CN112204338A - Shot launching system and method and movable platform - Google Patents
Shot launching system and method and movable platform Download PDFInfo
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- CN112204338A CN112204338A CN201980033267.1A CN201980033267A CN112204338A CN 112204338 A CN112204338 A CN 112204338A CN 201980033267 A CN201980033267 A CN 201980033267A CN 112204338 A CN112204338 A CN 112204338A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 122
- 238000010304 firing Methods 0.000 claims abstract description 38
- 230000003287 optical effect Effects 0.000 claims description 45
- 230000000903 blocking effect Effects 0.000 claims description 10
- 230000008054 signal transmission Effects 0.000 claims description 9
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- 230000002950 deficient Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 22
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B35/00—Testing or checking of ammunition
- F42B35/02—Gauging, sorting, trimming or shortening cartridges or missiles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
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Abstract
A projectile launching system (100), method and movable platform (001), the projectile launching system (100) comprising a firing rate detection module (11) and at least two detection modules (12); the shooting speed detection module (11) is respectively connected with at least two detection modules (12); the detection module (12) comprises a pair of light emitting sensors (121) and light receiving sensors (122), and the light emitting sensors (121) and the light receiving sensors (122) are positioned on the same circuit board (123); a light emitting sensor (121) for emitting a light signal in a direction not toward the light receiving sensor (122); the light receiving sensor (122) is used for receiving the light signal reflected by the shot and feeding back the light signal to the shooting speed detection module (11); the shooting speed detection module (11) is used for determining time difference based on the time of receiving light signals by at least two light receiving sensors (122) respectively, determining the shooting speed of the projectile according to the time difference and the distance between the detection modules (12) respectively located by the light receiving sensors (122) receiving the light signals, and realizing a low-cost speed measurement process.
Description
Technical Field
The application relates to the field of moving speed measurement, in particular to a shot launching system and method and a movable platform.
Background
In daily practice, various occasions requiring the measurement of the moving speed of an object are often encountered. The traditional speed measurement scheme usually adopts the correlation mode, and a pair of light transceiver sensor is installed respectively in the passageway both sides promptly, and the light signal that the light emission sensor launched is received by light receiving sensor, when light receiving sensor did not receive the light signal, shows that there is the object to pass through, the moving speed of object is calculated through at least two pairs of light transceiver sensor, nevertheless because light transceiver sensor need install respectively in the passageway both sides that the object passed through, the structure of separate design has consumed more hardware resources, and the cost is higher.
Disclosure of Invention
It is therefore an object of the present invention to provide a projectile launching system, method and movable platform.
First, a first aspect of an embodiment of the present application provides a projectile launching system, including a firing rate detection module and at least two detection modules; the shooting speed detection module is respectively connected with the at least two detection modules;
the detection module comprises a pair of light emitting sensors and light receiving sensors, and the light emitting sensors and the light receiving sensors are positioned on the same circuit board;
the light emitting sensor is used for emitting a light signal in a direction not facing the light receiving sensor;
the light receiving sensor is used for receiving the light signal reflected by the projectile and feeding back the light signal to the shooting speed detection module;
the shooting speed detection module is used for determining the shooting speed of the projectile based on the optical signals respectively received by the at least two light receiving sensors.
According to a second aspect of embodiments of the present application, there is provided a projectile firing method, comprising a projectile firing system, the system comprising at least two detection modules, the detection modules comprising a light emitting sensor and a light receiving sensor, the light emitting sensor and the light receiving sensor being mounted on the same circuit board; the method comprises the following steps:
controlling all light emitting sensors to emit light signals in a direction not toward the light receiving sensors;
determining that two or more light receiving sensors respectively receive the light signals reflected by the projectile;
determining a firing rate of the projectile based on the light signal.
According to a third aspect of embodiments of the present application, there is provided a movable platform comprising:
a body;
the power system is arranged in the machine body and used for providing power for the movable platform; and the number of the first and second groups,
a projectile launching system;
the projectile launching system comprises a shooting speed detection module and at least two detection modules; the shooting speed detection module is respectively connected with the at least two detection modules;
the detection module comprises a pair of light emitting sensors and light receiving sensors, and the light emitting sensors and the light receiving sensors are positioned on the same circuit board;
the light emitting sensor is used for emitting a light signal in a direction not facing the light receiving sensor;
the light receiving sensor is used for receiving the light signal reflected by the projectile and feeding back the light signal to the shooting speed detection module;
the shooting speed detection module is used for determining the shooting speed of the projectile based on the optical signals respectively received by the at least two light receiving sensors.
The projectile launching system provided by the embodiment of the application comprises a projectile launching speed detection module and at least two detection modules, wherein the detection modules comprise a pair of light emitting sensors and light receiving sensors, the light emitting sensors and the light receiving sensors are positioned on the same circuit board, and the projectile launching speed detection module determines the projectile launching speed based on a light signal which is received by the light receiving sensors and reflected by a projectile; in this embodiment will light emission sensor with light receiving sensor installs on same circuit board, light emission sensor with light receiving sensor can realize the shot through the reflection of shot to optical signal and detect, compares in the separately traditional scheme of installing in the passageway both sides of light receiving and dispatching sensor, and the mounting means of this embodiment is showing and has reduceed the cost, has also reduced the processing degree of difficulty, light emission sensor with the mistake that the fixed of position has also avoided installing light receiving and dispatching sensor respectively between the light receiving sensor makes the relative position change lead to surveys the problem, is favorable to improving the accuracy that the shot detected.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a block diagram of an embodiment of a first projectile launching system according to an exemplary embodiment of the present application.
Fig. 2 is a block diagram of an embodiment of a first detection module according to an exemplary embodiment of the present application.
Fig. 3 is a block diagram of an embodiment of a second detection module according to an exemplary embodiment of the present application.
Fig. 4 is a waveform diagram illustrating an optical signal received by a light receiving sensor according to an exemplary embodiment of the present application.
Fig. 5 is a block diagram of an embodiment of a second projectile launching system according to an exemplary embodiment of the present application.
Fig. 6 is a block diagram of an embodiment of a third projectile launching system according to an exemplary embodiment of the present application.
Fig. 7 is a block diagram of an embodiment of a fourth projectile launching system according to an exemplary embodiment of the present application.
Fig. 8 is a block diagram of an embodiment of a fifth projectile launching system according to the present application, according to an exemplary embodiment.
Fig. 9 is a block diagram of an embodiment of a sixth projectile launching system according to the present application, according to an exemplary embodiment.
Fig. 10 is a flow chart illustrating an embodiment of a method of projectile launching according to an exemplary embodiment of the present application.
FIG. 11 is a block diagram illustrating an embodiment of a first movable platform according to an exemplary embodiment of the present application.
FIG. 12 is a block diagram illustrating an embodiment of a second movable platform according to an exemplary embodiment of the present application.
FIG. 13 is a block diagram illustrating an embodiment of a third moveable platform according to an exemplary embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The speed measurement scheme of the projectile launching system in the related technology generally adopts a correlation mode, namely, a pair of light transceiving sensors are respectively arranged on two sides of a channel, a light signal emitted by a light emitting sensor is received by a light receiving sensor, when the light receiving sensor does not receive the light signal, the fact that a projectile passes through the light receiving sensor is indicated, the passing time is recorded, the moving speed of an object is calculated through two pairs of light transceiving sensors, however, the light transceiving sensors are required to be respectively arranged on two sides of the channel through which the object passes, a separately designed structure consumes more hardware resources, and the cost is higher.
Based on the above problems, the embodiment of the present application provides a projectile launching system 100, which implements a low-cost velocity measurement process.
Referring to fig. 1, which is a block diagram of an embodiment of a first projectile launching system 100 according to an exemplary embodiment of the present application, fig. 1 illustrates an exemplary projectile launching system 100 including two detection modules 12: the projectile launching system 100 comprises a firing rate detection module 11 and at least two detection modules 12; the shooting speed detection module 11 is respectively connected with the at least two detection modules 12; it is understood that the connection manner between the beam velocity detection module 11 and the at least two detection modules 12 may be specifically selected according to actual situations, and the connection manner is not limited in any way in the embodiment of the present application, and is not limited to a wired connection, such as a circuit connection, or a wireless connection, such as a communication connection or a Near Field Communication (NFC) connection.
Referring to fig. 2, the detection module 12 includes a pair of light emitting sensor 121 and light receiving sensor 122, and the light emitting sensor 121 and the light receiving sensor 122 are located on the same circuit board 123; wherein the light emitting sensor 121 is configured to emit a light signal in a direction not facing the light receiving sensor 122, and the light receiving sensor 122 is configured to receive the light signal reflected by the projectile and feed back to the firing rate detecting module 11; in this embodiment, the light emitting sensor 121 and the light receiving sensor 122 are installed on the same circuit board 123, the light emitting sensor 121 and the light receiving sensor 122 can realize projectile detection through the reflection of a projectile to a light signal, and compared with a conventional scheme that the light receiving and emitting sensors are separately installed on two sides of a channel, the installation mode of this embodiment is significantly reduced in cost, and the processing difficulty is reduced, the light emitting sensor 121 and the light receiving sensor 122 are fixed in position, so that the problem of misdetection caused by the change of relative positions due to the fact that the light receiving and emitting sensors are installed respectively is avoided, and the accuracy of projectile detection is improved.
In order to prevent the light receiving sensor 122 from receiving the light signal directly emitted by the light emitting sensor 121 and causing a false detection problem, the light emitting sensor 121 needs to transmit the light signal in a direction not facing the light receiving sensor 122, and it is understood that, under the condition that the light signal is transmitted by the light emitting sensor 121, the embodiment of the present application is not limited to a specific transmission angle of the light emitting sensor 121, and the specific transmission angle may be set according to actual conditions, and as an example, the transmission angle of the light signal transmitted by the light emitting sensor 121 may be 20 °, 40 ° or 45 ° with respect to the horizontal direction.
In a possible implementation manner, in order to further prevent the light receiving sensor 122 from receiving the light signal directly emitted by the light emitting sensor 121 and causing a false detection problem, the light emitting sensor 121 and the light receiving sensor 122 may be separated by a specified distance to prevent signal transmission between the light emitting sensor 121 and the light receiving sensor 122; the specific value of the specified distance may be specifically set according to an actual application scenario, which is not limited in this application.
In another possible implementation manner, in order to further prevent the light receiving sensor 122 from receiving the light signal directly emitted by the light emitting sensor 121 and causing a false detection problem, referring to fig. 3, the detection module 12 may include a light-proof structural member 124, where the light-proof structural member 124, the light emitting sensor 121 and the light receiving sensor 122 are located on the same circuit board 123, and the light-proof structural member 124 is disposed between the light emitting sensor 121 and the light receiving sensor 122 to isolate the signal transmission between the light emitting sensor 121 and the light receiving sensor 122.
It is understood that, in the embodiment of the present application, there is no limitation on the specific types of the light emitting sensor 121 and the light receiving sensor 122, and the light waves adopted by the light emitting sensor 121 and the light receiving sensor 122 have the ability of reflecting after encountering an object, and the specific types may be specifically selected according to the actual application scenario, for example, the light emitting sensor 121 may be an infrared light emitting sensor 121, and correspondingly, the light receiving sensor 122 may be an infrared light receiving sensor 122.
In addition, the projectile launching system 100 includes the projectile firing rate detection module 11, configured to determine a time difference based on the time when at least two light receiving sensors 122 respectively receive the light signals, and determine the firing rate of the projectile according to the time difference and the distance between the detection modules where the light receiving sensors 122 respectively receive the light signals are located.
In a possible implementation manner, a connection line of the at least two detection modules 12 is parallel to a trajectory of a projectile, and a shooting speed of the projectile is a ratio of a distance between the detection modules 12 respectively located by the light receiving sensors 122 for receiving the light signals to the time difference; as an example, assume two detection modesThe distance between the blocks 12 is d, the time difference of the projectile passing through the two detection modules 12 is t, and the projectile shooting speed is d
In an embodiment, please refer to fig. 4, when the projectile passes through two detection modules 12, a waveform diagram (where a horizontal axis represents time and a vertical axis represents frequency of an optical signal) correspondingly generated when the optical receiving sensor 122 in the two detection modules 12 receives the optical signal reflected by the projectile is received, and thus, for the optical signal transmitted from each optical receiving sensor 122 to the projectile velocity detection module 11, the projectile velocity detection module 11 may determine occurrence time of a trough according to the waveform of the optical signal, and then determine a time difference according to at least two of the occurrence times, so as to determine the projectile velocity according to the time difference and a distance between the detection modules respectively located by the optical receiving sensors 122 receiving the optical signal; in the embodiment, the collected optical signals (i.e., analog signals) are directly used for analysis, and redundant signal conditioning circuits or devices are omitted, so that the cost is saved, and the volume and the weight of the detection module are reduced.
In another embodiment, the shooting speed detecting module 11 may include a signal conditioning circuit, and after receiving the optical signals respectively transmitted by at least two of the light receiving sensors 122, the shooting speed detecting module 11 converts at least two optical signals (analog signals) into electrical signals (digital signals) through the signal conditioning circuit, determines a time difference based on the converted at least two electrical signals, and determines the shooting speed of the projectile according to the time difference and a distance between detecting modules respectively located by the light receiving sensors 122 that receive the optical signals.
In addition, in order to further improve the detection accuracy, after receiving the optical signals respectively transmitted by the at least two light receiving sensors 122, the beam velocity detection module 11 may first perform filtering processing on the optical signal transmitted by each light receiving sensor 122 to filter noise and interference signals, so as to obtain an effective optical signal, and then perform subsequent processing to avoid the interference of the noise from affecting the detection result.
Referring to fig. 5, a block diagram of an embodiment of a second projectile launching system 100 is shown according to an exemplary embodiment of the present application. The projectile launching system 100 further comprises a projectile launching prevention module 13, the launching prevention module 13 is connected with the projectile velocity detection module 11, the projectile velocity detection module 11 transmits the projectile velocity to the launching prevention module 13 after determining the projectile velocity, and the launching prevention module 13 prevents the next projectile from launching when determining that the projectile velocity of a single projectile exceeds a first limit value or the average projectile velocity of a plurality of projectiles exceeds a second limit value, so that a user is effectively prevented from modifying the launching structure of the projectile launching system 100 privately, and the launching velocity of the projectiles is improved to cause safety problems.
It can be understood that specific values of the first limit value and the second limit value may be specifically set according to an actual application scenario, and the embodiment of the present application does not limit this.
Referring to fig. 6, a block diagram of an embodiment of a third projectile launching system 100 is shown according to an exemplary embodiment of the present application. The projectile launching system 100 further comprises a shooting speed comparison module 14, the shooting speed comparison module 14 is respectively connected to the shooting speed detection module 11 and the ejection stopping module 13, the shooting speed detection module 11 further transmits the shooting speeds of the projectiles to the shooting speed comparison module 14 after determining the shooting speeds of the projectiles, the shooting speed comparison module 14 is used for comparing the shooting speeds of a plurality of consecutive projectiles, and if the difference between the shooting speeds of the plurality of consecutive projectiles exceeds a first preset value, or the ratio between the shooting speeds of the plurality of consecutive projectiles exceeds a second preset value, or the fluctuation value between the shooting speeds of the plurality of consecutive projectiles exceeds a third preset value, which indicates that the launching structure of the projectile launching system 100 may be unstable, the ejection stopping module 13 is notified to stop the next projectile from launching; the present embodiment determines whether the launch structure of the projectile launching system 100 is in a stable state based on a comparison between projectile launch velocities, and if not, stops the projectile launch, preventing safety issues, and reducing the possibility of accidental component wear due to anomalies in the projectile launching system.
The difference between the shooting speeds of the consecutive projectiles may refer to an average value of the difference between the shooting speeds of the adjacent projectiles in the consecutive projectiles, the ratio between the shooting speeds of the consecutive projectiles may refer to an average value of the ratio between the shooting speeds of the adjacent projectiles in the consecutive projectiles, and the fluctuation value between the shooting speeds of the consecutive projectiles may refer to a difference between the highest shooting speed and the lowest shooting speed of the projectiles in the consecutive projectiles.
It can be understood that the first preset value, the second preset value, and the third preset value may be specifically set according to an actual application scenario, which is not limited in this application.
In one possible implementation, the firing rate comparison module 14 may be connected to an external display device through which a user is notified of servicing of the projectile launching system 100.
Referring to fig. 7, a block diagram of a fourth shot-firing system 100 embodiment is shown in accordance with an exemplary embodiment of the present application. The projectile launching system 100 further comprises a launching module 15 (which includes the launching structure described above), the launching module 15 is connected to the ejection blocking module 13, the ejection blocking module 13 can stop launching a next projectile by sending an ejection blocking command to the launching module 15, the launching module 15 is configured to launch the projectile at a preset speed value according to a user operation, or stop launching the projectile based on the ejection blocking command sent by the ejection blocking module 13.
It can be understood that, in the embodiment of the present application, no limitation is imposed on the specific setting mode of the speed value, and specific setting may be performed according to an actual scene; in one example, the speed value may be set by a developer based on experience; in another example, the transmitting module 15 may also receive the distance and the direction of the target to be shot from an external recognition device, and determine the speed value based on the distance and the direction of the target to be shot, wherein the external recognition device includes a shooting device, a monocular sensor, an ultrasound sensor, an eddy current sensor, a hall sensor, a laser radar, and the like, and is used for recognizing the target to be shot and obtaining the distance and the direction of the target to be shot.
In consideration of the fact that in the actual use process, the preset speed value may not meet the requirements of all individuals based on different factors such as the use duration and the use environment, referring to fig. 8, which is a structural diagram of an embodiment of a fifth projectile launching system 100 according to an exemplary embodiment of the present application, the projectile launching system 100 further includes a firing rate adjusting module 16, the firing rate adjusting module 16 is respectively connected to the firing rate detecting module 11 and the launching module 15, the firing rate adjusting module 16 is configured to adjust the firing rate of the projectile to be launched according to the comparison between the firing rate of the projectile and the preset speed value, and notify the launching module 15 based on the adjusted firing rate of the projectile to be launched, so that the launching module 15 can launch the projectile based on the adjusted firing rate of the projectile to be launched; in this embodiment, the preset speed value is adjusted based on the measured actual shooting speed of the projectile, so that the adjusted shooting speed of the projectile to be launched can meet individual requirements.
Referring to fig. 9, which is a structural diagram of an embodiment of a sixth projectile launching system 100 according to an exemplary embodiment of the present application, the projectile launching system 100 further includes a surface detection module 17, the surface detection module 17 is connected to at least two detection modules, and the surface detection module 17 is configured to determine the roughness of the surface of the projectile according to a signal intensity difference between optical signals respectively transmitted by at least two light receiving sensors 122.
In a possible implementation manner, the surface detection module 17 may be connected to an external display device, and when the surface detection module 17 detects that the roughness of the surface of the projectile exceeds a limited value, a prompt message is sent to the user through the external display device to remind the user that the projectile has a defect.
It should be understood that the modules described as separate components may or may not be physically separate, for example, the beam velocity detection module 11, the beam impedance module 13, the beam velocity comparison module 14, the beam velocity adjustment module 16, and the surface detection module 17 may be integrated on the same chip or component, or may be selectively combined on different chips or components, or may be separately mounted on different chips or components, which is not limited in this embodiment of the present application; some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Accordingly, referring to fig. 10, a flowchart of an embodiment of a method for projectile launching according to an exemplary embodiment of the present application is shown, including a projectile launching system, where the system includes at least two detection modules, where the detection modules include a light emitting sensor and a light receiving sensor, and the light emitting sensor and the light receiving sensor are mounted on the same circuit board; the method comprises the following steps:
step S101, controlling all light emitting sensors to emit light signals in a direction not toward the light receiving sensors.
Step S102, determining that two or more light receiving sensors respectively receive the light signals reflected by the shot.
Step S103, determining the shooting speed of the projectile based on the optical signal.
As an example, it further includes: and adjusting the shooting speed of the projectile to be launched according to the comparison between the shooting speed of the projectile and a preset speed value.
As an example, it further includes: if the firing rate of a single projectile exceeds a first limit or the average firing rate of a plurality of projectiles exceeds a second limit, the next projectile is prevented from firing.
As an example, it further includes: and comparing the shooting speeds of a plurality of continuous shots, and if the difference value, the ratio value or the fluctuation value among the shooting speeds of the plurality of continuous shots exceeds a preset value, preventing the next shot from being shot.
As an example, the line connecting the at least two detection modules is parallel to the trajectory of the projectile.
As an example, the shooting speed of the projectile is a ratio of a distance between the detection modules respectively located by the light receiving sensors receiving the light signals to the time difference.
As an example, the emission angle of the light emission sensor emitting the light signal is 20 ° with respect to the horizontal direction.
As an example, the light emitting sensor is an infrared light emitting sensor, and the light receiving sensor is an infrared light receiving sensor.
By way of example, a light-tight structure isolating signal transmission is provided between the light emitting sensor and the light receiving sensor.
As an example, the light emitting sensor and the light receiving sensor are spaced apart by a designated distance to prevent signal transmission between the light emitting sensor and the light receiving sensor.
As an example, the step S102 includes:
and receiving optical signals respectively transmitted by two or more optical receiving sensors.
For each light signal transmitted by each light receiving sensor, the occurrence time of the trough of the light signal is determined according to the waveform of the light signal.
And determining the time difference according to the occurrence time.
As an example, it further includes:
after receiving the optical signals respectively transmitted by the two or more light receiving sensors, filtering the optical signals transmitted by each light receiving sensor.
The determining the occurrence time of the trough of the optical signal according to the waveform of the optical signal comprises:
and determining the occurrence time of the wave trough of the optical signal according to the waveform of the optical signal after the filtering processing.
As an example, it further includes: and determining the roughness of the surface of the projectile according to the signal intensity difference between the light signals respectively transmitted by at least two light receiving sensors.
As an example, it further includes: if the roughness of the surface of the projectile exceeds a limit value, sending a prompt message; the prompt message is used for reminding the user that the shot is defective.
As for the method embodiment, since it basically corresponds to the system embodiment, all relevant points can be referred to the partial description of the system embodiment.
Accordingly, referring to fig. 11, a block diagram of an embodiment of a first movable platform 001 according to an exemplary embodiment of the present application is shown, including:
a body 200.
And a power system 300 installed in the body 200 for providing power to the movable platform 001. And a projectile launching system 100.
Wherein the projectile firing system 100 comprises a firing rate detection module 11 and at least two detection modules 12; the shooting speed detection module 11 is respectively connected with the at least two detection modules 12.
The detection module 12 includes a pair of light emitting sensors 121 and light receiving sensors 122, and the light emitting sensors 121 and the light receiving sensors 122 are located on the same circuit board 123.
The light emitting sensor 121 is configured to emit a light signal in a direction not toward the light receiving sensor 122.
The light receiving sensor 122 is configured to receive the light signal reflected by the projectile and feed back the light signal to the shooting speed detecting module 11.
The ejection speed detection module 11 is configured to determine a time difference based on the time when at least two light receiving sensors 122 respectively receive the light signals, and determine the ejection speed of the projectile according to the time difference and the distance between the detection modules 12 where the light receiving sensors 122 respectively receive the light signals are located.
In one embodiment, the movable platform 001 may be an unmanned vehicle, unmanned aerial vehicle, or unmanned ship, among others.
In one embodiment, please refer to fig. 12, which is a block diagram illustrating an embodiment of a second movable platform 001 according to an exemplary embodiment of the present application, wherein the movable platform 001 further includes an identification system 400; the identification system 400 is connected to the projectile launching system 100, and the projectile launching system 100 further includes a firing rate adjustment module 16.
The recognition system 400 is used to recognize a shooting target and obtain the distance and orientation of the shooting target.
The shooting speed adjusting module 16 is configured to adjust the shooting speed of the shot to be fired to a first shot shooting speed according to the distance and the direction of the shooting target.
As an example, the projectile velocity adjustment module 16 is further configured to adjust the projectile velocity of the projectile to be launched to a second projectile velocity based on the measured projectile velocity and the first projectile velocity.
In an embodiment, please refer to fig. 13, which is a structural diagram of an embodiment of a third movable platform 001 according to an exemplary embodiment of the present application, where the movable platform 001 further includes a display device 500, the display device 500 is connected to the projectile launching system 100, and the projectile velocity adjusting module 16 is further configured to transmit the adjusted second projectile firing velocity to the display device, and prompt a user to launch the projectile at the second projectile firing velocity through the display device 500.
As an example, the projectile launching system 100 further comprises an impedance module 13; the ejection blocking module 13 is used for blocking the next projectile from being ejected when the ejection speed of a single projectile exceeds a first limit value or the average ejection speed of a plurality of projectiles exceeds a second limit value.
As an example, the projectile launching system 100 further includes a firing rate comparison module 14; the ejection speed comparison module 14 is configured to compare the ejection speeds of a plurality of consecutive projectiles, and if a difference, a ratio, or a fluctuation value between the ejection speeds of a plurality of consecutive projectiles exceeds a preset value, notify the ejection blocking module 13 to block the next projectile from being ejected.
As an example, the line connecting the at least two detection modules is parallel to the trajectory of the projectile.
As an example, the shooting speed of the projectile is a ratio of a distance between the detection modules where the light receiving sensors 122 receiving the light signals are respectively located to the time difference.
As an example, the emission angle of the light emission sensor 121 to emit the light signal is 20 ° with respect to the horizontal direction.
As an example, the light emitting sensor 121 is an infrared light emitting sensor 121, and the light receiving sensor 122 is an infrared light receiving sensor 122.
By way of example, the detection module also includes a light-impermeable structural member 124.
The light-impermeable structural member 124 is disposed between the light-emitting sensor 121 and the light-receiving sensor 122.
The opaque structure 124 is used to isolate the signal transmission between the light emitting sensor 121 and the light receiving sensor 122.
As an example, the light emitting sensor 121 and the light receiving sensor 122 are spaced apart by a designated distance to prevent signal transmission between the light emitting sensor 121 and the light receiving sensor 122.
As an example, the beam velocity detection module 11 is specifically configured to: for the light signal transmitted by each light receiving sensor 122, determining the occurrence time of the trough thereof according to the waveform of the light signal; a time difference is determined from at least two of the epochs.
As an example, the beam velocity detection module 11 is further configured to perform a filtering process on the optical signal transmitted by each light receiving sensor 122 after receiving the optical signals respectively transmitted by at least two of the light receiving sensors 122.
As an example, the projectile launching system 100 further comprises a surface detection module 17, wherein the surface detection module 17 is configured to determine the roughness of the surface of the projectile according to the signal intensity difference between the light signals respectively transmitted by at least two of the light receiving sensors 122.
In a possible implementation manner, the surface detection module 17 sends a prompt message to the user through the display device 500 when detecting that the roughness of the surface of the projectile exceeds a limit value, so as to remind the user that the projectile has a defect.
Those skilled in the art will appreciate that fig. 9 and 10 and fig. 11 are merely examples of the movable platform 001, and do not constitute a limitation on the movable platform 001, and may include more or less components than those shown, or combine some components, or different components, for example, the movable platform 001 may further include an input-output device, a network access device, and the like.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (43)
1. A shot launching system is characterized by comprising a shooting speed detection module and at least two detection modules; the shooting speed detection module is respectively connected with the at least two detection modules;
the detection module comprises a pair of light emitting sensors and light receiving sensors, and the light emitting sensors and the light receiving sensors are positioned on the same circuit board;
the light emitting sensor is used for emitting a light signal in a direction not facing the light receiving sensor;
the light receiving sensor is used for receiving the light signal reflected by the projectile and feeding back the light signal to the shooting speed detection module;
the shooting speed detection module is used for determining the shooting speed of the projectile based on the optical signals respectively received by the at least two light receiving sensors.
2. The system of claim 1, further comprising an impedance module; the shot stopping module is used for stopping the next shot from shooting when the shooting speed of a single shot exceeds a first limit value or the average shooting speed of a plurality of shots exceeds a second limit value.
3. The system of claim 2, further comprising a beam velocity comparison module;
the shooting speed comparison module is used for comparing the shooting speeds of a plurality of continuous projectiles, and if the difference value, the ratio value or the fluctuation value among the shooting speeds of the plurality of continuous projectiles exceeds a preset value, the ejection blocking module is informed to block the next projectile from being ejected.
4. The system of claim 1, wherein the line connecting the at least two detection modules is parallel to the trajectory of the projectile.
5. The system of claim 4, wherein the projectile has a firing rate which is a ratio of a distance between the detection modules where the light receiving sensors receiving the light signals are respectively located to a time difference determined based on times of the light signals respectively received by at least two of the light receiving sensors.
6. The system of claim 1, wherein the emission angle at which the light emitting sensor emits the light signal is 20 ° with respect to horizontal.
7. The system of claim 1, wherein the light emitting sensor is an infrared light emitting sensor and the light receiving sensor is an infrared light receiving sensor.
8. The system of claim 1, wherein the detection module further comprises a light-tight structural member;
the light-tight structural part is arranged between the light emitting sensor and the light receiving sensor;
the light-tight structural part is used for isolating signal transmission between the light emitting sensor and the light receiving sensor.
9. The system of claim 1, wherein the light emitting sensor and the light receiving sensor are spaced apart by a specified distance to prevent signal transfer between the light emitting sensor and the light receiving sensor.
10. The system of claim 1,
the shooting speed detection module is specifically configured to: determining a time difference based on the time of the optical signals respectively received by the at least two optical receiving sensors, and determining the projectile shooting speed according to the time difference and the distance between the detection modules respectively located by the optical receiving sensors receiving the optical signals;
for the light signal transmitted by each light receiving sensor, determining the occurrence time of the wave trough of the light signal according to the waveform of the light signal; a time difference is determined from at least two of the epochs.
11. The system of claim 1, wherein the beam velocity detection module is further configured to filter the light signal transmitted by each light receiving sensor after receiving the light signals respectively transmitted by at least two of the light receiving sensors.
12. The system of claim 1, further comprising a surface detection module configured to determine the asperity of the projectile surface based on the signal intensity difference between the light signals respectively transmitted by at least two of the light receiving sensors.
13. The system of claim 1, further comprising a firing rate adjustment module; the shooting speed adjusting module is used for adjusting the shooting speed of the projectile to be launched according to the comparison between the shooting speed of the projectile and a preset speed value.
14. A projectile shooting method is characterized by comprising a projectile shooting system, wherein the system comprises at least two detection modules, each detection module comprises a light emitting sensor and a light receiving sensor, and the light emitting sensors and the light receiving sensors are arranged on the same circuit board; the method comprises the following steps:
controlling all light emitting sensors to emit light signals in a direction not toward the light receiving sensors;
determining that two or more light receiving sensors respectively receive the light signals reflected by the projectile;
determining a firing rate of the projectile based on the light signal.
15. The method of claim 14, further comprising:
and adjusting the shooting speed of the projectile to be launched according to the comparison between the shooting speed of the projectile and a preset speed value.
16. The method of claim 14, further comprising: if the firing rate of a single projectile exceeds a first limit or the average firing rate of a plurality of projectiles exceeds a second limit, the next projectile is prevented from firing.
17. The method of claim 16, further comprising:
and comparing the shooting speeds of a plurality of continuous shots, and if the difference value, the ratio value or the fluctuation value among the shooting speeds of the plurality of continuous shots exceeds a preset value, preventing the next shot from being shot.
18. The method of claim 14, wherein the line connecting the at least two detection modules is parallel to the trajectory of the projectile.
19. The method of claim 14, wherein the projectile has a firing velocity which is a ratio of a distance between detection modules respectively located by the light receiving sensors receiving the light signals to the time difference.
20. The method of claim 14, wherein the emission angle at which the light emitting sensor emits the light signal is 20 ° relative to horizontal.
21. The method of claim 14, wherein the light emitting sensor is an infrared light emitting sensor and the light receiving sensor is an infrared light receiving sensor.
22. The method of claim 14, wherein an opaque structure is provided between the light emitting sensor and the light receiving sensor to isolate signal transmission.
23. The method of claim 14, wherein the light emitting sensor and the light receiving sensor are spaced apart by a specified distance to prevent signal transfer between the light emitting sensor and the light receiving sensor.
24. The method of claim 14, wherein the determining that the two or more light receiving sensors each received the light signal reflected by the projectile comprises:
receiving optical signals respectively transmitted by two or more optical receiving sensors;
for the light signal transmitted by each light receiving sensor, determining the occurrence time of the wave trough of the light signal according to the waveform of the light signal;
determining a time difference according to the occurrence time;
and determining the shooting speed of the projectile according to the distance between the detection modules respectively located by the light receiving sensors for receiving the light signals and the time difference.
25. The method of claim 24, further comprising:
after receiving the optical signals respectively transmitted by two or more light receiving sensors, filtering the optical signals transmitted by each light receiving sensor;
the determining the occurrence time of the trough of the optical signal according to the waveform of the optical signal comprises:
and determining the occurrence time of the wave trough of the optical signal according to the waveform of the optical signal after the filtering processing.
26. The method of claim 14, further comprising:
and determining the roughness of the surface of the projectile according to the signal intensity difference between the light signals respectively transmitted by at least two light receiving sensors.
27. The method of claim 26, further comprising:
if the roughness of the surface of the projectile exceeds a limit value, sending a prompt message; the prompt message is used for reminding the user that the shot is defective.
28. A movable platform, comprising:
a body;
the power system is arranged in the machine body and used for providing power for the movable platform; and the number of the first and second groups,
a projectile launching system;
the projectile launching system comprises a shooting speed detection module and at least two detection modules; the shooting speed detection module is respectively connected with the at least two detection modules;
the detection module comprises a pair of light emitting sensors and light receiving sensors, and the light emitting sensors and the light receiving sensors are positioned on the same circuit board;
the light emitting sensor is used for emitting a light signal in a direction not facing the light receiving sensor;
the light receiving sensor is used for receiving the light signal reflected by the projectile and feeding back the light signal to the shooting speed detection module;
the shooting speed detection module is used for determining the shooting speed of the projectile based on the optical signals respectively received by the at least two light receiving sensors.
29. The movable platform of claim 28, further comprising an identification system; the projectile launching system further comprises a firing rate adjusting module;
the recognition system is used for recognizing a shooting target and acquiring the distance and the direction of the shooting target;
the shooting speed adjusting module is used for adjusting the shooting speed of the shot to be launched into a first shot shooting speed according to the distance and the direction of the shooting target.
30. The movable platform of claim 29,
the projectile velocity adjusting module is further used for adjusting the projectile velocity of the projectile to be launched to a second projectile velocity according to the measured projectile velocity of the projectile and the first projectile velocity.
31. The movable platform of claim 30, further comprising a display device;
the shooting speed adjusting module is further used for transmitting the adjusted second shot shooting speed to the display device, and prompting a user to shoot the shot to be shot according to the second shot shooting speed through the display device.
32. The movable platform of claim 28, wherein the movable platform comprises an unmanned vehicle, an unmanned aerial vehicle, and an unmanned ship.
33. The movable platform of claim 28, wherein the projectile launching system further comprises a projectile launching module; the shot stopping module is used for stopping the next shot from shooting when the shooting speed of a single shot exceeds a first limit value or the average shooting speed of a plurality of shots exceeds a second limit value.
34. The movable platform of claim 33, wherein the projectile launching system further comprises a firing rate comparison module;
the shooting speed comparison module is used for comparing the shooting speeds of a plurality of continuous projectiles, and if the difference value, the ratio value or the fluctuation value among the shooting speeds of the plurality of continuous projectiles exceeds a preset value, the ejection blocking module is informed to block the next projectile from being ejected.
35. The movable platform of claim 28, wherein a line connecting the at least two detection modules is parallel to a trajectory of the projectile.
36. The movable platform of claim 35, wherein the projectile has a firing velocity that is a ratio of a distance between the detection modules respectively located by the light receiving sensors receiving the light signals to the time difference.
37. The movable platform of claim 28, wherein the light emitting sensor emits a light signal at an angle of 20 ° relative to horizontal.
38. The movable platform of claim 28, wherein the light emitting sensor is an infrared light emitting sensor and the light receiving sensor is an infrared light receiving sensor.
39. The movable platform of claim 28, wherein the detection module further comprises a light-tight structural member;
the light-tight structural part is arranged between the light emitting sensor and the light receiving sensor;
the light-tight structural part is used for isolating signal transmission between the light emitting sensor and the light receiving sensor.
40. The movable platform of claim 28, wherein the light emitting sensor and the light receiving sensor are spaced apart a specified distance to prevent signal transfer between the light emitting sensor and the light receiving sensor.
41. The movable platform of claim 28,
the shooting speed detection module is specifically configured to: for the light signal transmitted by each light receiving sensor, determining the occurrence time of the wave trough of the light signal according to the waveform of the light signal; a time difference is determined from at least two of the epochs.
42. The movable platform of claim 28, wherein the beam velocity detection module is further configured to filter the light signal transmitted by each of the at least two light receiving sensors after receiving the light signals transmitted by the at least two light receiving sensors.
43. The movable platform of claim 28, wherein the projectile launching system further comprises a surface detection module configured to determine the asperity of the projectile surface based on the difference in signal strength between the light signals respectively transmitted by at least two of the light receiving sensors.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/107303 WO2021056145A1 (en) | 2019-09-23 | 2019-09-23 | Projectile launching system and method, and movable platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112204338A true CN112204338A (en) | 2021-01-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980033267.1A Pending CN112204338A (en) | 2019-09-23 | 2019-09-23 | Shot launching system and method and movable platform |
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| Country | Link |
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| CN (1) | CN112204338A (en) |
| WO (1) | WO2021056145A1 (en) |
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2019
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| US6020594A (en) * | 1998-07-17 | 2000-02-01 | Tschudi; Dennis E. | Ballistic velocity measurement system having dual sensor unit with parabolic slit mirrors |
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| WO2021056145A1 (en) | 2021-04-01 |
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