CN114530071A

CN114530071A - Gun and training system

Info

Publication number: CN114530071A
Application number: CN202011324431.5A
Authority: CN
Inventors: 黄�俊; 贺杰; 戴景文
Original assignee: Guangdong Virtual Reality Technology Co Ltd
Current assignee: Guangdong Virtual Reality Technology Co Ltd
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2022-05-24

Abstract

The application provides a rifle utensil, including the main part with install the sleeve in the main part, the sleeve can slide by the main part relatively under the effect of external force, the sleeve includes the casing and tracks the module, the casing covers in the main part and can slide by the main part relatively, track the module and deviate from casing and main part be equipped with the marker on the surface, the marker can be used to be shot by outside camera and track to obtain rifle utensil relative position and revolution relation.

Description

Gun and training system

Technical Field

The application relates to the field of virtual training, in particular to a firearm and a training system.

Background

Virtual simulation training is a way to train by using a combination of real and virtual, and is a future technical development trend. In the military police field, strict requirements are imposed on the use of the firearm, such as when and how to use the firearm (for example, loading and reloading clips, shooting, aiming and other actions), and training in the military police field is multi-scenario and needs to simulate possible scenarios in reality, and if the training is carried out by using a real scenario, the training cost is very high, and the training scenario is single, which is not beneficial to the switching use of the training scenario.

Disclosure of Invention

In view of the above, the present application provides a firearm and a training system, by which a user can map a use operation of the firearm in a real world into a virtual world, so that the user can use a real firearm to perform a virtual use scene training in the virtual world, and by using a training-type firearm to perform a simulation training in the virtual scene, the user can clearly understand various scenes of using the firearm in the real world and how to use the firearm accordingly, which is helpful for improving a training effect of the user and reducing a training cost.

An embodiment of the application provides a rifle utensil, including the main part with install in sleeve on the main part, the sleeve can be relative under the effect of external force the main part slides, its characterized in that, the sleeve includes casing and tracking module, the casing cover in the main part can be relative the main part slides, tracking module deviates from casing and main part be equipped with the marker on the surface, the marker can be used to be shot by outside camera and track, in order to acquire the relative position of rifle utensil and relation of rotation.

Further, the sleeve still includes two back sight and preceding sight, back sight and preceding sight all set up in the casing deviates from on the surface of stock one side, the back sight is close to the one end setting of tracking the module, preceding sight be located with the relative one end edge of back sight, two back sight are parallel relatively and the interval sets up, preceding sight and back sight all are equipped with light emitting component towards on tracking the module's the side, light emitting component on the preceding sight with the light emitting component on the back sight luminous color is different.

Furthermore, the main body comprises a grab handle, a gun rack and a trigger, wherein a bullet changing key is arranged on one side surface of the grab handle, and can be pressed to excite a corresponding bullet changing instruction; one end of the grab handle, which is far away from the gun rack, is provided with a loading assembly, and the loading assembly can be pressed to excite a corresponding loading instruction; the trigger is located at the junction intersection of the grip and the frame, and the trigger is depressed to activate a corresponding firing command.

Further, the grab handle is provided with a sensor on the side surface departing from the muzzle and adjacent to the gun rack, and the sensor is used for sensing whether the gun is held or not.

Further, a sensor is provided on a side of the gun rest adjacent to the trigger for sensing whether a finger of a user holding the firearm is on the side of the gun rest.

Further, a sensor is arranged on the side face of the gun rack and can sense with a contact element of an external gun sleeve to determine whether the gun is accurately sleeved in the gun sleeve.

Furthermore, the sleeve slides relative to the main body under the action of a sliding assembly, the sliding assembly comprises a sliding part, an elastic part sleeved on the sliding part and an accommodating groove for accommodating part of the sliding part, one end of the sliding part is fixed in the sleeve, and the other end of the sliding part is accommodated in the accommodating groove; one end of the elastic piece and the sliding piece are fixed on the sleeve together, and the other end of the elastic piece is abutted against two side surfaces of the inlet of the accommodating groove; the accommodating groove is fixed relative to the main body; the sleeve slides in the containing groove until the sliding part abuts against the bottom of the containing groove under the action of external force so as to excite a loading relevant command and enable the sleeve to slide relative to the main body along the horizontal direction of the tracking module far away from the main body, and the elastic force formed by compression of the elastic piece can enable the sleeve to recover the original state relative to the main body when no external force acts on the sleeve.

Furthermore, the gun further comprises a trigger module arranged in the main body, the trigger module comprises a trigger and a sensing unit, the trigger comprises a pressing part, a rotating part and a first torsion spring, the first torsion spring is partially sleeved on the rotating part, the rotating part is rotatably connected to the shell of the main body, and the pressing part and the rotating part can rotate around the central shaft of the rotating part under the action of force; the elastic force of the first torsion spring can enable the pressing part to restore to the original state when no external force acts; the sensing unit is provided with a sensor, the sensor is close to the rotating part, and the sensor can sense the change of the roughness of the surface contacted with the rotating part so as to trigger and press the control command corresponding to the trigger.

Furthermore, the trigger module further comprises a resistance unit, the resistance unit comprises a resistance main body, a linear spring, a supporting piece and a second torsion spring, the resistance main body comprises a rotating shaft, and the second torsion spring is sleeved on the rotating shaft; an accommodating groove is formed in one end of the resistance main body, and the linear spring can be accommodated in the accommodating groove; the resistance main body is provided with sliding grooves communicated with the accommodating grooves on two side walls; the abutting piece comprises an abutting block, a convex shaft and a connecting part, the convex shaft is respectively arranged on two opposite surfaces of the abutting block in a protruding mode and matched with the sliding groove, and the connecting part is located at one end of the abutting block and arranged in a protruding mode towards the interior of the resistance main body; the convex shaft is accommodated in the sliding groove in a sliding manner, so that the abutting piece slides in a fixed range relative to the resistance main body; the connecting part is connected with one end of the linear spring and abuts against the linear spring in the accommodating groove; one end of the abutting block, which is far away from the connecting part, is provided with a first side surface and a second side surface which are adjacent in sequence; the trigger further comprises a pressing part connected with the rotating part, and the pressing part are located on the same side of the rotating part; the pressing part moves towards the resistance unit when being pressed, and pushes the abutting part to move towards the bottom of the accommodating groove when the tail end of the pressing part abuts against the first side surface so as to compress the linear spring; when the elastic force of the compression linear spring overcomes the torsion force of the second torsion spring, the resistance main body can rotate around the axis of the rotating shaft, and the tail end of the pressing part changes from abutting against the first side surface to abutting against the second side surface.

An embodiment of the present application further provides a training system, including: an instrument having a marker; at least one reference marker; the head-mounted display device can be worn by a user and can watch a virtual training scene; the head-mounted display device comprises a camera which can be used for identifying and tracking markers on the instrument so as to acquire relative position and rotation information of the head-mounted display device relative to the instrument; the camera may also identify tracking of at least one reference marker to acquire the relative position of the head mounted display device in a real training scene, thereby acquiring the position of the user in a virtual training scene.

According to the rifle, the tracking module comprising the marker is arranged at one end, far away from the muzzle, of the gun frame, so that the position and the rotation relation of the rifle relative to a head-mounted display device comprising a camera can be obtained, further, the position and the rotation information of the real-world rifle can be mapped to a virtual training scene, and the effect of simulating virtual training is achieved; in addition, due to the fact that the sensors with different functions and various simulation structures are arranged, in a virtual training scene, the gun can detect the using state of a user, the operation of the user on the gun in the real world can be mapped into the virtual world, the perfect simulation training effect is achieved through the combination of real operation and the virtual visual effect, the training cost of using a real gun is saved, and the gun and various training scenes can be combined, so that the low-cost training scene expansion is facilitated.

Drawings

In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described 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 without creative efforts.

Fig. 1 is a schematic diagram of a training system according to an embodiment of the present application.

Fig. 2 is an overall schematic view of a firearm in a training system provided in an embodiment of the present application.

Fig. 3 is an overall view of the gun of fig. 2 in another direction.

Fig. 4 is a frame diagram showing the main internal structure of the gun shown in fig. 2.

Fig. 5 is a schematic view of the gun of fig. 4 in another state.

FIG. 6A is a schematic diagram of a trigger module of the gun of FIG. 2.

FIG. 6B is an exploded view of the resistance unit in the trigger module shown in FIG. 6A.

Fig. 6C is a schematic view of the holding member in the resistance unit shown in fig. 6B.

Fig. 6D is a schematic view showing a state in which the trigger shown in fig. 6A abuts against the resistance unit.

Fig. 7 is an overall view of the combination of the firearm and holster shown in fig. 2.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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.

Referring to fig. 1, an embodiment of the present application provides a training system applied to the technical field of mixed reality, augmented reality, and/or virtual reality, the training system including a training apparatus 100 and a head-mounted display device 200. The training apparatus 100 can be set in the external camera for recognition and tracking, the user can wear the head-mounted display device 200 and watch the virtual training scene through the head-mounted display device 200, and the use operation of the user on the training apparatus 100 can be mapped to the virtual training scene, so that the user can perform virtual military and police apparatus use scene training. The camera of the recognition tracking training apparatus 100 may be integrated on the head-mounted display device 200, and the head-mounted display device 200 may be a device that simultaneously views a real-world scene and a virtual training scene, that is, the user may view the real-world scene through the head-mounted display device 200, and may also view the virtual training scene superimposed on the real-world scene. In some embodiments, the head-mounted display device 200 may include a display and an optical lens, the display may project the displayed virtual training scene to the optical lens and reflect through the optical lens to the eye of the user wearing the head-mounted display device so that the user may view the virtual training scene; in addition, the user can see a real scene through the optical lens, so that the user can visually see a virtual scene and a real scene which are overlapped and fused with the virtual training scene and the real scene. In some embodiments, the training system further includes at least one reference marker 300, and the camera on the head-mounted display device 200 can recognize and track the at least one reference marker to acquire the relative position of the head-mounted display device 200 (i.e., the user) in the real training scene, and further acquire the position of the user in the virtual training scene, so that the user can perform tactical training in the military police field. The training system can map the use operation of the training instrument in the real world to the virtual world by the user, so that the user can use the real training instrument to perform virtual training instrument use scene training in the virtual world, and the user can clearly know various scenes of using the training instrument in the real world and how to use the training instrument correspondingly by using the training instrument of the training type in the virtual scene, thereby being beneficial to improving the training effect of the user and reducing the training cost.

Referring to fig. 2-4, a gun device 100a according to an embodiment of the present disclosure includes a main body 10 and a sleeve 20 mounted on the main body 10, wherein the sleeve 20 can slide in a specific direction relative to the main body 10 under an external force.

The body 10 includes a grip 11, a gun rest 12, and a trigger 13, one end of the grip 11 is connected to the gun rest 12, and the trigger 13 is located at a connection intersection of the grip 11 and the gun rest 12 and is also connected to the gun rest 12. The main body 10 is internally provided with a power supply 41, a main board 42, a bullet changing module 43, a bullet loading module 44, a shooting module 45 and a loading module 46, wherein the power supply 41, the bullet changing module 43 and the bullet loading module 44 are arranged in the handle 11, the shooting module 45 is arranged in the gun rack 12, and the main board 42 and the loading module 46 are arranged above the gun rack 12 and covered by the sleeve 20. A bullet changing button 111 is disposed on one side of the handle 11, when the user holds the gun set 100, the thumb of the user can press the bullet changing button 111 to activate the bullet changing module 43, so that the main board 42 triggers a control instruction corresponding to the pressing of the bullet changing button 111, where the control instruction is to control the clip of the virtual gun set in the virtual training scene to be detached from the virtual gun set, that is, to change the clip instruction. The end of the grip 11 away from the gun rack 12 is provided with a loading assembly 113, and when the user holds the gun 100, the user can press the loading assembly 113 with the aid of the other hand to activate the loading module 43, so that the main board 42 triggers a control command corresponding to the pressing loading assembly 113, where the control command is a command for controlling a virtual gun in a virtual training scene to load a new cartridge clip, that is, a loading clip command. When a user holds the firearm 100, the trigger 13 can be pressed by the index finger to excite the shooting module 45, so that the main board 42 triggers a control instruction corresponding to the pressing trigger 13, and the control instruction is used for controlling the virtual firearm of a virtual training scene to shoot. The user may use the other hand to assist in sliding the sleeve 20 relative to the body 10 while holding the firearm 100 to activate the cocking module 46, thereby causing the main board 42 to trigger control commands that control the cocking of the virtual firearm in the virtual training scenario.

In some embodiments, the grip 11 is provided with a sensor 14 on the side facing away from the muzzle and adjacent to the gun rest 12, and the sensor 14 can be used to sense whether the firearm 100a is held by the hand of the user. In a real gun use scene, there is a certain requirement for a user (such as a police officer) when to start holding the gun, therefore, the application is provided with the sensor 14 on the side of the grip handle 11 away from the muzzle and adjacent to the gun rack 12, so that it can be sensed which time periods the user holds the gun 100a, and further the time periods can be fed back to a virtual training scene, which is helpful for further improving the training effect of the user.

In some embodiments, a sensor 15 is provided on the side of the gun rest 12 adjacent the trigger 13, the sensor 15 being used to sense whether a finger of a user holding the firearm 100a is on the side of the gun rest. When a user holds a real gun, in a scene of not firing the gun, the fingers of the user are generally not allowed to contact the trigger so as to avoid the condition of fire, and in normal training, the fingers (generally index fingers) which are used to press the trigger by the user are required to be abutted against the side surface of the gun rack; this application is through being provided with sensor 15 in the side of gun rack 12 near trigger 13 for can sense the user's finger and place on the side of gun rack 12 in what time quantum, and then can feed back to in the virtual training scene, help further improving user's training effect.

In some embodiments, a charging interface 47, a switch button 48 and a menu button 49 are further disposed inside the main body 10, wherein the charging interface 47, the switch button 48 and the menu button 49 are disposed adjacently and are located at an end of the bottom of the gun rack 12 away from the grip 11. The charging interface 47 can be electrically connected with an external power supply to provide electric energy for the power supply inside the main body 10; the switch button 48 may control the power switch of the firearm 100a and the menu button 49 may control the software of the virtual training scenario corresponding to the firearm 100 a.

The sleeve 20 includes a housing 21, a tracking module 22, a rear sight 23, and a front sight 24. The shell 21 covers the gun rack 12, and the shell 21 and the gun rack 12 can slide relatively, that is, the shell 21 and the gun rack 12 have a sliding fit structural design, and a specific structure is not described in the present application; the tracking module 22 is a substantially square plate makeup, and is located at one end of the shell 21 away from the muzzle (not identified), and a marker (not identified) is arranged on the surface of one side of the tracking module 22 away from the shell 21 and the main body 10, so that the six-degree-of-freedom information of the camera relative to the marker can be obtained by analyzing the shot marker image, and the relative position and the rotation relation of the gun 100a, which is equivalent to the head-mounted display device 200, can be obtained in real time; rear sight 23 and preceding sight 24 all set up on the surface that casing 21 deviates from rifle rack 12 one side, and rear sight 23 is close to tracking module 22 and sets up, and preceding sight 24 is close to muzzle one end and sets up, and the quantity of rear sight 23 is two, and the quantity of preceding sight 24 is one, and two rear sight 23 are parallel relatively and the interval sets up, and user's sight can be in the one side that has tracking module, and the space from two rear sight 23 passes in order to observe front sight 24. In the embodiment of the present invention, the front sight 24 and the rear sight 23 are respectively provided with

light emitting elements

241 and 231 on one side facing the tracking module 22, and the

light emitting elements

231 and 241 emit light after the gun 100a is turned on, wherein the light emitting elements 241 on the front sight 24 and the light emitting elements 231 on the rear sight 23 emit light with different colors and have a certain contrast, for example, the light emitting element 231 on the rear sight 23 emits green light, and the light emitting element 241 on the front sight 24 emits red light. Through set up light emitting component on preceding, back sight, the user can be quick finds preceding, back sight to through preceding, back sight realization aim at the target object of virtual scene.

In some embodiments, a direction parallel to the housing 21 and the gun rack 12 is defined as a horizontal direction, and the surface on which the marker is disposed on the tracking module 22 is inclined from the horizontal direction, so that when a user wearing the head-mounted display device 200 holds the gun 100a for training, the marker of the tracking module 22 on the gun 100a can be identified and tracked by the head-mounted display device 200 including a camera under various normal operation conditions, and then the position and rotation relationship of the gun 100a relative to the head-mounted display device 200 can be obtained, and further the position and rotation information of the real-world gun 100a can be mapped into a virtual training scene. Preferably, the face of the tracking module 22 on which the marker is located is at an angle in the range of 30-60 degrees to the horizontal.

Referring to fig. 5, the sleeve 20 can slide relative to the main body 10 through the action of the sliding assembly 30, and the sliding assembly 30 includes a sliding member 31, an elastic member 32 sleeved on the sliding member 31, and a receiving groove 33 for receiving a portion of the sliding member 31. The sliding member 31 is substantially cylindrical, and has one end fixed in the sleeve 20 and the other end received in the receiving slot 33; the elastic element 32 is a spring, which is sleeved on the cylindrical surface of the sliding element 31, and one end of the elastic element 31 and the sliding element 31 are fixed on the sleeve 20 together, and the other end abuts against two side surfaces of the entrance of the accommodating groove 33; the member having the receiving groove 33 is fixed to the body 10. A user can hold the main body 10 with one hand and apply an external force to the sleeve 20 with the other hand, so that one end of the sliding member 31 accommodated in the accommodating groove 33 slides in the accommodating groove 33 until the end abuts against the bottom of the accommodating groove 33, and the loading module 46 is activated, and the elastic member 31 is compressed; at this time, the sleeve 20 is slid in a horizontal direction of the tracking module 22 away from the main body 10 as a whole with respect to the main body 10. After the user no longer applies force to the sleeve, the sleeve 20 can slide along the tracking module 22 relative to the main body 10 in the horizontal direction of the main body 10 under the elastic force of the elastic member 31 in the compressed state, so that the sleeve 20 returns to the original state relative to the main body 10.

Referring to fig. 6A-6D, a trigger module 60 according to an embodiment of the present invention is disposed inside the main body 10. The trigger module 60 includes a trigger 61, a sensing unit 62 and a resistance unit 63, wherein the sensing unit 62 can detect whether a user presses the trigger, and further determine whether to trigger a control instruction corresponding to the pressing of the trigger, that is, whether to control a virtual gun in a virtual training scene to shoot; the resistance unit 63 may apply a certain resistance to the pressed trigger so that the user has the same sense of force as pressing the trigger of a real gun when pressing the trigger. The trigger 61 includes a pressing portion 611, a pressing portion 612, a rotating portion 613 and a torsion spring 614, wherein the pressing portion 611 and the pressing portion 612 are located on the same side of the rotating portion 613, part of the torsion spring 614 is sleeved on the rotating portion 613, and the rotating portion 613 is rotatably connected to the housing of the main body 10; when the pressing portion 611 of the trigger 61 is pressed, the pressing portion 611 and the pressing portion 612 rotate together about the central axis of the rotating portion 613; when the pressing force pressing the pressing portion 611 is released, the pressing portion 611 and the pressing portion 612 can be restored to the original state by the elastic force of the torsion spring 614. The sensor 621 is disposed on the sensing unit 62, the sensor 621 is disposed adjacent to the rotating portion 613, and when the pressing portion 611 of the pressing trigger 611 rotates the pressing portion 611 and the pressing portion 612 together around the central axis of the rotating portion 613, the sensor 621 can sense that the roughness of the surface contacting with the rotating portion 613 changes, so as to determine to trigger the control command corresponding to the pressing trigger.

The resistance unit 63 includes a resistance main body 631, a linear spring 632, a holding member 633 and a torsion spring 634, wherein the resistance main body 631 includes a rotating shaft 6311, and the torsion spring 634 is sleeved on the rotating shaft 6311; one end of the resistance body 631 is opened with a receiving groove 6312, and the linear spring 632 can be received in the receiving groove 6312; the resistance main body 631 has slide grooves 6313 opened at both side walls to communicate with the receiving grooves 6312. The supporting member 633 comprises a supporting block 6331, a protruding shaft 6332 and a connecting portion 6333, wherein the supporting block 6331 is shaped like an irregular block, the protruding shaft 6332 protrudes from two opposite surfaces of the supporting block 6331 respectively and matches with the sliding slot 6313, and the connecting portion 6333 is located at one end of the supporting block 6331 and protrudes toward the inside of the resistance main body 631. The protruding shaft 6332 is accommodated in the sliding groove 6313 and can slide in the sliding groove 6313, so that the supporting member 633 can slide in a fixed range relative to the resistance main body 631; the connecting portion 6333 is connected to one end of the linear spring 632, and holds the linear spring 632 in the accommodating groove 6312, and the holding member 633 can compress the linear spring 632 when sliding towards the bottom of the accommodating groove 6312. One end of the abutting block 6331 away from the connecting portion 6333 has a first side surface 6335 and a second side surface 6336 which are adjacent to each other in sequence, wherein an arc transition surface 6337 is provided between the first side surface 6335 and the second side surface 6336. When the user starts to press the pressing portion 611 of the trigger 61, the pressing portion 612 moves towards the resistance unit 63, and when the end of the pressing portion 612 starts to contact the holding member 633, the user will receive a certain resistance when pressing the trigger 61, so that the user has a real pressing experience; when the user continues to press the trigger, the end of the pressing portion 612 abuts against the first side surface 6335 and moves relatively toward the transition surface 6337, and meanwhile, the abutting member 633 is pushed to move toward the bottom of the accommodating groove 6312 and compress the linear spring 632; when the linear spring 632 is compressed to a predetermined degree, the resistance main body 631 can overcome the torsion force of the torsion spring 634, so that the resistance main body 631 rotates around the axis of the rotation shaft 6331, and at this time, the end of the pressing portion 612 moves from the over-holding surface 6337 to the second side surface 6336; when the pressing force pressing on the trigger 61 is released, the resistance unit 63 may be restored to the state when the trigger 61 is not pressed by the torsion force of the torsion spring 634 and the elastic force of the linear spring 632. The integral structure of the resistance unit 63 makes the requirement of pressing the pressing part 612 of the pressing trigger 61 gradually increase, so that the experience of pressing the trigger by a real gun is simulated, and the experience effect of virtual training is improved.

Referring to fig. 3 and 7, the sensor 16 is disposed on the side of the gun rack 12 of the gun 100a, and the contact element 71 is disposed on the side of the holster 70 corresponding to the sensor 16. When the sensor 16 senses alignment with the contact member 71, i.e., illustratively, the firearm 100a is properly nested within the holster 70; when the sensor 16 senses a misalignment with the contact member 71, illustratively, the firearm 100a is disengaged from the holster 70. In a real gun use scene, when the gun needs to be pulled out to be separated from the gun case, and whether the gun is accurately sleeved in the gun case are required, the sensor 16 arranged on the side surface of the gun rack 12 of the gun 100a and the contact element 71 correspondingly arranged on the side surface of the gun case 70 enable the time periods when the gun 100a is separated from the gun case 70 to be sensed, and then the time periods can be fed back to a virtual training scene, so that the training effect of a user can be further improved.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. The utility model provides a rifle utensil, includes the main part and installs in sleeve on the main part, the sleeve can be relative under the effect of external force the main part slides, its characterized in that, the sleeve includes casing and tracking module, the casing cover in the main part can be relative the main part slides, tracking module deviates from be equipped with the marker on the surface of casing and main part, the marker can be used to be shot by outside camera and track, in order to acquire rifle utensil relative position and rotating relation.

2. The firearm of claim 1, wherein: the sleeve still includes two back sight and preceding sight, back sight and preceding sight all set up in the casing deviates from on the surface of stack one side, the back sight is close to the one end setting of tracking the module, preceding sight be located with the relative one end edge of back sight, two back sight are parallel relatively and the interval sets up, preceding sight and back sight orientation all be equipped with light emitting component on tracking the side of module, light emitting component on the preceding sight with light emitting component's on the back sight luminous colour is different.

3. The firearm of claim 1, wherein: the main body comprises a grab handle, a gun rack and a trigger, wherein a bullet changing key is arranged on one side surface of the grab handle and can be pressed to excite a corresponding bullet changing instruction; a loading assembly is arranged at one end of the grab handle, which is far away from the gun rack, and can be pressed to excite a corresponding loading instruction; the trigger is located at the junction intersection of the grip and the frame, and the trigger is depressed to activate a corresponding firing command.

4. The firearm of claim 3, wherein: the grab handle is provided with a sensor on the side surface departing from the muzzle and adjacent to the gun rack, and the sensor is used for sensing whether the gun is held or not.

5. The firearm of claim 3, wherein: a sensor is disposed on a side of the gun rack adjacent to the trigger for sensing whether a finger of a user holding the firearm is on the side of the gun rack.

6. The firearm of claim 3, wherein: the side of the gun rack is provided with a sensor which can sense with a contact element of an external gun sleeve so as to determine whether the gun is accurately sleeved in the gun sleeve.

7. The firearm of claim 1, wherein: the sleeve slides relative to the main body under the action of a sliding assembly, the sliding assembly comprises a sliding piece, an elastic piece sleeved on the sliding piece and an accommodating groove for accommodating part of the sliding piece, one end of the sliding piece is fixed in the sleeve, and the other end of the sliding piece is accommodated in the accommodating groove; one end of the elastic piece and the sliding piece are fixed on the sleeve together, and the other end of the elastic piece is abutted against two side surfaces of the inlet of the accommodating groove; the accommodating groove is fixed relative to the main body; the sleeve slides in the containing groove until the sliding part abuts against the bottom of the containing groove under the action of external force so as to excite a loading relevant command and enable the sleeve to slide relative to the main body along the horizontal direction of the tracking module far away from the main body, and the elastic force formed by compression of the elastic piece can enable the sleeve to recover the original state relative to the main body when no external force acts on the sleeve.

8. The firearm of claim 1, wherein: the gun further comprises a trigger module arranged in the main body, the trigger module comprises a trigger and a sensing unit, the trigger comprises a pressing part, a rotating part and a first torsion spring, the first torsion spring is partially sleeved on the rotating part, the rotating part is rotatably connected to the shell of the main body, and the pressing part and the rotating part can rotate around the central shaft of the rotating part under the action of force; the elastic force of the first torsion spring can enable the pressing part to restore to the original state when no external force acts; the sensing unit is provided with a sensor, the sensor is close to the rotating part, and the sensor can sense the change of the roughness of the surface contacted with the rotating part so as to trigger and press the control command corresponding to the trigger.

9. The firearm of claim 3, wherein: the trigger module further comprises a resistance unit, the resistance unit comprises a resistance main body, a linear spring, a butting piece and a second torsion spring, the resistance main body comprises a rotating shaft, and the second torsion spring is sleeved on the rotating shaft; an accommodating groove is formed in one end of the resistance main body, and the linear spring can be accommodated in the accommodating groove; the resistance main body is provided with sliding grooves communicated with the accommodating grooves on two side walls; the abutting piece comprises an abutting block, a convex shaft and a connecting part, the convex shaft is respectively arranged in a protruding mode from two opposite surfaces of the abutting block and matched with the sliding groove, and the connecting part is located at one end of the abutting block and arranged in a protruding mode towards the interior of the resistance main body; the convex shaft is accommodated in the sliding groove in a sliding manner, so that the abutting piece slides in a fixed range relative to the resistance main body; the connecting part is connected with one end of the linear spring and abuts against the linear spring in the accommodating groove; one end of the abutting block, which is far away from the connecting part, is provided with a first side surface and a second side surface which are adjacent in sequence; the trigger further comprises a pressing part connected with the rotating part, and the pressing part are located on the same side of the rotating part; the pressing part moves towards the resistance unit when being pressed, and pushes the abutting part to move towards the bottom of the accommodating groove when the tail end of the pressing part abuts against the first side surface so as to compress the linear spring; when the elastic force of the compression linear spring overcomes the torsion force of the second torsion spring, the resistance main body can rotate around the axis of the rotating shaft, and the tail end of the pressing part changes from abutting against the first side surface to abutting against the second side surface.

10. A training system, comprising:

a training apparatus having a marker;

at least one reference marker;

the head-mounted display device can be worn by a user and can watch a virtual training scene; the head-mounted display device comprises a camera which can be used for identifying and tracking markers on the training instrument so as to acquire relative position and rotation information of the head-mounted display device relative to the training instrument; the camera may also identify tracking of at least one reference marker to acquire the relative position of the head mounted display device in a real training scene, thereby acquiring the position of the user in a virtual training scene.