
Following formula is obtained first with Pythagorean theorem:
HD 2+XD 2=(T3×VSound)2
H can be calculatedDIt is as follows:
Then, YD=HB-HD
If YDThen, D point is located above X-axis > 0；
If YDThen, D point is located at below X-axis < 0；
The D point coordinate in plane right-angle coordinate can be obtained by above method, projectile can be restored in the actual bit of target surface
It sets.
It should be noted that because the shock wave that projectile generates is influenced by temperature, temperature, air pressure etc., it is more accurate to obtain
Point is played, respective sensor the data obtained must be cooperated suitably to be corrected.
To sum up, the application based on ballistic calculation of the present invention in ballistic computation field is also protection scope of the present invention.
Advantages of the present invention are as follows: structure is simple, easy to use, and entire target drone is structure lightened, conducive to arranging whenever and wherever possible
Training court, and rise fall mechanism controls it is accurate, algorithm is accurate, specifically:
1, it rises and control accurately: target rod set can be controlled with fixed angle and rise, it can also be with set angle.Entire target drone module
Change, lightweight.2, target drone is mainly made of host, backplate and battery case three parts, is provided with handle, is adapted to different
Terrain environment, can placement training place at any time, moreover, cloth postpone it is recyclable can not recycle, disposable words, as long as the face of extraction
Plate, unified maintenance panel.3, algorithm uses the algorithm of shock wave, solves error or wrong report.
Detailed description of the invention:
Fig. 1 is the perspective view of host of the invention.
Fig. 2 is the structural schematic diagram of upper casing of the invention.
Fig. 3 is the side view of battery case of the invention.
Fig. 4 is the perspective view of battery case of the invention.
Fig. 5 is the side view of backplate of the invention.
Fig. 6 is the perspective view of backplate of the invention.
Fig. 7 is the main view direction structural schematic diagram of chassis structure of the invention.
Fig. 8 is the backsight direction structure schematic diagram of chassis structure of the invention.
Fig. 9 is the linkage schematic diagram that target rod set of the present invention acts disappearing.
Figure 10 is the schematic layout pattern of sensor on target of the present invention and host.
Figure 11 is the setting schematic diagram of the X-axis of target of the present invention, Y axis coordinate system.
Figure 12 is the schematic diagram of present invention measuring and calculating trajectory.
Attached drawing mark:
1, upper casing 2, front and back sensor jacket 3, panel
4, host handle 5, left and right sensor jacket 6, power socket board
7, battery case hanging wire 8, host 9, battery case handle
10, battery case 11, hanging plate 12, protective plate handle
13, protective plate 14, plate 15, chassis
16, motor 17, motor swing arm 18, flake bulb
19, positive backward leading screw 20, bearing 21, target rod set
22, main shaft swing arm 23, main shaft 24, limit swing arm
25, limit switch 26, rubber foot 27, protective plate eye-splice
28, lock plunger
Specific embodiment:
As shown in figures 1-8, Fig. 1 is the perspective view of host of the invention.Fig. 2 is the structural schematic diagram of upper casing of the invention.
Fig. 3 is the side view of battery case of the invention.Fig. 4 is the perspective view of battery case of the invention.Fig. 5 is the side of backplate of the invention
View.Fig. 6 is the perspective view of backplate of the invention.Fig. 7 is the main view direction structural schematic diagram of chassis structure of the invention.Fig. 8
For the backsight direction structure schematic diagram of chassis structure of the invention.
Back starting target machine of the invention, including host 8, protective plate 13, battery case 10 and multiple sensors, wherein host 8 into
One step includes upper casing 1 and chassis 15, and the side on chassis 15 is fixedly installed protective plate eye-splice 27, and the side at 13 top of protective plate is set
It is equipped with protective plate handle 12, the side of 13 bottom of protective plate is integrally formed to be provided with plate 14, plate 14 and protective plate eye-splice
Between be plugged and fixed and then block protective plate 13 in the front of host 8.It is tight by screw after being fastened between upper casing 1 and chassis 15
Gu 1 upper surface of upper casing and the surface on chassis 15 are in the shape of a " convex ", the upper surface of upper casing 1 is fixed with front and back sensor jacket 2 and a left side
Right sensor jacket 5；The two sides of host 8 are provided with host handle 4, are provided with panel 3, face beside one of host handle
Plate 3 is embedded into host 8；" convex " shape head position of upper casing 1 is provided with power socket board 6 and battery case hanging wire 7, battery case 10
Top be provided with battery case handle 9, the side wall fixing assembling of battery case 10 has hanging plate 11, hanging plate 11 and 7 hook of battery case hanging wire
Connection is hung, is electrically connected between battery case 10 and power socket board 6 by power supply line.Motor cabinet, motor cabinet are fixed on chassis 15
On be provided with motor 16, motor swing arm 17, flake bulb 18 and positive backward leading screw 19, the two sides on " convex " the shape head on chassis 15 are solid
Dingan County is equipped with bearing block, is fixed with bearing 20 on bearing block, and axis connection has main shaft 23 on bearing 20, and the both ends of main shaft 23 are fixed to be connected
It is connected to target rod set 21, battery case 10 is electrically connected with motor 16, main shaft swing arm 22 is provided on main shaft 23,
Motor swing arm 17 is connect with positive backward leading screw 19 in 0 degree of angle, and positive backward leading screw 19 is in fix 135 with main shaft swing arm 22
Angle connection is spent, main shaft swing arm 22 is connect with main shaft 23 in 45 degree of angles；The rotation of motor 16 drives motor swing arm 17 to do 360 degree of rotations
Transhipment is dynamic, and then by the synchronous rotary of flake bulb 18, positive backward leading screw 19 and main shaft swing arm 22 is driven to move reciprocatingly, into
And main shaft 23 is driven to do 90 degree of reciprocating motions；Motor rotation drives motor swing arm 17 to move and then realizes the fixation of target rod set 21
90 degree of angles are had bad luck dynamic.
Limit switches 25 are fixedly installed on chassis 15, the side of one of limit switch 25 is provided with limit swing arm
24, limit swing arm 24 is socketed on main shaft 23.Upper and lower two limit switches 25 are in 90 degree of angle installations, and limit swing arm 24 is by limit
Triggering induction generates signal when bit switch 25, motor start-stop is controlled after master control links, and then the rotation for controlling main shaft 23 is complete
Reverse motion is played at the fixation an angle of 90 degrees of target rod set 21.
The rotation of motor 16 drives motor swing arm 17 to do 360 degree of movements, drives positive backward leading screw 19, master by flake bulb 18
Axis swing arm 22, main shaft 23 move reciprocatingly, and limit switch 25 controls start-stop, realize and drive target set 21 dynamic by fixed an angle of 90 degrees
Make, has generated down effect.
Further, elastomer is further provided in the middle part of 13 side of protective plate, elastomer is held in 8 front of host
Between plate and protective plate 13；There are 0-30 degree angles with 8 front panel of host for protective plate 13.
Further, the bottom on the chassis is adhesively fixed with rubber foot 26, and front and back sensor jacket 2 and left and right pass
Sensor is equipped in sensor sheath 5；Sensor, motor 16, battery case 10 are electricly connected by panel 3；Spiral shell in target rod set 21
Line connects lock plunger 28, the target bar on target is plugged together with target rod set 21 connect after pass through lock plunger 28 and be locked.
As shown in figure 9, Fig. 9 is the linkage schematic diagram that target rod set of the present invention acts disappearing.Disclose the algorithm of chamfer angle:
Motor swing arm and main shaft swing arm are installed in fixed angle, can be to target by the control to motor rotational angle
Required angle is accurately positioned, and realizes target angularly reciprocal disappearing；
If target axis of rotation point is O1, motor rotary middle point is O2, A, B two o'clock have been respectively the both ends of falling mechanism rod
Rotation center；
When motor is rotated along needle, motor drives O2Rotation, O2 drive B, B that A, A is driven to drive O1, O1Band moving-target rod set joins
It is dynamic.At this point, the relation formula between the angle and target rod set angle C of motor rotation are as follows: ∠ c=∠ O2 turns-(∠a+∠b)；
At this point, the angle of target rod set can be controlled by control motor rotational angle, or realized down in a manner of fixed angle.
The rotation of motor 16 drives motor swing arm 17 to do 360 degree of movements, drives positive backward leading screw 19, main shaft swing arm by flake bulb 18
22, main shaft 23 moves reciprocatingly, and limit switch 25 controls start-stop, realizes and drives 21 movement of target set by fixed angle, generates
Effect.
As shown in Figure 10-Figure 12: Figure 10 is the schematic layout pattern of sensor on target of the present invention and host.Figure 11 is this hair
The X-axis of bright target, Y axis coordinate system setting schematic diagram.Figure 12 is the schematic diagram of present invention measuring and calculating trajectory.
Point of impact algorithm:
Target surface region is defined as plane right-angle coordinate using target type center；(see Figure 11)
Sensor is mounted on upper housing, and T-shaped arrangement, postposition 3, is respectively defined as S by preposition 11、S2、S3、S4, target
Mark is mounted in target set, keeps target surface rectangular with sensor plane, parallel with 3 sensor lines of postposition, and target center is located at the 3rd
Right above sensor；
Defining the target center height started from sensor plane is HB, the spacing of sensor 2,3 is D1, the spacing of sensor 3,4
For D2；(see Figure 10)
When projectile signal passes through, S1When triggering, link S2、S3、S4Start timing and intercepts the instantaneous optimum signal moment, point
Not defining each moment is T1、T2、T3、T4；
When projectile is from frontal fire target surface D point, sensor obtains T2、T3、T4Point of impact is calculated using following formula
Coordinate: (see Figure 12)
X axis coordinate is XD:
If T1>T3, then XDIt is positive,
XD=D2×[T3÷(T3+T4)]
If T1<T3, then XDIt is negative.
XD=D1×[T3÷(T2+T3)]
If T1=T3, then XDIt is 0.
Y axis coordinate is YD:
Because shock wave is sound, velocity of sound is used to assist calculating as constant at this time, it is known that the velocity of sound in air is in 1 standard
About 340m/ seconds under conditions of atmospheric pressure and 15 DEG C, it is defined as VSound。
Y is calculated using T2 at this timeDAlgorithm is as follows:
Following formula is obtained first with Pythagorean theorem:
HD 2+XD 2=(T3×VSound)2
H can be calculatedDIt is as follows:
Then, YD=HB-HD
If YDThen, D point is located above X-axis > 0；
If YDThen, D point is located at below X-axis < 0；
The D point coordinate in plane right-angle coordinate can be obtained by above method, projectile can be restored in the actual bit of target surface
It sets.
It should be noted that because the shock wave that projectile generates is influenced by temperature, temperature, air pressure etc., it is more accurate to obtain
Point is played, respective sensor the data obtained must be cooperated suitably to be corrected.
To sum up, the application based on ballistic calculation of the present invention in ballistic computation field is also protection scope of the present invention.
Comparative experiments:
Condition: in August, 19 selects (100 meters * 40 meters) of Laoshan District militia training base target range to be used as test zone, it is desirable that with
Machine sets 10 target position (3 meters of interval sets one), carries out militia training, and the present invention is A group, previous generation product (CN of the present invention
201697560 U) it is B group, traditional matrix form measuring and calculating ballistic products are C group on the market.
After being arranged successfully, each target position distributes shooter 1, and bullet 50 is sent out.Carry out test indices.
When setting: indices are compared as follows:
After shooting, the indices of indication of shots are compared as follows:
| Group | Installation | Operation | Act the time | Mean accuracy | Remove receipts | Evaluation |
| A group | 8 minutes | 2 minutes | 1 minute | 3-5mm | 5 minutes | It is outstanding |
| B group | 6 minutes | 5 minutes | 1 point 32 seconds | 6-8mm | 6 minutes | Well |
| C group | 12 minutes | 6 minutes | 2 minutes | 5-10mm | 15 minutes | It passes |
To sum up, the configuration of the present invention is simple, easy to use, entire target drone is structure lightened, is conducive to placement training whenever and wherever possible
Place, and act that mechanism controls are accurate, and algorithm is accurate, specifically: 1, rise fall to control it is accurate: target rod set can be controlled with fixed angle
It rises, it can also be with set angle.2, entire target drone modularization, lightweight；Target drone is mainly by host, backplate and battery case three parts
Composition, is provided with handle, is adapted to different terrain environments, can placement training place at any time, moreover, cloth, which postpones, to return
Receipts can not recycle, disposable words, as long as extracting panel, unified maintenance panel.3, algorithm uses the algorithm of shock wave, solves
Error or wrong report.
Claims (10)
1. a kind of back starting target machine, including host (8), protective plate (13), battery case (10) and multiple sensors, which is characterized in that
Host (8) further comprises upper casing (1) and chassis (15), and the side of chassis (15) is fixedly installed protective plate eye-splice (27), is prevented
Side at the top of backplate (13) is provided with protective plate handle (12), the side of protective plate (13) bottom is integrally formed be provided with it is slotting
Plate (14) is plugged and fixed between plate (14) and protective plate eye-splice and then blocks protective plate (13) in the front of host (8).
2. back starting target machine according to claim 1, which is characterized in that pass through spiral shell after fastening between upper casing (1) and chassis (15)
Silk fastening, upper casing (1) upper surface and the surface of chassis (15) are in the shape of a " convex ", and the upper surface of upper casing (1) is fixed with front and back sensing
Device sheath (2) and left and right sensor jacket (5)；The two sides of host (8) are provided with host handle (4), one of host handle
Side be provided with panel (3), panel (3) is embedded into host (8)；" convex " shape head position of upper casing (1) is provided with power supply
Socket (6) and battery case hanging wire (7), the top of battery case (10) are provided with battery case handle (9), the side wall of battery case (10)
Fixing assembling has hanging plate (11), and hanging plate (11) and battery case hanging wire (7) hook and connect, battery case (10) and power socket board (6)
Between pass through power supply line be electrically connected.
3. back starting target machine according to claim 2, which is characterized in that be fixed with motor cabinet on chassis (15), set on motor cabinet
It is equipped with motor (16), motor swing arm (17), flake bulb (18) and positive backward leading screw (19), " convex " the shape head of chassis (15)
Two sides are fixedly installed with bearing block, are fixed on bearing block bearing (20), and axis connection has main shaft (23), main shaft on bearing (20)
(23) both ends are fixedly connected with target rod set (21), and battery case (10) is electrically connected with motor (16), and main shaft is provided with master on (23)
Axis swing arm (22), motor swing arm (17) are connect with positive backward leading screw (19) in 0 degree of angle, positive backward leading screw (19) and main shaft swing arm
(22) in 135 degree of angle connections are fixed, main shaft swing arm (22) is connect with main shaft (23) in 45 degree of angles；The rotation of motor (16) drives electricity
360 degree rotation movement is done in machine swing arm (17), and then by the synchronous rotary of flake bulb (18), drive positive backward leading screw (19) and
Main shaft swing arm (22) moves reciprocatingly, and then main shaft (23) is driven to do 90 degree of reciprocating motions；Motor rotation drives motor swing arm
(17) the fixation an angle of 90 degrees degree of movement and then realization target rod set (21) is had bad luck dynamic.
4. back starting target machine according to claim 3, which is characterized in that limit switches (25) are fixedly installed on chassis (15),
The side of one of limit switch (25) is provided with limit swing arm (24), and limit swing arm (24) is socketed on main shaft (23)；Upper,
Lower two limit switches (25) are installed in an angle of 90 degrees, and triggering induction generates letter when limit switch (25) are passed through in limit swing arm (24)
Number, the rotation that motor start-stop is controlled after master control links, and then controls main shaft (23) completes target rod set (21) and fixes 90 degree
Play reverse motion in angle.
5. back starting target machine according to claim 4, which is characterized in that motor (16) rotation drives motor swing arm (17) to do 360
Degree movement drives positive backward leading screw (19), main shaft swing arm (22), main shaft (23) to move reciprocatingly, limits by flake bulb (18)
Bit switch (25) controls start-stop, realizes and drives target set (21) movement by fixed an angle of 90 degrees, has generated down effect.
6. back starting target machine according to claim 1, which is characterized in that be further provided with bullet in the middle part of protective plate (13) side
Property body, elastomer are held between host (8) front panel and protective plate (13)；Protective plate (13) is deposited with host (8) front panel
In 0-30 degree angle.
7. -6 any back starting target machine according to claim 1, which is characterized in that the bottom on the chassis is adhesively fixed with rubber
Footing (26), front and back sensor jacket (2) and left and right sensor jacket (5) are equipped with sensor；Sensor, motor (16), electricity
Pond box (10) is electricly connected by panel (3)；Lock plunger (28) are threadedly coupled in target rod set (21), target bar and target bar on target
Set (21) is locked after plugging together connection by lock plunger (28).
8. a kind of ballistic calculation of the back starting target machine as described in claim 1-7 is any, which is characterized in that composition is as follows:
Play the algorithm of chamfer angle:
Motor swing arm and main shaft swing arm are installed in fixed angle, can be to needed for target by the control to motor rotational angle
Angle is accurately positioned, and realizes target angularly reciprocal disappearing；
If target axis of rotation point is O1, motor rotary middle point is O2, A, B two o'clock have been respectively the both ends of falling mechanism rod rotation
Center；
When motor is rotated along needle, motor drives O2Rotation, O2 drive B, B that A, A is driven to drive O1, O1Band moving-target rod set links.This
When, the relation formula between the angle and target rod set angle C of motor rotation are as follows: ∠ c=∠ O2 turns-(∠a+∠b)；
At this point, the angle of target rod set can be controlled by control motor rotational angle, or realized down in a manner of fixed angle.
9. a kind of ballistic calculation of the back starting target machine as described in claim 1-7 is any, which is characterized in that composition is as follows:
Point of impact algorithm:
Target surface region is defined as plane right-angle coordinate using target type center；
Sensor is mounted on upper housing, and T-shaped arrangement, postposition 3, is respectively defined as S by preposition 11、S2、S3、S4, target installation
In target set, keep target surface rectangular with sensor plane, parallel with 3 sensor lines of postposition, target center is located at the 3rd sensor
Surface；
Defining the target center height started from sensor plane is HB, the spacing of sensor 2,3 is D1, the spacing of sensor 3,4 is
D2；
When projectile signal passes through, S1When triggering, link S2、S3、S4Start timing and intercept the instantaneous optimum signal moment, defines respectively
Each moment is T1、T2、T3、T4；
When projectile is from frontal fire target surface D point, sensor obtains T2、T3、T4Point of impact is calculated using following formula to sit
Mark:
X axis coordinate is XD:
If T1> T3, then XDIt is positive,
XD=D2×[T3÷(T3+T4)]
If T1< T3, then XDIt is negative.
XD=D1×[T3÷(T2+T3)]
If T1=T3, then XDIt is 0.
Y axis coordinate is YD:
Because shock wave is sound, velocity of sound is used to assist calculating as constant at this time, it is known that the velocity of sound in air is in 1 standard atmospheric pressure
About 340m/ seconds under conditions of with 15 DEG C, it is defined as VSound。
Y is calculated using T2 at this timeDAlgorithm is as follows:
Following formula is obtained first with Pythagorean theorem:
HD 2+XD 2=(T3×VSound)2
H can be calculatedDIt is as follows:
Then, YD=HB-HD
If YDThen, D point is located above X-axis > 0；
If YDThen, D point is located at below X-axis < 0；
The D point coordinate in plane right-angle coordinate can be obtained by above method, projectile can be restored in the physical location of target surface.
10. a kind of application of the ballistic calculation in ballistic computation field as described in claim 8 or 9 is any.
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Cited By (1)
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