CN111006548B

CN111006548B - Multi-scene simulation automatic attack target drone and automatic attack method

Info

Publication number: CN111006548B
Application number: CN201911310778.1A
Authority: CN
Inventors: 付振山; 于春玲
Original assignee: Shandong Jiaotong University
Current assignee: Shandong Jiaotong University
Priority date: 2019-12-18
Filing date: 2019-12-18
Publication date: 2022-02-11
Anticipated expiration: 2039-12-18
Also published as: CN111006548A

Abstract

The invention relates to a multi-scene simulation automatic attack target drone and an automatic attack method, which solve the technical problems that the existing target drone has single function, does not have active attack function and is not beneficial to improving the shooting training level, and comprises a target drone case, a target drone controller, a rotating shaft, a connecting rod, a target plane supporting rod, a target plane, a fixed support, a rotating servo motor, a pitching servo motor, a counterattack gun, an excitation cam, a gun fixing frame, a protective steel plate, an excitation servo motor, a lifting and falling motor, a swing frame and a personnel identification device, wherein the protective steel plate is fixedly connected with the target drone case, the target plane supporting rod is fixedly connected with the connecting rod, the connecting rod is fixedly connected with the rotating shaft, and the rotating shaft is rotatably connected with the target drone case; the output shaft of the lifting motor is connected with the rotating shaft through the swing driving mechanism. The invention is widely applied to the technical field of shooting training.

Description

Multi-scene simulation automatic attack target drone and automatic attack method

Technical Field

The invention relates to the technical field of shooting training, in particular to a multi-scene simulation automatic attack drone and an automatic attack method.

Background

Referring to utility model patent No. 2017218346978, utility model patent No. 2018206857252 and utility model patent No. 2016201053265, the drone is a commonly used auxiliary device in shooting training. However, the existing target drone has single function, does not have active attack function, and is not beneficial to improving the level of shooting training.

Disclosure of Invention

The invention provides a multi-scene simulation automatic attack drone and an automatic attack method, aiming at solving the technical problems that the existing drone has single function, does not have an active attack function and is not beneficial to improving the shooting training level.

The technical scheme of the invention is that a multi-scene simulation automatic attack target drone is provided, which comprises a target drone case, a target drone controller, a rotating shaft, a connecting rod, a target plane supporting rod, a target plane, a fixed support, a rotary servo motor, a pitching servo motor, a counterattack gun, an excitation cam, a gun fixing frame, a protective steel plate, an excitation servo motor, a lifting motor, a swing frame and a personnel identification device, wherein the protective steel plate is fixedly connected with the target drone case; the output shaft of the lifting motor is connected with the rotating shaft through the swing driving mechanism,

the fixed support is fixedly connected with the target drone box, the pitching servo motor is fixedly connected with the fixed support, the swing frame is fixedly connected with an output shaft of the pitching servo motor, the rotary servo motor is fixedly connected to the swing frame, the gun fixing frame is fixedly connected with the output shaft of the rotary servo motor, the counterattack gun is fixedly connected with the gun fixing frame, the excitation servo motor is fixedly connected to the gun fixing frame, the excitation cam is connected with a motor shaft of the excitation servo motor, and the excitation cam is close to a trigger of the counterattack gun;

the personnel identification device comprises a mounting bracket, a fixing plate, a sensor driving motor and a sensor, wherein the mounting bracket is fixedly connected with the target drone box, the fixing plate is fixedly connected with the top of the mounting bracket, the sensor driving motor is fixedly connected to the fixing plate, and the sensor is connected with an output shaft of the sensor driving motor;

the rotary servo motor is electrically connected with the target drone controller, the pitching servo motor is electrically connected with the target drone controller, the excitation servo motor is electrically connected with the target drone controller, the sensor is electrically connected with the target drone controller, and the sensor driving motor is electrically connected with the target drone controller.

Preferably, the drone controller is provided with a wireless communication module.

Preferably, the swing driving mechanism comprises a swing rod and a lifting rocker, one end of the swing rod is fixedly connected with an output shaft of the lifting motor, the other end of the swing rod is hinged with one end of the lifting rocker, and the other end of the lifting rocker is fixedly connected with the rotating shaft.

Preferably, the multi-scene simulation automatic attack target drone further comprises a target surface shielding device, the target surface shielding device comprises a shielding motor, a coupler, a connecting shaft shielding plate and a fixed rotating seat, the shielding plate is connected with the fixed rotating seat, the shielding motor is fixedly connected onto the target surface supporting rod, the connecting shaft is connected with an output shaft of the shielding motor through the coupler, and the fixed rotating seat is fixedly connected with the top of the connecting shaft.

Preferably, the multi-scene simulation automatic attack target drone further comprises a left-right swinging device, the left-right swinging device comprises a swinging motor, a crank, a rocker, a first rotating shaft, a second rotating shaft and a motor base, the crank is fixedly connected with an output shaft of the swinging motor, the rocker is hinged to the crank, a target surface supporting rod is connected with the rocker through the second rotating shaft, the target surface supporting rod is rotatably connected with a connecting rod through the first rotating shaft, the motor base is fixedly connected with a rotating shaft, and the swinging motor is fixedly connected with the motor base.

Preferably, the multi-scene simulation automatic attack target drone further comprises a shooting position simulation device, wherein the shooting position simulation device comprises a bottom plate, a supporting seat, a horizontal plate, a jolt driving motor, a crank and a swing rod, the supporting seat is detachably connected with the bottom plate, the jolt driving motor is fixedly connected with the bottom plate, one side of the horizontal plate is hinged with the supporting seat, the other side of the horizontal plate is hinged with the swing rod, the swing rod is hinged with the crank, and the crank is fixedly connected with an output shaft of the jolt driving motor.

The invention also provides an automatic attack method applying the multi-scene simulation automatic attack target drone, which comprises the following steps:

arranging a plurality of target drone;

using one of the drone aircraft as a drone for detection;

detecting a target drone and determining the target drone closest to a target;

recent drone attacks on targets.

The invention also provides an automatic attack method for simulating the automatic attack of the target drone by applying multiple scenes, which comprises the following steps:

step S1, setting a plurality of target drone, defining the number of the target drone for detection as NUM, wherein NUM is a natural number starting from 1;

in step S2, the detection drone calculates the lateral distance d of the target distance detection drone NUM by the following formula (1):

d＝h*sin(b) (1)；

in step S3, the vertical distance e of the target distance detection drone NUM is calculated by the following formula (2):

e＝h*cos(b) (2)；

step S4, judging whether b is larger than 0, if yes, entering step 5, otherwise, entering step S6;

step S5, where n is the number of right drone targets of the detection drone NUM, and P is 1;

step S6, where n is the number of target drone targets on the left of the detection target drone NUM, and P is 0;

step S7, setting initial values:

L＝0，L1＝0，N0＝NUM，NC＝NUM，NU＝NUM；

step S8, judging whether NU is smaller than the sum of n and NUM, if so, entering step S9, otherwise, entering step S17;

step S9, judging whether P is equal to 1, if yes, entering step S10, otherwise entering step 11;

step S10, reading the target drone number NP of the next target drone, reading the distance LP from the target drone number N0 to the target drone number NP, and entering step S12, where N0 is NC and NC is NP;

step S11, reading the target drone number NP of the previous target drone with N0 ═ NC, reading the distance LP from the target drone number N0 to the target drone number NP with NC ═ NP;

step S12, the value of L1 is equal to L, and the value of L is added with LP;

step S13, judging whether d is larger than L1 and smaller than L, if yes, entering step S15, otherwise, entering step S14;

step S14, add 1 to the value of NU, and proceed to step S8;

step S15, judging whether the value of L-d is larger than the value of d-L1, if so, entering step S16, otherwise, entering step S17;

step S16, determining that the No. N0 drone is the drone closest to the target, and entering step S18;

step S17, determining that the NC number drone is the drone closest to the target, and the value of L1 is equal to L, and entering step S18;

step S18, calculating the required rotation angle of the drone closest to the target by the following formula:

f＝d-L1

k＝arctan(f/e)；

and step S19, the angle value K is sent to the controller of the target machine nearest to the target through the wireless module, the controller of the target machine nearest to the target controls the rotary servo sensor to drive the motor to rotate by the angle K, and then the counterattack gun is excited.

The invention has the beneficial effects that: has the function of automatic counterattack and improves the level of shooting training.

The target drone can swing back and forth, swing left and right and shield a target surface, so that the conditions of real-time hiding, left and right swinging and front and back swinging of target personnel are simulated, or the conditions of simultaneous operation are simulated, and the scene of the target personnel on a bumpy automobile or a ship is simulated; meanwhile, the shooting position simulation device swings forwards and backwards, leftwards and rightwards or forwards, backwards, leftwards and rightwards simultaneously, so that the scene or the requirement that shooting personnel are in bumpy activities is simulated. According to the shooting requirement, the target scoring device can be independently realized and can also be completely realized by a plurality of functions, the shielding part has the target scoring function, and the shielding part is mistakenly hit to score the target.

Through setting up the shooting position analogue means of the person of shooting target, can let the shooting position around, control or swing the function simultaneously, the simulation shooter shoots the function under the scene of jolting.

The simulated actual combat confrontation function is that the target drone automatically detects shooting personnel and automatically counterattacks the shooting personnel, and an algorithm for identifying the shooting personnel when a plurality of target drone simultaneously hit targets and an algorithm for counterattacking the shooting personnel by adopting the target drone closest to the target drone are provided.

Further features of the invention will be apparent from the description of the embodiments which follows.

Drawings

FIG. 1 is a schematic diagram of an automatic attack drone;

FIG. 2 is a schematic diagram of an automatic attack drone;

FIG. 3 is a schematic structural view of the automatic attack target drone shown in FIG. 1 with the protective steel plate removed;

FIG. 4 is a schematic view of the gun mount coupled to the lift motor via the swing drive mechanism;

FIG. 5 is a schematic view of the construction of the person identification device;

FIG. 6 is a diagram of the position of the firing cam in relation to the trigger of the counterfire firearm;

FIG. 7 is a schematic view of the structure of the target surface;

FIG. 8 is a schematic of 10, 8, 6 rings of the target surface;

FIG. 9 is a schematic of the target surface at

rings

9, 7, 5;

FIG. 10 is a schematic representation of the upper, lower, left, and right azimuth layers of the target surface;

FIG. 11 is a schematic diagram of an upper left azimuth tier, a lower left azimuth tier, an upper right azimuth tier, and a lower right azimuth tier of a target surface;

FIG. 12 is a schematic illustration of the ring count, azimuth ground of the target surface;

FIG. 13 is a schematic diagram of the electrical connections of the drone controller to other functional modules;

FIG. 14 is a schematic illustration of five drone aircraft connected by respective wireless communication modules;

FIG. 15 is a schematic diagram of an arrangement of five drone aircraft to achieve an automatic attack target;

FIG. 16 is a schematic diagram of an arrangement of five drone engines to achieve an automatic attack target;

FIG. 17 is a flow chart of one of the five drone engines automatically identifying a target and having the drone closest to the target attack the target;

FIG. 18 is a schematic view of a target surface shielding device arranged on the target drone;

FIG. 19 is a schematic view of a target surface shielding device arranged on the target drone;

FIG. 20 is a schematic view of the arrangement of the horizontal swing mechanism on the drone;

FIG. 21 is a schematic structural view of a side-to-side swinging device provided on the drone;

FIG. 22 is a schematic view of the structure of the shielding plate;

FIG. 23 is a schematic view of the connection of the motor base to the rotating shaft;

FIG. 24 is a schematic view showing the construction of the shooting position simulating apparatus;

fig. 25 (1) is a concrete implementation of the shooting position simulating apparatus shown in fig. 24, and fig. 2 is an exploded view of fig. 1;

fig. 26 (1) is a concrete implementation of the shooting position simulating apparatus shown in fig. 24, and fig. 2 is an exploded view of fig. 1;

FIG. 27 is a schematic view of the shock sensor mounting.

The symbols in the drawings illustrate that:

1. the automatic control device comprises a target case, 2. a rotating shaft, 3. a connecting pin, 4. a connecting rod, 5. a target surface supporting rod, 6. a target surface, 7. a fixed support, 8. a rotating servo motor, 9. a pitching servo motor, 10. a counterattack gun, 11. an excitation cam, 12. a gun fixed ring, 13. a gun fixed frame, 14. a protective steel plate, 15. an excitation servo motor, 16. a lifting motor, 17. a swing rod, 18. a lifting rocker and 19. a swing frame; 20. the device comprises a mounting bracket, 21 parts of a fixing plate, 22 parts of a sensor driving motor, 23 parts of a sensor and 60 parts of a target surface shielding device. 70. A left-right swinging device.

Detailed Description

The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.

Example 1

As shown in fig. 1 to 3, the automatic attack target drone includes a target case 1, a rotating shaft 2, a connecting pin 3, a connecting rod 4, a target surface supporting rod 5, a target surface 6, a fixing bracket 7, a rotating servo motor 8, a pitching servo motor 9, a counterattack gun 10, an excitation cam 11, a gun fixing ring 12, a gun fixing frame 13, a protective steel plate 14, an excitation servo motor 15, a tilting motor 16, a swing rod 17, a tilting rocker 18 and a swing frame 19.

In order to reduce the training cost, the same gun as the training is adopted, the counterattack gun 10 is fixed on a gun fixing frame 13 through a gun fixing ring 12, the positions of an excitation cam 11 and a trigger in the counterattack gun 10 are adjusted in the fixing process, the excitation cam 11 is not contacted with the trigger before the excitation cam 11 rotates, and the trigger 10-1 in the counterattack gun 10 can be excited after the excitation cam 11 rotates. In order to adjust the height and the angular position of the gun, a measuring target is placed 100 meters in front of the gun, the gun is controlled to aim at the measuring target by adjusting a pitching servo motor 9 and a rotating servo motor 8, the target shooting position is input into a control system after excitation, and the system automatically compensates the current adjustment position deviation.

The protective steel plate 14 is fixed on the target case 1 by bolts, and prevents an attacker from hitting the target case 1 and the counterattack device when shooting. The target surface 6 is fixedly connected with a target surface supporting rod 5, the target surface supporting rod 5 is fixedly connected with a connecting rod 4 through a connecting pin 3, the connecting rod 4 is fixedly connected with a rotating shaft 2, the rotating shaft 2 is rotatably connected with a target case 1, one end of a swing rod 17 is fixedly connected with an output shaft of a rising and falling motor 16, the other end of the swing rod 17 is hinged with one end of a rising and falling rocker 18, and the other end of the rising and falling rocker 18 is fixedly connected with the rotating shaft 2; the rising and falling motor 16 forms a four-bar mechanism through the oscillating bar 17, the rising and falling rocker 18 and the rotating shaft 2, and controls the forward and reverse rotation of the rising and falling motor 16 to finish the erecting and falling actions of the target surface 6. The tilting motor 16 may be configured to tilt and erect the target surface 6 by another known swing driving mechanism.

The fixed support 7, the rotary servo motor 8, the pitching servo motor 9, the counterattack gun 10, the excitation cam 11, the gun fixing ring 12, the swing frame 19, the gun fixing frame 13 and the excitation servo motor 15 form a counterattack device, the fixed support 7 is fixedly arranged at the top of the target case 1, the pitching servo motor 9 is fixedly arranged on the fixed support 7, the swing frame 19 is fixedly connected with an output shaft of the pitching servo motor 9, the rotary servo motor 8 is fixedly arranged on the swing frame 19, the gun fixing frame 13 is fixedly connected with an output shaft of the rotary servo motor 8, the counterfire firearm 10 is fixed to the firearm fixing frame 13 by the firearm fixing ring 12, the firing servo motor 15 is fixedly installed to the firearm fixing frame 13, as shown in FIG. 6, firing cam 11 is coupled to motor shaft 15-1 of firing servo motor 15, and firing cam 11 is positioned proximate to trigger 10-1 of reaction firearm 10; when the firing is not needed, a certain gap is formed between the firing cam 11 and the trigger 10-1, when the firing is needed, the drone controller sends a clockwise rotation instruction to the firing servo motor 15, the firing servo motor 15 drives the firing cam 11 to rotate, and the firing cam 11 pushes the trigger 10-1 to fire the counterattack firearm 10 in the rotating process, and then the counterattack firearm 10 returns to the initial position. After the control system receives the position information sent by the personnel identification device, the rotation angle and the pitch angle of the gun are calculated, the pitch angle of the gun 10 is controlled by the pitch servo motor 9, the rotation angle of the gun 10 is controlled by the rotation servo motor 8, and after the expected position is reached, the excitation servo motor 15 is started, so that the excitation cam 11 is driven to rotate, the excitation action of the gun is completed in the rotation process of the excitation cam 11, and the bullet is shot by the gun 10.

As shown in fig. 13, the rotation servo motor 8 is electrically connected to the drone controller, the pitch servo motor 9 is electrically connected to the drone controller, the excitation servo motor 15 is electrically connected to the drone controller, the sensor 23 is electrically connected to the drone controller, and the sensor drive motor 22 is electrically connected to the drone controller. The target drone controller is provided with a wireless communication module. The drone controller is mounted in the drone cabinet 1. The wireless communication module of target drone controller can communicate with the wireless communication module of host computer, and the host computer can report the target, and the host computer can set up mode alone to the target drone.

As shown in fig. 7, the target surface 6 is formed by bonding a conductive cloth and an elastic insulating plate layer by layer, and the insulating elastic layer 53 separates the conductive cloth layer 47, the conductive cloth layer 48, the conductive cloth layer 49, the conductive cloth layer 50, the conductive cloth layer 51, and the conductive cloth layer 52. As shown in fig. 8, the conductive cloth layer 48 is formed by adhering a 10-ring 6-1, an 8-ring 6-2 and a 6-ring 6-3, each of which is connected with a conductive wire 6-17. As shown in fig. 9, the 9-ring 6-4, the 7-ring 6-5 and the 5-ring 6-6 are adhered to form a conductive cloth layer 47, and each ring is connected with a lead wire 6-18. As shown in fig. 10, the upper layer 6-7, the lower layer 6-8, the left layer 6-9, and the right layer 6-10 are bonded to form a conductive layer 50, each of which is connected to a conductive wire 6-19. As shown in fig. 11, the upper left layer 6-11, the lower left layer 6-12, the upper right layer 6-13, and the lower right layer 6-14 are bonded to form a conductive layer 51, and each layer is connected to a conductive line 6-20. The ground wires 6-15 with the number and the orientation of the loops are bonded to form a conductive cloth layer 49 and a conductive cloth layer 50, and the wires 6-16 are connected with the ground wires 6-15, as shown in fig. 12. The target reporting function is that after the bullet is hit on the target surface, the bullet contacts the hit azimuth position conductive cloth and ring number position conductive cloth with respective ground layer respectively because the length of the bullet is larger than the thickness of the layer, then the signal is sent to the processor through the conducting wire, and after the processing, the ring number information and the azimuth information are transmitted to the target drone controller and the upper computer through wireless transmission to report the target.

It should be noted that other structures known in the art may be used for the target surface 6.

As shown in fig. 5 and 1, the person identification apparatus can achieve comprehensive identification. The personnel identification device comprises a mounting bracket 20, a fixing plate 21, a sensor driving motor 22 and a sensor 23, wherein the mounting bracket 20 is fixedly connected with the target cabinet 1, the fixing plate 21 is fixedly connected with the top of the mounting bracket 20, the sensor driving motor 22 is fixedly arranged on the fixing plate 21, and the sensor 23 is fixedly connected with an output shaft of the sensor driving motor 22. The sensor 23 may specifically employ a microwave radar or a camera. The sensor driving motor 22 is started to drive the sensor 23 to rotate, then the target drone controller utilizes a processing technology to perform superposition and identification processing on the identified signals, calculate the position and distance of how many degrees the identified personnel position is in the front of the current identification device, then calculate which target drone is closest to the target, then calculate the angle and distance of the target position in the closest target drone, then send the signal to the target attack target drone, the target attack target drone controls the pitch angle of the gun through the pitch servo motor 9, the rotary servo motor 8 controls the rotation angle of the gun, aims at the target position, and attacks. Taking the microwave radar as an example for further explanation, the sensor 23 transmits a beam of radio waves with fixed frequency, receives the reflected radio waves, performs interference demodulation on the reflected signals and the transmitted signals, obtains the speed and the displacement of the target according to the frequency shift and the phase shift of the demodulated interference signals, and sends the data to the drone controller. Because the radar signal that sends at every turn can only measure the width, measurement range is limited, consequently can adopt the motor to drive microwave radar gauge head and rotate, carries out the measurement of certain angular range. And the target drone controller identifies a target according to the measurement data sent by the radar and the current motor rotation angle signal. As shown in fig. 15, 5 target drone are arranged, namely, target drone 1, target drone 2, target drone 3, target drone 4 and target drone 5, wherein the distance between target drone 1 and target drone 2 is g, the distance between target drone 2 and target drone 3 is m, the distance between target drone 3 and target drone 4 is n, and the distance between target drone 4 and target drone 5 is P; as shown in fig. 14, the five drone aircraft are connected and communicated with each other through respective wireless communication modules, and data transmission is realized. After the operation is started, the drone 2 is used as a drone for detection (a function of identifying a person to be turned on), a microwave radar on the drone 2 is turned on, a drone controller sends a command signal to control a sensor driving motor 22 to rotate at a set speed to drive the microwave radar to rotate, the microwave radar rotates in a reciprocating manner within a range of-90 degrees to 90 degrees, the microwave radar scans whether a target person exists, for example, when the sensor driving motor 22 rotates to a rotation angle b, the target 2 is detected (refer to fig. 15, the target 2 is on the right side of the drone 2), the rotation angle b is larger than 0 degrees, and the target is located on the right side of the drone 2. Referring to fig. 16, when the target 1 is located on the left side of the drone 2, the microwave radar detects the target 1 with an angle of rotation b less than 0 °. The microwave radar recognizes that the target distance is h, and transmits the distance data h to the drone controller of the drone 2, the drone controller calculates the drone closest to the target according to the rotation angle b of the sensor drive motor 22 and the target distance h, and transmits the position data of the target to the nearest drone, which attacks the target, and the algorithm flow is as follows (refer to fig. 17):

step S1, defining the number NUM of the target drone for detection as a natural number starting from 1;

d＝h*sin(b) (1)；

e＝h*cos(b) (2)；

step S7, setting initial values:

L＝0，L1＝0，N0＝NUM，NC＝NUM，NU＝NUM；

step S12, the value of L1 is equal to L, and the value of L is added with LP;

step S14, add 1 to the value of NU, and proceed to step S8;

step S18, calculating the angle that the drone closest to the target needs to turn by:

f＝d-L1

k＝arctan(f/e)

and step S19, the angle value K is sent to the drone controller of the drone closest to the target through the wireless module, the drone controller controls the rotary servo sensor driving motor 22 to rotate by the angle K, and then the counterattack device is triggered to counterattack.

The above algorithm flow is exemplified:

example 1:

arranging 5 target drone, namely a target drone 1, a target drone 2, a target drone 3, a target drone 4 and a target drone 5, wherein the distance between the target drone 1 and the target drone 2 is g, the distance between the target drone 2 and the target drone 3 is m, the distance between the target drone 3 and the target drone 4 is n, and the distance between the target drone 4 and the target drone 5 is P. In the case where the target is present on the right side of the detection drone (refer to fig. 15), the control process is as follows:

taking the target drone 2 as a target drone for detection, namely NUM 2;

calculating the transverse distance d ═ h × sin (b) of the target 2 from the target drone 2;

calculating the longitudinal distance e ═ cos (b) of the target 2 from the drone 2;

when b is greater than 0, three target drone are located on the right side of the target drone 2, that is, the number of the target drone on the right side of the target drone 2 is 3, n is 3, and P is 1;

L＝0，L1＝0，N0＝2，NC＝2,NU＝NUM＝2；

NUM + n 2+3 NU is less than the sum of n and NUM, i.e. 2 is less than 5, in which case P1

Reading the target number NP of the next target drone by taking N0 as NC 2, and making the value of NC equal to the value of NP, namely NC as 3, and making the distance LP from the target drone No. 2 to the target drone No. 3 as m;

let L1 equal the value of L, i.e., L1-0, L-0 + m-m;

d is greater than 0 and less than m, and the condition that d is greater than L1 and less than L is met;

in this case, L-d is m-d, d-L1 is d, and it is determined whether the value of m-d is greater than the value of d, if so, it is determined that the NO target drone number is closest to the target 2, that is, the NO target drone number is closest to the target 2, and then the calculation process of the angle that the NO target drone number is closest to the target 2, that is, the NO target drone number 2 needs to turn is: d-L1, k arctan (f/e); otherwise, determining that the NC target drone is closest to the target 2, namely that the 3 target drone is closest, and then calculating the angle which the 3 target drone needs to rotate: d-L1, k arctan (f/e);

the drone for detection sends k to the drone controller of the nearest drone.

Example 2

Arranging 5 target drone, namely a target drone 1, a target drone 2, a target drone 3, a target drone 4 and a target drone 5, wherein the distance between the target drone 1 and the target drone 2 is g, the distance between the target drone 2 and the target drone 3 is m, the distance between the target drone 3 and the target drone 4 is n, and the distance between the target drone 4 and the target drone 5 is P. Referring to fig. 16, in the case where a target appears on the left side of the detection drone, the control process is as follows:

taking the target drone 2 as a target drone for detection, namely NUM 2;

calculating the transverse distance d ═ h × sin (b) of the target 1 from the target drone 2;

calculating the longitudinal distance e ═ h cos (b) between the target 1 and the target drone 2;

when b is less than 0, a target drone is arranged on the left side of the target drone 2, n is 1, and P is 0;

L＝0，L1＝0，N0＝2，NC＝2,NU＝NUM＝2；

NUM + n 2+ 13, 2 less than 3;

reading the target drone number NP of the previous target drone by taking the N0 as 2, reading the target drone number NP as 1, reading the distance LP from the target drone number 2 to the target drone number 1 as g, and reading the distance between the target drone number 1 and the target drone number 2 as 1;

L1＝0，L＝0+g＝g；

d is larger than g, and the condition that d is larger than L1 and smaller than L is not met;

adding 1 to the value of NU, namely NU is 3, wherein the condition that NU is less than NUM + n is not met;

determining that the 1 st drone is closest;

L1＝g；

calculating the angle that the drone 1 closest to the target 1 needs to turn through as follows:

f＝d-L1＝d-g

k＝arctan(f/e)。

it should be noted that the arrangement of five drone targets shown in fig. 13 and 14 is only an example, and the number of drone targets is not limited to this, and may be set as appropriate according to the actual situation.

Example 2

As shown in FIGS. 18-21, the target surface shielding device 60 comprises a shielding motor 60-1, a coupling 60-2, a connecting shaft 60-3, a shielding plate 60-4, a fixed rotating seat 60-5, the shielding plate 60-4 is connected with the fixed rotating seat 60-5, the shielding motor 60-1 is fixedly arranged on the target surface supporting rod 5, the connecting shaft 60-3 is connected with an output shaft of the shielding motor 60-1 through the coupling 60-2, and the fixed rotating seat 60-5 is fixedly connected with the top of the connecting shaft 60-3. The target drone controller randomly generates a shielding and displaying instruction, controls the shielding motor 60-1 to rotate, drives the connecting shaft 60-3 and the shielding plate 60-4 to rotate, and shields and displays the target surface 6, and the shielding and displaying time is adjustable according to the target shooting control requirement.

The shielding plate 60-4 is structured as shown in fig. 22, the conductive cloth layer 54 and the conductive cloth layer 55 are separated by the insulating elastic layer 56, the conductive cloth layer 54 is a ground layer, the conductive cloth layer 55 is a signal layer, if the shielding plate 60-4 is hit by mistake during shooting, the conductive cloth layer 54 and the conductive cloth layer 55 are connected by a bullet, the signal of the conductive cloth layer 55 is changed into a ground signal, and the signal is transmitted to the target machine controller through a lead wire to report the target by mistake.

The left-right swinging device 70 comprises a swinging motor 70-1, a crank 70-2, a rocker 70-3, a pin 70-4, a first rotating shaft 70-5, a second rotating shaft 70-6 and a motor base 70-7, wherein the crank 70-2 is fixedly connected with an output shaft of the swinging motor 70-1, the rocker 70-3 is hinged with the other end of the crank 70-2 through the pin 70-4, a target surface supporting rod 5 is connected with the rocker 70-3 through the second rotating shaft 70-6, the target surface supporting rod 5 is rotatably connected with a connecting rod 4 through the first rotating shaft 70-5, the motor base 70-7 is fixedly connected with the rotating shaft 2, and the swinging motor 70-1 is fixedly connected with the motor base 70-7. The swing motor 70-1, the crank 70-2, the rocker 70-3, the first rotating shaft 70-5, the second rotating shaft 70-6, the pin 70-4 and the target surface 6 form a crank connecting rod structure, according to the control requirement, the target machine controller sends a target surface swing instruction, the swing motor 70-1 rotates to drive the target surface to swing left and right, and the swing speed is adjustable.

As shown in fig. 24-26, in order to simulate shooting by a shooter under bumpy conditions and increase the sense of urgency in actual combat links, the shooting position simulation device capable of realizing the shooting positions in the front-back direction, the left-right direction, the front-back direction and the left-right direction is installed by controlling the swinging of the shooting positions by a motor. The supporting seat 46 is detachably connected with the base plate 45 in a pin shaft inserting mode, the bumping driving motor 40 is fixedly arranged on the base plate 45, one side of the horizontal plate 44 is connected with the supporting seat 46 in a hinging mode, the other side of the horizontal plate is connected with the swinging rod 42 in a hinging mode through a pin shaft 43, the swinging rod 42 is hinged with the crank 41, and the crank 41 is fixedly connected with an output shaft of the bumping driving motor 40. When shooting target swing shooting, the bumping driving motor 40 rotates, and the lying plate 44 is driven to swing through the link mechanism, so that the swinging speed can be controlled. The target person stands, lies, climbs on the lying plate 44 to perform shooting actions.

If the swing from side to side is required, as shown in fig. 25, one side of the lying plate 44 in the width direction is hinged with the supporting seat 46, and the other side is hinged with the swinging rod 42.

If it is desired to swing both back and forth and left and right, as shown in fig. 26, the horizontal plate 44 has four corners, one corner of the horizontal plate 44 is hinged to the supporting seat 46, and the other corner of the horizontal plate 44 is hinged to the swing link 42.

Therefore, the target drone can swing back and forth, swing left and right and shield the target surface, the conditions of time-lapse, left and right, front and back swing of shooting target personnel, simultaneous conditions or scenes on jolting automobiles and ships are simulated, all the functions can be realized independently according to the shooting requirements, the shielding part has the target reporting function, and the shielding part is hit by mistake to report the target. Meanwhile, the shooting scene of the shooter in the pitching motion of front and back, left and right or the same time is simulated.

As shown in fig. 27, the shock wave target reporting function is implemented by installing a plurality of shock wave sensors 80 on a target case 1, selecting the installation position and distance according to the required precision, detecting the shock wave generated by a bullet by the shock wave sensors after the sub-track is hit, calculating the position of the bullet passing through the target surface according to the time difference of arrival sensing, and transmitting the calculated position information to an upper computer and a target drone controller in a wireless network manner to report the target.

The above description is only for the purpose of illustrating preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention.

Claims

1. The automatic attack method is characterized in that the multi-scene simulation automatic attack target drone comprises a target chassis, a target drone controller, a rotating shaft, a connecting rod, a target surface supporting rod, a target surface, a fixed support, a rotary servo motor, a pitching servo motor, an impact gun, an excitation cam, a gun fixing frame, a protective steel plate, an excitation servo motor, a tilting motor, a swing frame and a personnel identification device, wherein the protective steel plate is fixedly connected with the target chassis; the output shaft of the lifting motor is connected with the rotating shaft through a swing driving mechanism,

the fixed support is fixedly connected with the target drone box, the pitching servo motor is fixedly connected with the fixed support, the swing frame is fixedly connected with an output shaft of the pitching servo motor, the rotating servo motor is fixedly connected to the swing frame, the firearm fixing frame is fixedly connected with the output shaft of the rotating servo motor, the counterattack firearm is fixedly connected with the firearm fixing frame, the excitation servo motor is fixedly connected to the firearm fixing frame, the excitation cam is connected with a motor shaft of the excitation servo motor, and the excitation cam is close to a trigger of the counterattack firearm;

the personnel identification device comprises a mounting bracket, a fixing plate, a sensor driving motor and a sensor, wherein the mounting bracket is fixedly connected with the target drone box, the fixing plate is fixedly connected with the top of the mounting bracket, the sensor driving motor is fixedly connected onto the fixing plate, and the sensor is connected with an output shaft of the sensor driving motor;

the rotary servo motor is electrically connected with the target drone controller, the pitching servo motor is electrically connected with the target drone controller, the excitation servo motor is electrically connected with the target drone controller, the sensor is electrically connected with the target drone controller, and the sensor driving motor is electrically connected with the target drone controller;

the target drone controller is provided with a wireless communication module;

the automatic attack method comprises the following steps:

d＝h*sin(b) (1)；

e＝h*cos(b) (2)；

step S7, setting initial values:

L＝0，L1＝0，N0＝NUM，NC＝NUM，NU＝NUM；

step S12, the value of L1 is equal to L, and the value of L is added with LP;

step S14, add 1 to the value of NU, and proceed to step S8;

f＝d-L1

k＝arctan(f/e)；

and step S19, the angle value K is sent to the controller of the target machine nearest to the target through the wireless module, the controller of the target machine nearest to the target controls the rotary servo motor to rotate by the angle K, and then the counterattack gun is triggered.