CN114562911A - Target drone capable of being remotely controlled and flexibly replaced, system and target replacing method - Google Patents

Abstract

The invention provides a target drone capable of being remotely controlled to flexibly change targets, a system and a target changing method, which belong to the technical field of automatic control, wherein the target drone comprises a rack, target paper, a covering layer, a target paper control mechanism, a covering layer control mechanism, a target paper back plate and electric control equipment for target changing control and remote communication; the target paper control mechanism and the covering layer control mechanism are both connected with the electric control equipment and are both arranged in the frame; the target paper back plate is arranged on the upper front wall of the rack; the target paper control mechanism and the covering layer control mechanism both comprise two collecting and releasing control ends, two ends of the target paper/covering layer are respectively connected with one collecting and releasing control end, and the middle section of the target paper is positioned outside the target paper back plate; the middle section of the covering layer is positioned at the outer side of the target paper; the covering layer is provided with a plurality of hollow areas for exposing the corresponding targets on the target paper when the target paper is superposed. By the technical scheme, automatic target changing and flexible target changing of the target drone can be realized, the shooting difficulty and flexibility are improved, and the shooting game interest is improved.

Description

Target drone capable of being remotely controlled and flexibly replaced, system and target replacing method

Technical Field

The disclosure relates to the technical field of automatic control, in particular to a target drone capable of being remotely controlled and flexibly replacing targets, a system and a target replacing method.

Background

Shooting is carried out by aiming at the target and shooting the set target according to a certain rule so as to test the shooting training effect and improve the shooting technology. The shooting can be interpreted as firing a firearm, shooting movement. The process of firing firearms, i.e., shooters, to accurately fire and hit a given target with a firearm. Shooting sports, which is a competitive event that targets with guns.

In the course of target practice training, the target changing device is indispensable. As for the target changing device, with the continuous development and progress of scientific technology, the target changing device is continuously updated: the original target changing device is manual target changing, and the automatic target changing device is changed into automatic target changing for automatically changing target paper, but the target changing mode is still relatively monotonous. Target paper is almost all ring targets or chest ring targets, and shooting is carried out by fixing a position, the target paper is single and easy to generate visual fatigue after being used for a long time, the fixation of the position cannot truly reflect flexible change in an actual shooting scene, and for a high-requirement shooting training scene, the monotonous target changing mode cannot train the random handling capacity of shooting personnel, so that the bottleneck of the shooting training is caused to a certain extent; but also lacks some flexibility and interest for the target game with heavy interest.

Disclosure of Invention

In view of the above, embodiments of the present disclosure provide a remotely controllable target exchanging drone, a system and a target exchanging method thereof, so as to at least partially solve the problems in the prior art.

In a first aspect, the disclosed embodiment provides a target drone capable of remotely controlling and flexibly changing targets, which is characterized in that the target drone comprises a rack, target paper, a covering layer, a target paper control mechanism, a covering layer control mechanism, a target paper back plate and an electric control device for target changing control and remote communication;

the target paper control mechanism and the covering layer control mechanism are connected with the electric control equipment and are arranged in the rack; the target paper back plate is arranged on the upper front wall of the rack;

the target paper control mechanism comprises a first target paper collecting and releasing control end and a second target paper collecting and releasing control end; one end of the target paper is connected with the first target paper collecting and releasing control end, the other end of the target paper is connected with the second target paper collecting and releasing control end, and the middle section of the target paper is positioned on the outer side of the target paper back plate;

the covering layer control mechanism comprises a first covering layer folding and unfolding control end and a second covering layer folding and unfolding control end; one end of the covering layer is connected with the first folding and unfolding control end of the covering layer, the other end of the covering layer is connected with the second folding and unfolding control end of the covering layer, and the middle section of the covering layer is located on the outer sides of the target paper back plate and the target paper. The middle section above refers to the middle position between the two ends, not strictly.

According to a specific implementation mode of the embodiment of the disclosure, the electric control equipment is in communication connection with the remote control end, and the control work of the electric control equipment is set and controlled through the remote control end.

According to a specific implementation manner of the embodiment of the disclosure, the first target paper collecting and releasing control end and the second target paper collecting and releasing control end both comprise a motor and a roller;

the end part of the target paper is wound on the roller; the power end of the motor is connected with the electric control equipment, and the shaft end of the motor is connected with the roller.

According to a specific implementation manner of the embodiment of the disclosure, the first covering layer folding and unfolding control end and the second covering layer folding and unfolding control end both comprise a motor and a roller;

the end part of the covering layer is rolled on the rolling shaft; the power end of the motor is connected with the electric control equipment, and the shaft end of the motor is connected with the roller.

According to a specific implementation manner of the embodiment of the disclosure, an upper target paper steering support shaft and an upper covering layer steering support shaft are arranged above the target paper backboard, and a lower target paper steering support shaft and a lower covering layer steering support shaft are arranged below the target paper backboard;

the inner side of the target paper is respectively in contact connection with the upper target paper steering support shaft and the lower target paper steering support shaft;

the inner side of the covering layer is respectively in contact connection with the upper covering layer steering support shaft and the lower covering layer steering support shaft.

According to a specific implementation manner of the embodiment of the disclosure, a target paper transmission positioner is arranged on the target paper steering support shaft, and a covering layer transmission positioner is arranged on the covering layer steering support shaft;

the target paper transmission positioner and the covering layer transmission positioner are both connected with the main control equipment.

According to a specific implementation manner of the embodiment of the disclosure, the rack comprises a cavity at the bottom and a support frame vertically arranged on the cavity, the target paper control mechanism, the covering layer control mechanism and the electric control device are all arranged in the cavity, and the target paper back plate is fixedly arranged on the support frame;

and a height adjusting mechanism for adjusting the height of the supporting frame is arranged between the supporting frame and the cavity.

According to a specific implementation manner of the embodiment of the present disclosure, the target paper steering support shaft and the cover layer steering support shaft are arranged in the following manner:

the steering support shaft comprises a shaft center rod and a rotary drum sleeved outside the shaft center rod, two ends of the shaft center rod are fixedly connected with the rack, the outer side of the rotary drum is in contact connection with the inner side of the target paper or the covering layer, and the rotary drum rotates around the shaft center rod under the action of friction force; or,

grooves are formed in the corresponding positions of the two sides of the rack, and the two ends of the steering support shaft are rotatably inserted into the grooves; the steering support shaft rotates under the contact friction action of the covering layer or the target paper.

According to a specific implementation manner of the embodiment of the disclosure, at least one target is arranged on the target paper, and at least one hollow area is arranged on the covering layer; the hollowed-out regions reveal all or part of the target when they overlap with the corresponding target. Preferably, the number of hollowed-out areas is less than the number of targets.

According to a specific implementation manner of the embodiment of the disclosure, the target is any one or combination of a ring target, a human-shaped target, an animal image target and an article image target; the shape of the hollow-out area is any one or combination of a plurality of shapes of a circle, an ellipse, a square, a triangle, a trapezoid, a regular or irregular polygon and a human shape.

According to a specific implementation of the embodiments of the present disclosure, the cover layer is one or more layers.

In a second aspect, an embodiment of the present disclosure provides a shooting system, including a drone aircraft, an automatic shooting result identification module, and a remote control terminal, where the remote control terminal is connected to the drone aircraft and the automatic shooting result identification module at the same time, and is characterized in that the drone aircraft is any one of the drone aircraft capable of being remotely controlled and flexibly changing targets as described above.

In a third aspect, the disclosed embodiments provide a method for remotely controlling a target changing, where the target changing method is implemented by using a target drone as described in any one of the above; the method comprises the following steps:

s1, connecting two ends of the target paper with corresponding retraction control ends respectively, and enabling the target paper to be located on the outer side of a target paper back plate;

s2, connecting two ends of the covering layer with corresponding retraction control ends respectively, and enabling the covering layer to be positioned on the outer side of the target paper;

s3, setting the retracting modes and the retracting speeds of the two retracting control ends of the target paper and the two retracting control ends of the covering layer through the remote control terminal and the communication between the remote control terminal and the electric control equipment in the target drone;

s4, starting the target drone, and carrying out the collection and the replacement of the target paper and the covering layer;

and S5, closing the drone and disassembling the target paper and the covering layer.

Compared with the prior art, one of the technical schemes has the following advantages or beneficial effects: according to the invention, the covering layer and the target paper are arranged and overlapped, the relative position relation between the hollow areas of the covering layer and the target paper is adjusted, and various combinations of shooting target positions are randomly displayed, so that shooting targets with different difficulties and different grades are formed, the shooting interest is increased, and the shooting training requirements of different crowds are met;

another technical scheme in the above technical scheme has the following advantages or beneficial effects: according to the invention, the remote control end is in communication connection with the electric control equipment, so that the control effect of the remote control end on the target changing process is realized, the convenience and timeliness of field target changing are improved, and the shooting efficiency and the firing range operation efficiency are improved;

another technical scheme in the above technical scheme has the following advantages or beneficial effects: the invention is driven by the motor to form the motion effect of a target object, and a shooter needs to finish shooting in the motion state, thereby increasing the shooting difficulty and the target flexibility;

another technical scheme in the above technical scheme has the following advantages or beneficial effects: the targets randomly appearing in the invention include but are not limited to standard small-sized annular targets, human-shaped targets, animal image targets and other object image targets, so that the requirements of immersive shooting training are met, and the interestingness and the flexibility are increased.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a side view block diagram of a remotely controllable flexible target drone provided in accordance with one embodiment of the present invention;

FIG. 2 is a front view of the remotely controllable flexible target drone changing machine according to one embodiment of the present invention (i.e., the right view of FIG. 1);

fig. 3 is a schematic block diagram of a main control device according to an embodiment of the present invention;

FIG. 4 is a diagram illustrating a partially overlapped state of the cover layer and the target paper during relative movement according to an embodiment of the present invention;

FIG. 5 is a schematic view of the overlay layer and the Sudoku distributed target paper provided by one embodiment of the invention; wherein, FIG. 5 (a) is a cover layer, FIG. 5 (b) is a target paper, and FIG. 5 (c) is a completely overlapped state;

figure 6 is a schematic diagram of polymorphic target binding provided in accordance with an embodiment of the present invention.

Wherein, in the figure:

1. a master control device; 2. a first motor; 3. a first roller; 4. a second motor; 5. a second roller; 6. a third roller; 7. a third motor; 8. a fourth roller; 9. a fourth motor; 10. a cover layer; 11. target paper; 12. a target paper backing plate; 13. a first steering support shaft; 14. a second steering support shaft; 15. a target paper transmission positioner; 16. a cover layer transmission positioner; 17. a third steering support shaft; 18. a fourth steering support shaft;

301. a rechargeable power supply; 302. a processing unit; 303. a wireless communication module; 304. a motor control interface; 305. a wired command interface; 306. a locator interface;

1001. a hollowed-out area; 1101. a target.

Detailed Description

The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to or other than one or more of the aspects set forth herein.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.

In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.

The embodiment of the disclosure provides a flexible target changing machine capable of being remotely controlled, which has a structure as shown in fig. 1 and fig. 2 and comprises a rack, a target paper control mechanism and a covering layer control mechanism, wherein the target paper control mechanism and the covering layer control mechanism are arranged at the bottom of the rack. The frame is including the control mechanism installation room (being used for installing target paper control mechanism and overburden control mechanism) that is located the bottom and locate the support frame of control mechanism installation room top perpendicularly, and the fixed target paper backplate 12 that is equipped with on the support frame is as the shooting baffle of target paper, supplies shooting personnel to throw. A first steering support shaft 13 and a second steering support shaft 14 are sequentially arranged above the target paper back plate 12, and the first steering support shaft 13 is positioned above the second steering support shaft 14; a third steering support shaft 17 and a fourth steering support shaft 18 are sequentially arranged below the target paper backing plate 12, and the fourth steering support shaft 18 is positioned below the third steering support shaft 17.

According to a specific implementation manner of the embodiment of the disclosure, the covering layer control mechanism comprises a covering layer first folding and unfolding control end and a covering layer second folding and unfolding control end, the covering layer first folding and unfolding control end comprises a first motor 2 and a first roller 3, and the covering layer second folding and unfolding control end comprises a fourth roller 8 and a fourth motor 9. The first motor 2 controls the first roller 3 to rotate forward or backward, and the fourth motor 9 controls the fourth roller 8 to rotate forward or backward. One end of the cover layer 10 is wound around the first roller 3, and the other end is wound around the first steering support shaft 13, the target backing sheet 12, and the fourth steering support shaft 18 and then wound around the fourth roller 8. The first steering support shaft 13 and the fourth steering support shaft 18 are used for supporting and stretching and positioning the covering layer, so that the covering layer between the two steering support shafts is in a flat state and is parallel to the target paper backing plate 12. The first roller 3 and the fourth roller 8 are controlled by the first motor 2 and the fourth motor 9 to reversely and synchronously rotate, so that the covering layer moves up and down at the position of the target paper back plate 12. The reverse direction as used herein means a reverse direction of the retracting and releasing, that is, one retracting from the first roller and one retracting from the fourth roller are released at the same time.

According to a specific implementation manner of the embodiment of the disclosure, the target paper control mechanism comprises a first target paper collecting and releasing control end and a second target paper collecting and releasing control end, the first target paper collecting and releasing control end comprises a second motor 4 and a second roller 5, and the second target paper collecting and releasing control end comprises a third roller 6 and a third motor 7. The second motor 4 controls the second roller 5 to rotate forward or backward, and the third motor 7 controls the third roller 6 to rotate forward or backward. One end of the target paper 11 is rolled on the second roller 5, and the other end thereof is rolled on the third roller 6 after passing around the second steering support shaft 14, the target paper backing plate 12 and the third steering support shaft 17. The second steering support shaft 14 and the third steering support shaft 17 are used for supporting and stretching and positioning the target paper, so that the target paper between the two steering support shafts is in a flat state and is parallel to the target paper backing plate 12. The second roller 5 and the third roller 6 are controlled by the second motor 4 and the third motor 7 to reversely and synchronously rotate, so that the target paper moves up and down at the position of the target paper back plate 12. The reverse direction as used herein means the reverse direction of the retraction and the release, i.e., the second roller and the third roller release one retraction at a time.

In the above embodiment, the two control ends of the target paper are located between the two control ends of the covering layer, and the two steering support shafts for supporting and extending the target paper are also located between the two steering support shafts of the covering layer, so as to ensure that the target paper on the target paper backing plate 12 is located on the inner side and the covering layer covers the surface of the target paper in the process of collecting and releasing the covering layer and the target paper. The covering layer is positioned in front of the target paper and plays a role of shielding part of the target/target paper so as to manufacture the randomness of target presentation.

In the above embodiment, the first steering support shaft 13, the second steering support shaft 14, the third steering support shaft 17 and the fourth steering support shaft 18 are all fixed on the support frame at two ends of the steering support shaft, the middle part of the steering support shaft flexibly rotates along the axis of the steering support shaft under the contact friction action with the covering layer or the target paper, and the steering support shaft comprises an axis rod and a rotary drum sleeved outside the axis rod.

As another embodiment, the four steering support shafts may be arranged in a manner that: the corresponding positions of the two sides of the support frame are provided with grooves, the two ends of the steering support shaft are rotatably inserted in the grooves, and the whole steering support shaft integrally rotates under the contact friction action with the covering layer or the target paper. At this time, the steering support shaft is an integrated rod-shaped member. In this embodiment, the groove on the supporting frame can be replaced by other members capable of being rotatably connected with the end of the steering supporting shaft, and the embodiment of the disclosure is not limited to a large extent in the case of satisfying the low friction coefficient without affecting the movement of the covering layer and the target paper.

In the above embodiment, the target drone replacing machine further includes a main control device 1, and the main control device 1 is disposed inside the control mechanism installation chamber of the rack, and is connected to the first motor 2, the second motor 4, the third motor 7, and the fourth motor 9, and is configured to control the rotation directions and the rotation speeds of the four motors. The main control device, which is a control center of the drone, as shown in fig. 3, includes a rechargeable power supply 301, a processing unit 302, and a wireless communication module 303, where the processing unit 302 and the wireless communication module 303 are connected and powered by the rechargeable power supply 301. The processing unit 302 is mainly used for realizing target change control, the wireless communication module 303 is used for communicating with the remote control terminal, receiving a command of the remote control terminal, performing target change control according to the command by the processing unit 302, and returning an execution result to the remote control terminal through the wireless communication module 303. The processing unit 302 is connected to the motor via electrical devices, such as electrical switches, and a motor control interface 304, for controlling the operation of the motor, such as starting, stopping, steering, etc. The processing unit 302 may also be connected to another control terminal through the wired command interface 305, receive commands from the control terminal, control the motor to start, stop the rotation speed, and turn, and return the execution result, thereby implementing target change control of the target drone by the multiple control terminals. The processing unit 302 also receives the signals transmitted back by the target paper driving positioner 15 and the cover layer driving positioner 16 through the positioner interface 306, and determines whether the target paper 11 and the cover layer 10 rotate to the stop position. The rechargeable power supply adopts a large-capacity lead-acid battery or a lithium battery which is commonly used in the market.

According to a specific implementation manner of the embodiment of the present disclosure, the target paper transmission positioner 15 is disposed on the second steering support shaft 14 or the third steering support shaft 17, and is linked with the processing unit 302 through the positioner interface 306 to identify and control the movement position of the target paper, so that the target paper rotates to a suitable position, and the identification information includes, but is not limited to, digital information, two-dimensional code information, and color code information. The first steering support shaft 13 or the fourth steering support shaft 18 is provided with a covering layer transmission positioner 16, and the covering layer transmission positioner is linked with the processing unit 302 through a positioner interface 306 and is used for identifying and controlling the movement position of the covering layer so as to enable the covering layer to rotate to a proper position, wherein the identification information comprises but is not limited to digital information, two-dimensional code information and color code information. The transmission positioner adopts a sensor device, whether the transmission positioner moves to a preset position is judged through information read by the sensor, for example, a color mark sensor, the color mark sensor acquires a specific color mark and then uploads the color mark to the processing unit 302, and the processing unit 302 judges and controls a corresponding motor to realize actions such as stop rotation.

In the above embodiment, the target paper and the cover layer wound on the roller are both strip-shaped with a certain width formed by connecting a plurality of target paper and cover layers, the width of the strip-shaped is matched with the width of the target paper back plate, and the length of a single piece of target paper and a single piece of cover layer is matched with the height of the target paper back plate. The single target paper can be divided into a plurality of areas, for example, 9 areas including 3 × 3 in a nine-grid format, each area is provided with the same or different targets 1101 to be shot, a plurality of hollow areas 1001 are arranged on the corresponding covering layer, when the covering layer and the target paper are overlapped, the targets in the hollow areas are exposed, the targets in other areas are covered, and the variability and randomness of the positions of the targets are increased. Fig. 4 is a diagram of a state where the covering layer and the target paper partially overlap during the relative movement, where the top is the uncovered portion, the target on the target paper is normally displayed, the middle is the hollow of the covering layer and the exposure manner where the right target at the bottom of the target paper overlaps, and the lower left corner is the state where the hollow position of the covering layer does not overlap any target on the target paper. Fig. 5 is a process of overlapping a nine-grid target paper and a partial nine-grid cover layer, in which fig. 5 (a) is a cover layer in which three circular hollow areas are diagonally distributed, fig. 5 (b) is a target paper in which 9 circular targets are arranged in a nine-grid format, and fig. 5 (c) is a state in which the cover layer and the target paper are completely overlapped, and three circular targets diagonally distributed are exposed. In this disclosure, can be through setting up the position and the mode that set up the position of target on the adjustment target paper and the region of the fretwork on the overburden, realize nimble changeable target and show to more effectual training shooting personnel's reaction rate and strain capacity, in addition through the combination of adjustment target display mode + demonstration time (be the moving speed of target paper and overburden), can design the shooting environment of the different degree of difficulty, satisfy different shooting, training competition, improve the application scope of target drone. For example, the hollow area can display a certain target at a time, and also can display a plurality of targets at a time, so that the requirement that the user shoots a certain target at a time or shoots a plurality of targets at a time is met.

According to a specific implementation manner of the embodiment of the present disclosure, the shape of the target may be adjusted according to a specific target machine usage environment, such as an interesting shooting environment, the target may be designed as an animal image, a human image or other object images, or a combination of multiple images including the annular target. For example, the upper right and lower left rabbit images in fig. 6 and the combination of circular targets.

According to a specific implementation manner of the embodiment of the disclosure, the hollowed-out area on the covering layer can be in various forms such as a circle, an ellipse, a square, a triangle, a trapezoid, a regular or irregular polygon, a human shape, etc., the size of the hollowed-out area can be set to different sizes according to difficulty requirements, when the hollowed-out area is overlapped with a certain target, only a certain part of the target is displayed, for example, only a center ring of an annular target is displayed, the shooting requirements of different sizes and different distances and near-far parallaxes are met, and the corresponding target can also display a complete annular target when being overlapped with the next larger hollowed-out area, so that the target can be reused.

In another specific implementation mode, the number of the covering layers can be more than two, and when the covering layers are more than two, the covering layer control mechanism and the corresponding steering support shaft can be correspondingly added. The overlapping of the multiple layers of covering layers provided with different hollowed-out areas further increases the randomness of the exposure of the target.

The embodiment of the disclosure further provides a shooting system, which comprises the drone aircraft, the shooting result automatic identification module and the remote control terminal, wherein the remote control terminal is connected with the drone aircraft and the shooting result automatic identification module.

According to a specific implementation mode of the embodiment of the disclosure, the remote control terminal controls the target drone to change targets. Target changing is carried out once every fixed time according to the target changing basis, and the action of the covering layer is controlled according to the preset winding and unwinding speed (constant speed or variable speed) when the target paper is a shooting object. Or the target changing is carried out according to the shooting times, target paper is changed after the shooting personnel reach the set shooting times, and the action of the covering layer is controlled according to the preset winding and unwinding speed (constant speed or variable speed). Or the target changing basis is the combination of the two previous basis, and the target is changed immediately when either one of the two basis meets the condition. The shooting frequency is realized by a shooting frequency identification module, the shooting frequency identification module can be specifically a sound recognizer, the sound recognizer is arranged on a firearm or in a shooting field (the position of a general near-shooting person), and the sound recognizer is connected with the remote control terminal through a communication module.

According to a specific implementation manner of the embodiment of the present disclosure, the folding and unfolding speed of the covering layer may be adjusted according to a shooting frequency within a previous period of time (e.g., 1 minute or 2 minutes), and the shooting frequency is calculated by the remote control terminal according to the shooting times identified by the voice identifier and corresponding time data.

According to another specific implementation manner of the embodiment of the disclosure, the retraction speed of the covering layer can also be a fixed retraction mode, for example, the covering layer is retracted at a certain speed for a period of time, then retracted at a slow speed for a period of time, and the rapid retraction and the slow retraction are alternately cycled until the target paper needs to be replaced.

The shooting result automatic identification module comprises: the shooting device comprises an acquisition module, a shooting module and a shooting module, wherein the acquisition module is used for carrying out image capture on shooting operation on target paper through an optical lens arranged in front of the target paper and acquiring a shooting image formed on the target paper; the forming module is used for forming a thermal imaging image of the target paper through an infrared lens arranged at the same position as the optical lens after the shooting image is acquired; the correction module is used for executing target recognition on the shooting image to obtain a target image related to the shooting point, and performing direction correction on the shooting point in the target image to obtain a corrected image; and the identification module is used for executing interference removal processing on the corrected image through the thermal imaging image to obtain an identification image so as to conveniently identify the shooting score based on the identification image.

According to a specific implementation manner of the embodiment of the present disclosure, the shooting operation on the target paper is captured through an optical lens arranged in front of the target paper, and a shooting image formed on the target paper is acquired, including: aligning the shooting visual field of the optical lens with the target paper; capturing a target paper image formed by the target paper in the optical lens in real time; and carrying out target recognition on the target paper image, and carrying out picture shooting on the target paper image with shooting marks after the shooting marks are found in the target paper image through the target recognition to form the shooting image.

According to a specific implementation manner of the embodiment of the present disclosure, the forming of the thermal imaging image of the target paper by the infrared lens disposed at the same position as the optical lens includes: detecting whether the shooting image is generated in the optical lens; and if so, calling an infrared lens to carry out photographing operation on the target paper so as to form the thermal imaging image.

According to a specific implementation manner of the embodiment of the present disclosure, the performing target recognition on the shot image to obtain a target image related to a shot point includes: carrying out area identification on the area with the shooting point in the shooting image to obtain a target area; taking the target area as a range, and performing cutting operation on the shooting graph; and taking the image after the cutting as the target image.

According to a specific implementation manner of the embodiment of the present disclosure, the performing, by the thermal imaging image, the interference removing process on the corrected image includes: performing a registration operation on the thermographic image and the corrected image; after the alignment operation is completed, image filtering processing is performed on the correction image based on image content formed in the thermal image.

According to a specific implementation manner of the embodiment of the present disclosure, performing direction correction on a shot point existing in the target image to obtain a corrected image includes: identifying a shooting angle formed by shooting points in the target image to obtain a shooting direction; judging whether the shooting direction is larger than a preset angle or not; and if so, performing direction correction on the shot point.

According to a specific implementation of an embodiment of the present disclosure, the target paper includes a bottom layer, a middle layer, and a surface layer; the bottom layer comprises solid raw materials, the middle layer comprises a water film layer, and the surface layer is provided with target ring information, positioning information and a target paper identification code.

According to a specific implementation manner of the embodiment of the present disclosure, the content of performing direction correction on the shot point existing in the target image includes:

selecting a plurality of reference points in target paper in advance, wherein the number of the reference points is more than 6, and acquiring images of the target paper by adopting a standard optical lens according to a standard distance (namely a standard shooting distance) and a standard angle (namely an angle when the optical lens is over against the target paper, and the angle is generally 0 degree) to obtain coordinates of the reference points in the standard images as standard reference point coordinates;

determining offset reference point coordinates corresponding to the reference point coordinates and the standard reference point coordinates in the target image to be corrected through pixel scanning;

calculating a space coordinate transformation coefficient between the standard image and the target image to be corrected according to the offset reference point coordinates;

and transforming all or part of pixels in the target image to be corrected according to the spatial coordinate transformation coefficient to realize correction. The spatial coordinate transform coefficients are preferably quadratic polynomial coefficients.

According to a specific implementation manner of the embodiment of the present disclosure, the content of identifying the shooting achievement based on the identification image includes: detecting the center of the bullet hole, and extracting bullet hole information by using the image after the binarization; detecting a score center, and extracting the center coordinate of a region with the highest score in the target paper; and (4) calculating the score, namely calculating the shooting score according to the position relation between the bullet hole information and the center coordinate.

According to a specific implementation manner of the embodiment of the present disclosure, extracting the content of the bullet hole information by using the image after the binarization includes: and performing double-opening operation on the image after the ternary operation to remove interference, and obtaining the coordinate value of the center of the bullet hole by using a method of solving the gravity center of the object.

According to a specific implementation manner of the embodiment of the present disclosure, the extracting the content of the center point coordinate of each score region includes: s1, performing opening operation and closing operation on the image to obtain a binary target surface image; s2, carrying out region marking on the binary target surface image to obtain a highest score region; s3, carrying out edge detection on the highest score area to obtain area edge data; and S4, calculating the center coordinates of the area according to the area edge data.

According to a specific implementation manner of the embodiment of the present disclosure, the specific content of step S2 includes: the specific content of step S2 includes: carrying out area marking by adopting a connected area method to obtain a plurality of marked connected areas; and counting the areas of the marked connected regions in the form of the number of pixel points, wherein the connected regions with the minimum number of pixel points are the highest score regions of the target paper.

The innovative advantages of the drone aircraft and the target changing mode in the above embodiments include:

(1) the safety is improved: safety is improved in shooting activities through remote control and continuous target replacement;

(2) the efficiency is improved: because the target paper can be quickly replaced, the operation management efficiency of the target range is improved, and the shooting activity time of a shooter is saved; promote the efficiency of the organization match: a larger-scale shooting match can be organized by fewer organizers;

(3) the problem of shooting teaching training and the standardization of competitive match is solved: the presentation time, speed and direction of the target can be set and regulated according to the requirements of teaching training or competitive games, so that shooting teaching training is more targeted, and shooting competitive games can be played according to different difficulty grades;

(4) the interestingness and the challenge of shooting activities are increased, and the development of shooting training and shooting competition sports is facilitated;

(5) the invention is beneficial to standardizing and networking shooting sports, breaks through the time and space limitations, and can realize shooting competitions in different areas in larger-scale crowd.

For parts not described in detail in this embodiment, reference is made to the contents described in the above method embodiments, which are not described again here.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "upper", "lower", "left", "right", "inner", "outer", "middle", and the like, as used in the embodiments of the present invention and the appended claims, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. Some of the above terms may be used to indicate other meanings in addition to orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of dependency or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate. The term "and/or" as used herein is merely an associative relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.

The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims (10)

1. The target drone capable of being remotely controlled and flexibly replacing targets is characterized by comprising a rack, target paper, a covering layer, a target paper control mechanism, a covering layer control mechanism, a target paper back plate and electric control equipment for target replacement control and remote communication;

the target paper control mechanism and the covering layer control mechanism are connected with the electric control equipment and are arranged in the rack; the target paper back plate is arranged on the upper front wall of the rack;

the target paper control mechanism comprises a first target paper collecting and releasing control end and a second target paper collecting and releasing control end; one end of the target paper is connected with the first target paper collecting and releasing control end, the other end of the target paper is connected with the second target paper collecting and releasing control end, and the middle section of the target paper is positioned on the outer side of the target paper back plate;

the covering layer control mechanism comprises a first covering layer folding and unfolding control end and a second covering layer folding and unfolding control end; one end of the covering layer is connected with the first folding and unfolding control end of the covering layer, the other end of the covering layer is connected with the second folding and unfolding control end of the covering layer, and the middle section of the covering layer is located on the outer sides of the target paper back plate and the target paper.

2. The target drone capable of remotely controlling flexible target changing according to claim 1, wherein the first target paper collecting and releasing control end and the second target paper collecting and releasing control end both comprise a motor and a roller;

the end part of the target paper is wound on the roller; the power end of the motor is connected with the electric control equipment, and the shaft end of the motor is connected with the roller.

3. The remotely controllable target drone capable of flexibly switching according to claim 1, characterized in that the first retractable control end of the covering layer and the second retractable control end of the covering layer both comprise a motor and a roller;

the end part of the covering layer is rolled on the rolling shaft; the power end of the motor is connected with the electric control equipment, and the shaft end of the motor is connected with the roller.

4. The target drone capable of remotely controlling flexible target changing according to claim 1, characterized in that an upper target paper steering support shaft and an upper covering layer steering support shaft are arranged above the target paper backboard, and a lower target paper steering support shaft and a lower covering layer steering support shaft are arranged below the target paper backboard;

the inner side of the target paper is respectively in contact connection with the upper target paper steering support shaft and the lower target paper steering support shaft;

the inner side of the covering layer is respectively in contact connection with the upper covering layer steering support shaft and the lower covering layer steering support shaft.

5. The target drone capable of remotely controlling flexible target changing according to claim 4, characterized in that the target paper turning support shaft is provided with a target paper transmission positioner, and the covering layer turning support shaft is provided with a covering layer transmission positioner;

the target paper transmission positioner and the covering layer transmission positioner are both connected with the main control equipment.

6. The remotely controllable target drone of claim 4, wherein the target paper steering support shaft and the overlay steering support shaft are arranged in a manner that:

the steering support shaft comprises a shaft center rod and a rotary drum sleeved outside the shaft center rod, two ends of the shaft center rod are fixedly connected with the rack, the outer side of the rotary drum is in contact connection with the inner side of the target paper or the covering layer, and the rotary drum rotates around the shaft center rod under the action of friction force; or,

grooves are formed in the corresponding positions of the two sides of the rack, and the two ends of the steering support shaft are rotatably inserted into the grooves; the steering support shaft rotates under the contact friction action of the covering layer or the target paper.

7. The target drone capable of remotely controlling and flexibly changing targets according to claim 1, wherein at least one target is arranged on the target paper, and at least one hollow area is formed on the covering layer; the hollowed-out regions reveal all or part of the target when they overlap with the corresponding target.

8. The remotely controllable target drone capable of flexibly changing targets according to claim 7, wherein the target is any one or combination of a ring target, a human-shaped target, an animal image target and an object image target; the shape of the hollow-out area is any one or combination of a plurality of shapes of a circle, an ellipse, a square, a triangle, a trapezoid, a regular or irregular polygon and a human shape.

9. A shooting system, comprising a target drone, a shooting result automatic identification module and a remote control terminal, wherein the remote control terminal is simultaneously connected with the target drone and the shooting result automatic identification module, and the target drone is the target drone capable of remotely controlling and flexibly changing targets according to any one of claims 1 to 8.

10. A method for remotely controlling a target change, wherein the target change method is realized by using the target drone of any one of claims 1 to 8; the method comprises the following steps:

s1, connecting the two ends of the target paper with the corresponding retraction control ends respectively, and enabling the target paper to be positioned outside the target paper back plate;

s2, connecting two ends of the covering layer with corresponding retraction control ends respectively, and enabling the covering layer to be positioned on the outer side of the target paper;

s3, setting the folding and unfolding modes and the folding and unfolding speeds of the two folding and unfolding control ends of the target paper and the two folding and unfolding control ends of the covering layer through the remote control end and the communication between the remote control end and the electric control equipment in the target drone;

s4, starting the target drone, and carrying out the collection and the replacement of the target paper and the covering layer;

and S5, closing the drone and disassembling the target paper and the covering layer.

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