CN110470183A - A kind of stereo target location detection method and its detection device calculated based on the time difference - Google Patents
A kind of stereo target location detection method and its detection device calculated based on the time difference Download PDFInfo
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- CN110470183A CN110470183A CN201910663073.1A CN201910663073A CN110470183A CN 110470183 A CN110470183 A CN 110470183A CN 201910663073 A CN201910663073 A CN 201910663073A CN 110470183 A CN110470183 A CN 110470183A
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- target
- bullet
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- stereo
- shock wave
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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
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
What is involved is the methods and detection device that are applied to target range indication of shots for a kind of stereo target location detection method calculated based on the time difference of the present invention and its detection device, it can be applied to belong to ball firing training clothing arts in humanoid target target site automatic scoring round target system.Detection device based on the stereo target position that the time difference calculates, with it is hollow can the target worn of quilt attack, the centre in target lower part is equipped with Shock Wave Sensors, and Shock Wave Sensors are connect by data line with data processing equipment；Data processing equipment also passes through data line and the signal pickup assembly of target surface connects；After Shock Wave Sensors are able to detect that bullet breakdown target, pass through airborne voice signal when walking in target cavity；The signal pickup assembly of target surface can acquire bullet and touch the signal generated when target；The transmission speed of voice signal is less than the speed of the signal of signal pickup assembly acquisition.The data processing equipment is computer.
Description
Technical field
What is involved is applications for a kind of stereo target location detection method calculated based on the time difference of the present invention and its detection device
In the method and detection device of target range indication of shots, can be applied to belong to live shell in humanoid target target site automatic scoring round target system
Shooting training equipment field.
Background technique
Three-dimensional dummy with target site automatic detection function due to can really simulate the human body target for being really,
The authenticity and validity for increasing project training, become the research hotspot in training device field.
General automatic precision indication of shots can only realize the detection and localization for touching a reference planes, and the positioning of stereo target is examined
Survey is always Research Challenges and hot spot.It is more sound, light, electricity etc. have been merged the technology that can be realized stereo target automatic target-indicating at present more
Kind technological means, structure is complicated, higher cost, and operation and maintenance is also relatively difficult.
It is therefore necessary to provide the new scheme of one kind to meet actual target practice demand.
Summary of the invention
It is proposed by the present invention based on the signal different principle of transmission speed in different media, utilize speed difference to detect bullet
The height of target is hit, and then extrapolates the concrete position of bullet hit target.
Using technical solution provided by the present invention, designed without the concern for more complicated structure, reduce manufacture and
Maintenance cost improves satisfaction of users, has good engineering application value.
Detection device based on the stereo target position that the time difference calculates, with it is hollow can the target worn of quilt attack,
Centre in target lower part, is equipped with Shock Wave Sensors, and Shock Wave Sensors are connect by data line with data processing equipment；Number
The signal pickup assembly for also passing through data line and target surface according to processing unit connects；Shock Wave Sensors are able to detect that bullet is hit
After wearing target, pass through airborne voice signal when walking in target cavity；The signal pickup assembly energy of target surface
Enough acquisition bullets touch the signal generated when target；The transmission speed of voice signal is less than the signal of signal pickup assembly acquisition
Speed.
The data processing equipment is computer.
The target is three-dimensional humanoid target.
There are two types of the signal pickup assemblies, and to be covered with conductive layer in target surface or inner wall, target uses one kind
Insulating materials production, conductive layer and electrostatic detection circuit connection, on electrostatic detection circuit or in data processing equipment, also
It is provided with timer；Electrostatic detection circuit is used to capture the electrostatic that bullet is generated in high-speed flight with windage, in bullet
When hitting target, the positive charge of bullet storage is discharged on conductive layer, is detected by electrostatic detection circuit, and pass through timer
When.
The insulating materials is plastics, hardboard, foamed material, preferably foamed material.
Based on the time difference calculate stereo target location detection method are as follows: bullet goes out thorax high-speed flight, and awing with sky
Gas friction accumulation positive charge；The conductive layer of bullet hits target surface, and positive charge is discharged, electrostatic detection circuit detects electrostatic
Signal, and synchronous averaging timer；Bullet penetrates target, flies in the cavity of target, and the shock wave positioned at target bottom senses
The collected voice signal of device, and send data processing equipment to, i.e., after bullet penetrates humanoid stereo target, Shock Wave Sensors
It receives signal timing stopping and is denoted as T1, T1 is the time difference at this time, can by T1 and the aerial spread speed C1 of the velocity of sound
Height and position H1=C1*T1 is hit at this time to calculate, and the position of corresponding human body is inferred according to the height of bullet hits target, from
And quote humanoid stereo target target site (head, chest, abdomen).
Another signal pickup assembly are as follows: the surface of target lower part or inner wall are provided with vibrating sensor, can acquire
Bullet punctures the vibration signal generated when target, on vibrating sensor or in data processing equipment, is additionally provided with timing
Device；Vibrating sensor acquires vibration signal when bullet hit target, and triggering timing device timing.
The target is made by leading vibration hard material of good performance；Hard material is plastics, metal or ceramics.
It is additionally provided with support construction in the bottom of Shock Wave Sensors to connect with target, support construction uses vibration isolation material, prevents
The only crosstalk of the vibration signal of target intrinsic conduction.
The vibration isolation material is foamed material or rubber pad.
The method detected using the signal pickup assembly are as follows:
Bullet hits target, vibrating sensor detect vibration signal, and synchronous averaging timer, timer time T1；Bullet
Target is penetrated, is flown in the cavity of target, the collected voice signal of the Shock Wave Sensors positioned at target bottom, and send to
Data processing equipment, i.e., after bullet penetrates humanoid stereo target, Shock Wave Sensors receive signal timing stopping and are denoted as T2, if
The speed that the speed and shock wave that known vibration is transmitted in the medium are propagated in air is respectively that v1 and v2 can if Δ T=T1-T2
Height and position is hit at this time to calculate, inferred according to the height of bullet hits target
The position of corresponding human body, to quote humanoid stereo target target site (head, chest, abdomen).
Further, electrostatic or vibration signal acquisition device are divided into independent two parts, are respectively used to humanoid Stereo target
Target first half and latter half；In electrostatic or vibrating sensor or data processing equipment, it is also respectively provided with corresponding
Timer；
When bullet hits three-dimensional humanoid target from positive direction, vibrating sensor corresponding with front collects signal, and obtains
To timer time T1, when bullet passes through cavity, hits the back side of three-dimensional humanoid target, vibrating sensor corresponding with the back side is adopted
Collect signal, and obtain timer time T2, T1 < T2 should be met at this time；When bullet hits three-dimensional humanoid target from back side direction, with
The corresponding vibrating sensor in the back side collects signal, and obtains timer time T2, when bullet pass through cavity, hit three-dimensional dummy
When target front, vibrating sensor corresponding with front collects signal, and obtains timer time T1, should meet T1 > T2 at this time；
Therefore, by judging that the sequencing of T1 and T2 can determine whether the general direction (front/rear) of bullet；Take Tmin=min(T1, T2),
And set at the time of the shock-Wave Signal that bullet generates in the cavities reaches Shock Wave Sensors as T3, then according to the detection method of use,
Using H1=C1*Tmin, or(wherein v1, v2 respectively vibrate the speed transmitted in the medium
And the speed that shock wave is propagated in air, Δ T=Tmin-T3) calculate bullet target site height, to substantially quote humanoid
The target site (head, chest, abdomen) of stereo target
The beneficial effects of the present invention are: humanoid stereo target automatic target-indicating field propose it is a kind of realize simple, high reliablity,
Precision is high, and manufacture and maintenance cost are cheap and are able to satisfy the target site localization method of hands-on demand.
Detailed description of the invention
Fig. 1 is the section view status architecture schematic diagram of the detection device at the stereo target position calculated the present invention is based on the time difference
(embodiment 1).
Fig. 2 is the section view status architecture schematic diagram of the detection device at the stereo target position calculated the present invention is based on the time difference
(embodiment 3).
Fig. 3 is the stereoscopic-state structural schematic diagram of the detection device at the stereo target position calculated the present invention is based on the time difference
(embodiment 2 or embodiment 3).
Specific embodiment
The present invention is described in further detail by 1-3 with reference to the accompanying drawings:
Detection device based on the stereo target position that the time difference calculates, with it is hollow can the target 1 worn of quilt attack, in target
The centre for marking 1 lower part, is equipped with Shock Wave Sensors 2, and Shock Wave Sensors 2 are connect by data line with data processing equipment；Number
Also pass through data line according to processing unit to connect with the signal pickup assembly on 1 surface of target；Shock Wave Sensors 2 are able to detect that bullet
After puncturing target 1, pass through airborne voice signal when walking in 1 cavity of target；The signal acquisition on 1 surface of target fills
Bullet can be acquired by, which setting, touches the signal generated when target；The transmission speed of voice signal is less than signal pickup assembly acquisition
The speed of signal.
The data processing equipment is computer.
The target 1 is three-dimensional humanoid target.
Embodiment 1
Referring to attached drawing 1, be covered with conductive layer 3 on 1 surface of target or inner wall, target 1 is made of insulating materials, conductive layer 3 with
Electrostatic detection circuit connection is additionally provided with timer on electrostatic detection circuit or in data processing equipment；Electrostatic detection
Circuit is used to capture the electrostatic that bullet is generated in high-speed flight with windage, in bullet hits target 1, bullet storage
Positive charge is discharged on conductive layer 3, when being detected by electrostatic detection circuit, and passing through timer.
The insulating materials is plastics, hardboard, foamed material, preferably foamed material.
Based on the time difference calculate stereo target location detection method are as follows: bullet goes out thorax high-speed flight, and awing with sky
Gas friction accumulation positive charge；The conductive layer of 1 target surface of bullet hits target, and positive charge is discharged, the detection of electrostatic detection circuit
To electrostatic signal, and synchronous averaging timer；Bullet penetrates target 1, flies in the cavity of target 1, positioned at 1 bottom of target
The collected voice signal of Shock Wave Sensors 2, and send data processing equipment to, i.e., after bullet penetrates humanoid stereo target,
Shock Wave Sensors 2 receive signal timing stopping and are denoted as T1, and T1 is the time difference at this time, passes through T1 and the aerial biography of the velocity of sound
Speed C1 is broadcast, hit height and position H1=C1*T1 at this time can be calculated, corresponding human is inferred according to the height of bullet hits target 1
The position of body, to quote humanoid stereo target target site (head, chest, abdomen).
Embodiment 2
Referring to attached drawing 2-3, the surface of 1 lower part of target or inner wall are provided with vibrating sensor 4, bullet breakdown target can be acquired
The vibration signal generated when 1 is additionally provided with timer on vibrating sensor 4 or in data processing equipment；Vibrating sensing
Device 4 acquires vibration signal when bullet penetrates target 1, and in bullet hits target 1, vibrating sensor 4 detects vibration signal,
And when passing through timer.
The target 1 is made by leading vibration hard material of good performance；Hard material is plastics, metal or ceramics.
It is additionally provided with support construction 5 in the bottom of Shock Wave Sensors 2 to connect with target 1, support construction 5 uses vibration isolation material
Material, prevents the crosstalk of the vibration signal of 1 intrinsic conduction of target.
The vibration isolation material is foamed material or rubber pad.
The method detected using the signal pickup assembly are as follows:
Bullet hits target 1, vibrating sensor 4 detect vibration signal, and synchronous averaging timer, timer time T1；Son
Bullet penetrates target 1, flies in the cavity of target 1, the collected voice signal of Shock Wave Sensors 2 positioned at 1 bottom of target, and
Send data processing equipment to, i.e., after bullet penetrates humanoid stereo target, Shock Wave Sensors 2 receive signal timing and stop note
For T2, the speed transmitted in the medium is vibrated and speed that shock wave is propagated in air is respectively v1 and v2 if known, if Δ T=
T1-T2 can be calculated and be hit height and position at this time, according to bullet hits target 1
Height infer the position of corresponding human body, to quote humanoid stereo target target site (head, chest, abdomen).
Embodiment 3
Referring to attached drawing 2-3, signal pickup assembly is that the surface of 1 lower part two sides of target or inner wall are provided with vibrating sensor 4, i.e.,
Front and back is respectively arranged with a vibrating sensor 4；In vibrating sensor 4 or data processing equipment, also it is respectively set
There is corresponding timer；
When bullet hits three-dimensional humanoid target from positive direction, vibrating sensor corresponding with front collects signal, and obtains
To timer time T1, when bullet passes through cavity, hits the back side of three-dimensional humanoid target, vibrating sensor corresponding with the back side is adopted
Collect signal, and obtain timer time T2, T1 < T2 should be met at this time；When bullet hits three-dimensional humanoid target from back side direction, with
The corresponding vibrating sensor in the back side collects signal, and obtains timer time T2, when bullet pass through cavity, hit three-dimensional dummy
When target front, vibrating sensor corresponding with front collects signal, and obtains timer time T1, should meet T1 > T2 at this time；
Therefore, by judging that the sequencing of T1 and T2 can determine whether the general direction (front/rear) of bullet；Take Tmin=min(T1, T2),
And it sets at the time of the shock-Wave Signal that bullet generates in the cavities reaches Shock Wave Sensors as T3, then basis(wherein v1, v2 respectively vibrate the speed transmitted in the medium and shock wave in air
The speed of propagation, Δ T=Tmin-T3) calculate bullet target site height, to substantially quote the hit of humanoid stereo target
Position (head, chest, abdomen).
The beneficial effects of the present invention are: proposing a kind of realize simply, reliably in humanoid stereo target automatic target-indicating field
Property it is high, precision is high, manufacture and maintenance cost are cheap, and are able to satisfy the target site positioning device of hands-on demand, utilize this
Technical solution documented by inventing can quickly and accurately calculate the position of hit target, the positioning accuracy of vertical direction
It can control within 30mm, especially scheme documented by embodiment 1, precision is even more to reach within 10mm；Embodiment 3 exists
It can position outside the target site of vertical direction, additionally it is possible to show whether gunman is front or back side hit target, is had good
Practice significance.
Claims (10)
1. a kind of detection device at the stereo target position calculated based on the time difference, with it is hollow being capable of the target worn of quilt attack
Mark, it is characterised in that: the centre in target lower part is equipped with Shock Wave Sensors, and Shock Wave Sensors pass through data line and data
Processing unit connection；Data processing equipment also passes through data line and the signal pickup assembly of target surface connects；Shock Wave Sensors
After being able to detect that bullet breakdown target, pass through airborne voice signal when walking in target cavity；Target surface
Signal pickup assembly can acquire bullet and touch the signal generated when target；The transmission speed of voice signal is adopted less than signal
The speed of the signal of acquisition means acquisition；
The data processing equipment is computer；
The target is three-dimensional humanoid target.
2. a kind of detection device at stereo target position calculated based on the time difference according to claim 1, it is characterised in that:
The signal pickup assembly is to be covered with conductive layer in target surface or inner wall, and target is made of insulating materials, led
Electric layer and electrostatic detection circuit connection are additionally provided with timer on electrostatic detection circuit or in data processing equipment；It is quiet
Power detection circuit is used to capture the electrostatic that bullet is generated in high-speed flight with windage, in bullet hits target, bullet
The positive charge of storage is discharged on conductive layer, when being detected by electrostatic detection circuit, and passing through timer.
3. a kind of detection device at stereo target position calculated based on the time difference according to claim 2, it is characterised in that:
The insulating materials is plastics, hardboard, foamed material.
4. carrying out stereo target position using the detection device at the stereo target position as claimed in claim 2 calculated based on the time difference
The method of detection, it is characterized in that: bullet goes out thorax high-speed flight, and awing accumulates positive charge with windage；Bullet hits
The conductive layer of target surface covering, and positive charge is discharged, electrostatic detection circuit detects electrostatic signal, and synchronous averaging timing
Device；Bullet penetrates target, flies in the cavity of target, the collected voice signal of the Shock Wave Sensors positioned at target bottom,
And send data processing equipment to, i.e., after bullet penetrates humanoid stereo target, Shock Wave Sensors receive signal timing stopping
It is denoted as T1, T1 is the time difference at this time, and by T1 and the aerial spread speed C1 of the velocity of sound, it is high can to calculate hit at this time
Position H1=C1*T1 is spent, the position of corresponding human body is inferred according to the height of bullet hits target, to quote humanoid stereo target
Target site.
5. a kind of detection device at stereo target position calculated based on the time difference according to claim 1, it is characterised in that:
The signal pickup assembly are as follows: the surface of target lower part or inner wall are provided with vibrating sensor, bullet can be acquired
The vibration signal generated when puncturing target, on vibrating sensor or in data processing equipment, is additionally provided with timer；Vibration
Dynamic sensor acquisition bullet penetrates vibration signal when target, and in bullet hits target, vibrating sensor detects vibration letter
Number, and when passing through timer.
6. a kind of detection device at stereo target position calculated based on the time difference according to claim 5, it is characterised in that:
The target is made by leading vibration hard material of good performance；Hard material is plastics, metal or ceramics.
7. a kind of detection device at stereo target position calculated based on the time difference according to claim 5, it is characterised in that:
It is additionally provided with support construction in the bottom of Shock Wave Sensors to connect with target, support construction uses vibration isolation material, prevents target certainly
The crosstalk of the vibration signal of body conduction；
The vibration isolation material is foamed material or rubber pad.
8. carrying out stereo target position using the detection device at the stereo target position calculated based on the time difference described in claim 5
The method of detection, it is characterised in that:
Bullet hits target, vibrating sensor detect vibration signal, and synchronous averaging timer, timer time T1；Bullet
Target is penetrated, is flown in the cavity of target, the collected voice signal of the Shock Wave Sensors positioned at target bottom, and send to
Data processing equipment, i.e., after bullet penetrates humanoid stereo target, Shock Wave Sensors receive signal timing stopping and are denoted as T2, if
The speed that the speed and shock wave that known vibration is transmitted in the medium are propagated in air is respectively that v1 and v2 can if Δ T=T1-T2
Height and position is hit at this time to calculate, corresponding human is inferred according to the height of bullet hits target
The position of body, to quote humanoid stereo target target site.
9. a kind of detection device at the stereo target position calculated based on the time difference, feature are existed according to claim 1 or 5
In: the signal pickup assembly is that the surface of target lower part two sides or inner wall are provided with vibrating sensor, i.e. front and back
Face is respectively arranged with a vibrating sensor；In vibrating sensor or data processing equipment, it is also respectively provided with corresponding meter
When device；
10. carrying out stereo target portion using the detection device at the stereo target position as claimed in claim 9 calculated based on the time difference
The method of position detection, it is characterised in that:
When bullet hits three-dimensional humanoid target from positive direction, vibrating sensor corresponding with front collects signal, and obtains
To timer time T1, when bullet passes through cavity, hits the back side of three-dimensional humanoid target, vibrating sensor corresponding with the back side is adopted
Collect signal, and obtain timer time T2, T1 < T2 should be met at this time；When bullet hits three-dimensional humanoid target from back side direction, with
The corresponding vibrating sensor in the back side collects signal, and obtains timer time T2, when bullet pass through cavity, hit three-dimensional dummy
When target front, vibrating sensor corresponding with front collects signal, and obtains timer time T1, should meet T1 > T2 at this time；
Therefore, by judging that the sequencing of T1 and T2 can determine whether the general direction (front/rear) of bullet；Take Tmin=min(T1, T2),
And it sets at the time of the shock-Wave Signal that bullet generates in the cavities reaches Shock Wave Sensors as T3, then basis(wherein v1, v2 respectively vibrate the speed transmitted in the medium and shock wave propagates in air
Speed, Δ T=Tmin-T3) calculate bullet target site height, to quote the target site of humanoid stereo target.
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| CN201910663073.1A CN110470183B (en) | 2019-07-22 | 2019-07-22 | Three-dimensional target part detection method and detection device based on time difference calculation |
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| CN110470183B CN110470183B (en) | 2022-02-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3919853A1 (en) * | 2020-06-05 | 2021-12-08 | Siec Badawcza Lukasiewicz Przemyslowy Instytut Automatyki i Pomiarow PIAP | Mobile target and method of hit detection |
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