CN205374499U - Marble transmitter and muzzle speed sensor adopts robot of marble transmitter thereof - Google Patents
Marble transmitter and muzzle speed sensor adopts robot of marble transmitter thereof Download PDFInfo
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- CN205374499U CN205374499U CN201620148307.0U CN201620148307U CN205374499U CN 205374499 U CN205374499 U CN 205374499U CN 201620148307 U CN201620148307 U CN 201620148307U CN 205374499 U CN205374499 U CN 205374499U
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- 239000004579 marble Substances 0.000 title claims abstract description 138
- 239000003086 colorant Substances 0.000 claims description 8
- 230000001960 triggered effect Effects 0.000 abstract description 16
- 238000012360 testing method Methods 0.000 abstract description 8
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000004364 calculation method Methods 0.000 abstract description 5
- 230000006872 improvement Effects 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000006698 induction Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008676 import Effects 0.000 description 3
- 230000008485 antagonism Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010304 firing Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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Abstract
The utility model provides a marble transmitter and muzzle speed sensor, adopts the robot of this marble transmitter. Wherein, the muzzle speed sensor of marble transmitter includes: test the speed tub, the both ends connecting piece, a sensing element and the 2nd sensing element and the controller that sets up along the direction of approach interval of the pipe that tests the speed of entrance point and the muzzle of the fixed pipe that tests the speed respectively, pass when testing the speed tub when marble, this controller writes down the time difference that a sensing element and the 2nd sensing element were triggered to initial velocity according to these time difference calculation marble. The marble transmitter includes transmitting system and fixes the above -mentioned muzzle speed sensor on this transmitting system's muzzle. The robot includes the main part and installs the above -mentioned marble transmitter in this main part. The utility model provides a marble transmitter and muzzle speed sensor adopt the robot of this marble transmitter, and the initial velocity of the marble can the real -time measurement launched from the transmitting system muzzle is not only convenient but also nimble.
Description
Technical field
This utility model relates to robot parts technical field, particularly relates to a kind of hoodle emitter and muzzle speed measuring device thereof, adopts the robot of hoodle emitter.
Background technology
In the dual meet of robot, each robot all includes main body and the hoodle emitter being arranged in this main body.Wherein, hoodle emitter includes the emission system for launching the marble such as BB bullet, golf.During the games, obtain the speed of marble that emission system launches control very important for match.
At present, only target range tachymeter, for measuring speed when bullet hits, this target range tachymeter includes: be arranged on two velocity measurement plates on base, two infrared-ray induction apparatuss and timer.Wherein, two sheet separation predeterminable ranges and arranging along gravity direction of testing the speed, each velocity measurement plate all offers the through hole passed through for bullet.Two infrared-ray induction apparatuss are then separately positioned on two lead to the hole site for sensing whether bullet passes corresponding through hole.Timer and two infrared-ray induction apparatus electrical connections, the time difference of record bullet two infrared-ray induction apparatuss of traverse.The flight speed of bullet is calculated finally according to the time difference recorded.
But, existing this target range tachymeter structure is complicated, and weight is big, cannot move flexibly, and the speed tested when bullet hits can only be used for, therefore, it is impossible to it is directly applied in robot antagonism match for the initial velocity of the marble that hoodle emitter is launched is measured in real time.
Utility model content
The purpose of this utility model is to provide a kind of hoodle emitter and muzzle speed measuring device thereof, adopts the robot of this hoodle emitter, to solve the technical problem that target range of the prior art tachymeter cannot measure the initial velocity of marble in real time.
To achieve these goals, this utility model provides techniques below scheme:
First aspect, it is provided that the muzzle speed measuring device of a kind of hoodle emitter, including: the first sensing element, the second sensing element, controller and for for marble through and there is the pitot tube of preset length；The muzzle of the other end of the entrance point of described pitot tube Yu the emission system of described hoodle emitter is fixed by described connector；Described first sensing element and the second sensing element are arranged and interval predeterminable range along the channel direction of described pitot tube；Whether described first sensing element passes the primary importance of described pitot tube for detecting marble, and whether described second sensing element passes the second position of described pitot tube for detecting marble.Described controller electrically connects with described first sensing element and the second sensing element, for recording the marble time difference through described primary importance with the described second position, and calculates the initial velocity of marble according to described time difference.
The further improvement of above-mentioned muzzle speed measuring device, also include light-emitting component, described light-emitting component is fixing with described pitot tube to be connected, and described light-emitting component electrically connects with described controller, described controller controls described light-emitting component at marble through launching light after primary importance in Preset Time, described light penetrate along marble from described emission system after exit direction extend.
The further improvement of above-mentioned muzzle speed measuring device, described first sensing element is positioned close to the port of export of described pitot tube, and described second sensing element is positioned close to the entrance point of described pitot tube；Described light-emitting component is for after sequentially passing through the described second position and primary importance at marble, and described controller controls described light-emitting component and launches light in Preset Time.
The further improvement of above-mentioned muzzle speed measuring device, described light-emitting component includes: laser generator, described laser generator and described pitot tube are fixing to be connected, the laser that described laser generator is launched penetrate along marble from described muzzle speed measuring device after exit direction extension.
The further improvement of above-mentioned muzzle speed measuring device, described light-emitting component also includes base, described base is fixed on the port of export of described pitot tube, described base offers the outlet with described pitot tube the through hole for marble traverse, described base is provided with multiple laser generator away from the end face of described pitot tube, described laser generator launch laser along marble from described through hole penetrate after exit direction extend.
The further improvement of above-mentioned muzzle speed measuring device, the plurality of laser generator includes at least two groups and launches the laser generator of different colours laser, and the laser generator interval of described transmitting different colours laser is arranged.
The further improvement of above-mentioned muzzle speed measuring device, described laser generator includes: the laser generator of the laser generator of two transmitting red laser beams and two transmitting green laser.
The further improvement of above-mentioned muzzle speed measuring device, described first sensing element and the second sensing element all include: symmetrically arranged light generating device and light receiving element.
The further improvement of above-mentioned muzzle speed measuring device, described pitot tube includes: roof and be arranged on two sidewalls below roof, and described light generating device and light receiving element are symmetrically arranged on said two sidewall, and described controller is arranged on described roof.
The further improvement of above-mentioned muzzle speed measuring device, also include aiming at element, described aiming element includes aiming laser generator, described aiming laser generator is fixed on the tube wall of described pitot tube, and the laser launched of described aiming laser generator penetrate along described marble from described muzzle speed measuring device after exit direction extend.
The further improvement of above-mentioned muzzle speed measuring device, described aiming element also includes mounting seat, and described aiming laser generator is fixed on the bottom of described pitot tube by mounting seat.
Second aspect, it is provided that a kind of hoodle emitter, including: emission system and muzzle speed measuring device as above, the entrance point of the pitot tube of described muzzle speed measuring device and the muzzle of described emission system are fixed.
The third aspect, it is provided that a kind of robot adopting hoodle emitter, including: main body and the hoodle emitter as above being arranged in this main body.
The hoodle emitter of this utility model offer and muzzle speed measuring device thereof, adopt the robot of hoodle emitter, by arrange can be fixing with the muzzle of the emission system of hoodle emitter pitot tube, such that it is able to by marble through pitot tube time trigger the time difference of the sensing element that the two has predeterminable range and calculate the initial velocity after marble penetrate from emission system.This muzzle speed measuring device of the present embodiment, not only structure very simple, and the muzzle that can follow hoodle emitter moves, it is possible to and flexible realizes the real-time measurement to marble initial velocity.
Accompanying drawing explanation
Fig. 1 is the principle schematic of the muzzle speed measuring device given by this utility model embodiment；
Fig. 2 is the structural representation of muzzle speed measuring device in Fig. 1；
Fig. 3 is the front view of muzzle speed measuring device in Fig. 2；
Fig. 4 is the top view of muzzle speed measuring device in Fig. 2；
Fig. 5 is the left view of muzzle speed measuring device in Fig. 2；
Fig. 6 is the structural representation that in Fig. 2, muzzle speed measuring device removes the circuit board after shell；
Fig. 7 be in Fig. 6 board structure of circuit at the schematic diagram of another one observed direction；
Fig. 8 is the upward view of board structure of circuit in Fig. 7；
Fig. 9 is the front view of board structure of circuit in Fig. 7；
Figure 10 is the top view of board structure of circuit in Fig. 7.
In figure:
1, pitot tube；11, entrance point；
13, the port of export；15, diapire；
17, roof；19, sidewall；
3, the first sensing element；31, light emitting diode；
33, phototriode；4, light-emitting component；
41, laser generator；43, base；
431, through hole；5, marble；
6, the second sensing element；7, controller；
8, connector；9, element is aimed at；
91, aiming laser generator；93, mounting seat.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments more of the present utility model are elaborated.
In description of the present utility model, it will be appreciated that, term " on ", D score, "left", "right", " top ", " end ", " interior ", the orientation of the instruction such as " outward " or position relationship be based on orientation shown in the drawings or position relationship, it is for only for ease of description this utility model and simplifies description, rather than the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.
Additionally, term " first ", " second " are only for descriptive purposes, and it is not intended that indicate or hint ordering relation, relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or implicitly include at least one this feature.In description of the present utility model, " multiple " are meant that at least two, for instance two, three etc., unless otherwise expressly limited specifically.
In this utility model, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or integral；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be connection or the interaction relationship of two elements of two element internals, unless otherwise clear and definite restriction.For the ordinary skill in the art, it is possible to understand above-mentioned term concrete meaning in this utility model as the case may be.
In this utility model, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second feature.
In this manual, the specific features of description, structure, material or feature can combine in one or more embodiments in office or example in an appropriate manner.Additionally, when not conflicting, the feature of the different embodiments described in this specification or example and different embodiment or example can be carried out combining and combining by those skilled in the art.
Embodiment 1
The present embodiment provides the muzzle speed measuring device of a kind of hoodle emitter.The principle schematic of the muzzle speed measuring device that Fig. 1 provides for the present embodiment；Fig. 2 is the structural representation of muzzle speed measuring device in Fig. 1；Fig. 3 is the front view of muzzle speed measuring device in Fig. 2；Fig. 4 is the top view of muzzle speed measuring device in Fig. 2；Fig. 5 is the left view of muzzle speed measuring device in Fig. 2.
As Figure 1-5, the muzzle speed measuring device that the present embodiment provides, including: first sensing element the 3, second sensing element 6, controller 7 and the pitot tube 1 for confession marble 5 traverse.
Wherein, pitot tube 1 is for for marble 5 traverse penetrated from the emission system of hoodle emitter, and the entrance point 11 of this pitot tube 1 is connected for fixing with the muzzle of the emission system of hoodle emitter.It is exactly enter the passage in pitot tube 1 from the import of pitot tube 1 after marble 5 penetrate from the muzzle of emission system specifically, and penetrates pitot tube 1 from the outlet of pitot tube 1.In the present embodiment, the marble 5 that the emission system of hoodle emitter is launched can be BB bullet, golf or rubber bullet etc..
Concrete, in the present embodiment pitot tube 1 being not specifically limited, it only needs have a passage being available for bullet traverse.Therefore, this pitot tube 1 can have any face shaping.For example, pitot tube 1 can be made up of two spaced sidewalls 19, can also by roof 17 and be connected to below roof 17 and spaced two sidewalls 19 are constituted, certainly, this pitot tube 1 can also by roof 17, diapire 15 and connect two spaced sidewalls 19 of described roof 17 and diapire 15 and constituted, or this pitot tube 1 can also be made up of cylindrical hollow pipe.Can be clear and definite by above description those skilled in the art, there is in pitot tube 1 a linear passage for marble 5 traverse.Preferably, as in figure 2 it is shown, this pitot tube 1 can be a cuboid with hollow channel.Certainly, the outer wall of this cuboid could be formed with projection, raised line, concave point or groove etc..
In the present embodiment, can be directly connected between pitot tube 1 and the muzzle of emission system, it is also possible to be indirectly connected with, connect as by connector 8.Preferably, referring to Fig. 3, connector 8 is arranged on the port of export 13 of pitot tube 1, and this connector 8 is also connected with the muzzle of emission system, and this connector 8 also has the interface channel of connection pitot tube 1 import and muzzle exit portal.That is, one end of connector 8 connects pitot tube 1, the other end is used for connecting the muzzle of emission system.Concrete, the connected mode for connector 8 and pitot tube 1 and connector 8 and muzzle is not particularly limited in the present embodiment.Such as, connector 8 can be integrally fixed on pitot tube 1 entrance point 11 or with pitot tube 1 one.Connector 8 can be connected and can also be threaded connection by clamping with muzzle.
Meanwhile, the length of pitot tube 1 can also rationally be arranged according to actual needs, with the satisfied demand measuring different marble 5 speed.Preferably, a pitot tube 1 with preset length is set so that bullet can in pitot tube 1 flight time enough, with the accuracy that tests the speed of raising.
First sensing element 3, is used for detecting whether marble 5 pass the primary importance of pitot tube 1, and the duct orientation along pitot tube 1 is arranged on pitot tube 1.Concrete, in the present embodiment the first sensing element 3 being not specifically limited in the installation site of pitot tube 1, it can be arranged on the entrance point 11 of pitot tube 1, the port of export 13 or stage casing, and it can be arranged on the top of pitot tube 1, bottom or sidepiece.Meanwhile, in the present embodiment, the type for the first sensing element 3 does not also specifically limit, and it can be infrared photoelectric sensor, laser sensor or radar sensor.Further, in the present embodiment, the primary importance for pitot tube is also not especially limited, and the optional position that those skilled in the art can select in pitot tube 1 in marble 5 flight path according to actual needs is as primary importance.
Second sensing element 6, is used for detecting whether marble 5 pass the second position of pitot tube 1, and it is arranged and and the first sensing element 3 interval predeterminable range along the duct orientation of pitot tube 1.Except above-mentioned second sensing element 6 and the first sensing element 3 are had the restriction of predeterminable range except, in the present embodiment to the first sensing element 3 arrange position do not remake other limit.In the present embodiment the type of the second sensing element 6 not being done concrete restriction yet, it can also be infrared photoelectric sensor, laser sensor or radar sensor.Preferably, the first sensing element 3 and the second sensing element 6 use same kind of sensing element, for instance, all use infrared photoelectric sensor.Further, in the present embodiment, the primary importance for pitot tube is also not especially limited, and those skilled in the art can select optional position different with primary importance in marble 5 flight path in pitot tube 1 as the second position according to actual needs.
Specifically, in the example shown in Fig. 1-5, this primary importance refers to the cross section of the first sensing element 3 place pitot tube 1, and the second position refers to the cross section of the second sensing element 6 place pitot tube 1.
Preferably, as it is shown in figure 1, the first sensing element 3 is positioned close to the port of export 13 of pitot tube 1, accordingly, the second sensing element 6 is positioned close to the entrance point 11 of pitot tube 1.Certainly, the first sensing element 3 can also be positioned close to the entrance point 11 of pitot tube 1, accordingly, the second sensing element 6 is positioned close to the port of export 13 of pitot tube 1.Further, it is possible to the first sensing element 3 to be positioned close to the side of the port of export 13, and the second sensing element 6 being arranged on the side of entrance point 11, thus reducing the height of pitot tube 1, being beneficial to the aiming of hoodle emitter.
Controller 7 electrically connects with the first sensing element 3 and the second sensing element 6, for recording the marble 5 time difference through the second position and primary importance, and according to this time difference calculate marble 5 from emission system launch time initial velocity.
In the present embodiment, structure and type to controller 7 are not specifically limited, and it can be surface-mounted integrated circuit, chip or software, it is also possible to be several circuit or the set of several functional module.Such as, controller 7 can be arranged to include the integrated circuit of timing circuit, counting circuit in some instances, carry out timing by timing circuit, calculate initial velocity by counting circuit.In other examples, it is possible to controller 7 is arranged to include the collection of programs of clocking capability, computing function, carries out timing by timing program, be calculated by calculation procedure.Further, when carrying out timing by timing software, its timing can be undertaken by the system time of reading CPU, or can also be undertaken by direct timing.These are all the ordinary skill in the art, no longer carry out too much repeating at this, and those skilled in the art can arbitrarily select suitable routine techniques as required.
Additionally, the electric connection mode of controller 7 and the first sensing element 3 and the second sensing element 6 is also not specifically limited in the present embodiment, the explanation of broad sense should be done for electrical connection, it can be through wire and connects, can also be connected by signal, such as wifi signal, Bluetooth signal or GPRS signal etc..
Below for Fig. 1, simply introduce the operation principle of muzzle speed measuring device in the present embodiment, so that those skilled in the art are more fully understood that the technical solution of the utility model:
Operationally, marble 5 penetrate from the emission system of hoodle emitter, enter the pipeline of pitot tube 1 from the import of the pitot tube 1 of muzzle speed measuring device, then pass through the second position at the second sensing element 6 place, that is, when marble 5 fly to the sensed position of the second sensing element 6, the second sensing element 6 is triggered, now, controller 7 records the time that the second sensing element 6 is triggered.Afterwards, marble 5 pass the primary importance of the first sensing element 3 sensing and trigger this first sensing element 3, the time that the first sensing element 3 is triggered recorded by controller 7, thus recorded the marble 5 time difference through the second position and primary importance, that is, the time difference t that record the second sensing element 6 and the first sensing element 3 are triggered.Finally, calculated the initial velocity v of marble 5 by time velocity function (v=s/t) further according to the predeterminable range s of above-mentioned time difference and the first sensing element 3 and the second sensing element 6.For example, the time difference being triggered when the first sensing element 3 and the second dry sensing element is 0.0001s, and when the predeterminable range of the first sensing element 3 and the second sensing element 6 is 3cm, it is possible to calculate the initial velocity V=0.03m/0.001s=30m/s of marble 5.
The muzzle speed measuring device of the present embodiment, by arrange can be fixing with the muzzle of the emission system of hoodle emitter pitot tube 1, such that it is able to by marble 5 through pitot tube 1 time trigger the time difference of the sensing element that the two has predeterminable range and calculate the initial velocity after marble 5 penetrate from emission system.This muzzle speed measuring device of the present embodiment, not only structure very simple, and the muzzle that can follow hoodle emitter moves, it is possible to and flexible realizes the real-time measurement to marble 5 initial velocity.
Embodiment 2
The present embodiment provides the muzzle speed measuring device of a kind of hoodle emitter, the radio frequency (firing rate) of initial velocity and many marble 5 for measuring the marble 5 penetrated from the muzzle of hoodle emitter.Fig. 6 is the structural representation that in Fig. 2, muzzle speed measuring device removes the circuit board after shell；Fig. 7 be in Fig. 6 board structure of circuit at the schematic diagram of another one observed direction；Fig. 8 is the upward view of board structure of circuit in Fig. 7；Fig. 9 is the front view of board structure of circuit in Fig. 7；Figure 10 is the top view of board structure of circuit in Fig. 7.
As Figure 1-10 shows, the present embodiment is on the basis of the technical scheme of embodiment 1 offer, time when using controller 7 to record the number of the marble 5 through primary importance and each marble 5 through this primary importance, and according to radio frequency (that is, firing rate) through many marble of Time Calculation 5 of described primary importance of the number of marble 5 and each marble 5.
In the present embodiment, structure and particular type to controller 7 do not do concrete restriction, and those skilled in the art can arbitrarily select integrated circuit, chip or software to realize above-mentioned functions.Preferably, refer to Fig. 6-10, controller 7 can be arranged to a circuit board, this circuit board can include counting circuit and timing circuit, counting circuit record traverse primary importance (namely, trigger the first sensing element 3) the number of marble 5, and record each marble 5 and trigger the time of the first sensing element 3.Then, the radio frequency of the Time Calculation marble 5 of the first sensing element 3 is triggered according to each the marble 5 of marble 5 number recorded and record.Specifically, when first marble 5 triggers the first sensing element 3, counting circuit starts counting up and counting adds one when each marble 5 trigger the first sensing element 3；Timing circuit then records each marble 5 and triggers the time of the first sensing element 3；Finally, the radio frequency of many marble 5 is obtained by the time difference of last marble 5 of timing circuit record and first marble 5 and the ratio calculation of marble 5 number.For example, it is simply that when there being three marble 5 to trigger the first sensing element 3, and when the time difference between the 3rd marble 5 and first marble 5 is 1s, then radio frequency is 3/s.
Certainly, controller 7 can also calculate radio frequency by the parameters of the record marble traverse second position, namely, trigger marble 5 number of the second sensing element 6 and time that every marble 5 trigger the second sensing element 6 calculates the radio frequency of many marble 5, the principle that its principle surveys radio frequency with controller noted above 7 by the first sensing element 3 is consistent, does not repeat them here.
Further, consulting Fig. 8 and Figure 10, the first sensing element 3 preferably can also be positioned close to the entrance point 11 of pitot tube 1 by the present embodiment, and the second sensing element 6 is positioned close to the port of export 13 of pitot tube 1.As such, it is possible to reduce the length of pitot tube 1 as far as possible, thus alleviating the weight of muzzle speed measuring device；And the predeterminable range of the first sensing element 3 and the second sensing element 6 can be increased as far as possible, eliminate the timing error of controller 7 so that the measurement of marble 5 speed and radio frequency is more accurate.More preferably, it is possible to the first sensing element 3 is arranged on the entrance point 11 of pitot tube 1, and the second sensing element 6 is arranged on the port of export 13 of pitot tube 1.
In the present embodiment, the concrete form of the first sensing element 3 and the second sensing element 6 is not specifically limited, and it can be the sensing element being separately provided, it is also possible to be integrating with circuit board as illustrated in figures 6-10.
In the present embodiment, trigger message controller 7 being obtained to the first sensing element 3 and the second sensing element 6 is not particularly limited, that is, controller 7 obtains the first information of the first sensing element 3 and controller 7 obtains the second information of the second sensing element 6 and do not do concrete restriction.Controller 7 can be the second information of the first information and the second sensing element 6 simultaneously obtaining the first sensing element 3, it is also possible to be successively obtain the first information of the first sensing element 3 and the second information of the second sensing element 6.Wherein, the first information refers to that the first sensing element 3 detects the marble 5 information through primary importance, and the second information refers to that the second sensing element 6 detects the marble 5 information through the second position.Preferably, after controller 7 gets the first information, the second information is obtained again.Specifically, it is simply that when the first sensing element 3 is triggered, controller 7 detects whether the second sensing element 6 is also triggered again.Above-mentioned restriction is done, it is possible to controller 7 is capable of identify that, and the first sensing element 3 is triggered whether is false triggering, thus improving the reliability of muzzle speed measuring device by controller 7 is obtained information.For example, controller 7 can be detect whether to be triggered in the second sensing element 6 certain time period before the time point that the first sensing element 3 is triggered after the first information getting the first sensing element 3 again；If be triggered, then obtain the second information of the second sensing element 6；Otherwise, controller 7 does not then get the second information of the second sensing element 6.
Further, when controller 7 only gets the first information, controller 7 judges that marble 5 number of current record and time are invalid.That is, when controller 7 recognizes the first sensing element 3 by false triggering, then do not add up the number of marble 5 and the time of this triggering, thus ensureing the accuracy that radio frequency calculates.
The foregoing describe controller 7 and calculate the principle of many marble 5 radio frequency, for example, be exactly number the storage current time triggered of controller 7 first cumulative marble 5 when getting the first information, and obtain the second information further.Without getting the second information (that is, the second sensing element 6 is not triggered), then marble 5 number of storage is subtracted one, and delete the time of stored last record.It is of course also possible to when controller 7 gets the first information, first obtain the second information, if getting the second information, then the number of cumulative marble 5 store time when the first sensing element 3 is triggered.
The muzzle speed measuring device of the present embodiment, records the time of marble 5 number through primary importance or the second position and each marble 5 traverse primary importance or the second position, it is possible to calculate the radio frequency of many marble 5 very easily by controller 7.Further, the present embodiment, also by controller 7 obtains the first information and the selection of time of the second information, eliminates possible false triggering problem, improves the reliability of muzzle speed measuring device.
Embodiment 3
The present embodiment provides the muzzle speed measuring device of a kind of hoodle emitter, for measuring the initial velocity of the marble 5 penetrated from the muzzle of hoodle emitter and illuminating the flight path of marble 5.
As Figure 1-10 shows, the present embodiment is on the basis of embodiment 1 and embodiment 2, one light-emitting component 4 electrically connected with controller 7 of fixing connection on pitot tube 1, for illuminating the flight path (that is, the trajectory of marble 5) of marble 5.When marble 5 are through after primary importance, controller 7 controls light-emitting component 4 and launches light in a Preset Time, and this light penetrate along marble 5 from emission system after exit direction extension.
Concrete, in the present embodiment, the installation site of light-emitting component 4 not being done concrete restriction, it can be arranged on the optional position of pitot tube 1, such as top, bottom, any one sidepiece or the port of export 13.Further, in the present embodiment, being also not intended to the concrete shape of light-emitting component 4, it can be point-like, wire or planar.Meanwhile, being also not intended to the light source type of light-emitting component 4 in the present embodiment, it can be the light source of electric filament lamp, LED or other forms.And, also the quantity of light source specifically not being limited in the present embodiment, it can be one, two or more.Further, when light source is multiple, the color of light source can be a kind of, two kinds or two or more.Additionally, structure for light-emitting component 4 is also not specifically limited in the present embodiment, it can be the multiple point sources being directly arranged separately on pitot tube 1, can also be by integrated for multiple light sources on a circuit board, simultaneously, light-emitting component 4 can only include electronic component, it is also possible to includes the miscellaneous part outside electronic component.Further, in the present embodiment, light-emitting component 4 can be arranged separately on pitot tube 1, it is also possible to is arranged on pitot tube 1 by miscellaneous part or structure.
Meanwhile, the electric connection mode of controller 7 and light-emitting component 4 is also not especially limited in the present embodiment, and it can be through wire and connects, it is also possible to be by wireless connections, such as wifi signal, Bluetooth signal or GPRS signal etc..
The muzzle speed measuring device of the present embodiment, by arranging the light-emitting component 4 electrically connected with controller 7, thus when, after marble 5 traverse primary importance, it is luminous in Preset Time that controller 7 can control light-emitting component 4.The light launched due to light-emitting component 4 is consistent with the exit direction that marble 5 penetrate, therefore, it is possible to accurately tell the flight path of marble 5, that is, the trajectory of marble 5.So, be arranged in the spectators of gallery with regard to distinguishable go out which side hoodle emitter of antagonism match shoot, and marble 5 toward which direction will fly, and where substantially can drop on.Thus when shooting deviation occurs in hoodle emitter, whether spectators can tell marble 5 in time can fly to oneself, and then dodge in time, it is to avoid accidentally injured.That is, pass through to arrange light-emitting component 4 in the present embodiment can improve the safety of in-situ match personnel.
Installation site for the first sensing element 3 and the second sensing element 6 is also not especially limited except needing therebetween to have predeterminable range in the present embodiment, the two sensing element may be mounted at the optional position of pitot tube 1, such as top, bottom or side.Preferably, the first sensing element 3 is positioned close to the port of export 13 of pitot tube 1, the second sensing element 6 is positioned close to the entrance point 11 of pitot tube 1.Such that it is able to make light-emitting component 4 just launch light at marble 5 after primary importance, save the energy.
Certainly, can also controlling light-emitting component 4 by other control modes in the present embodiment and launch light, such as after marble 5 traverse the first sensing element 3, controller 7 just control light-emitting component 4 launches light over time, become.Therefore, in the present embodiment, the concrete control strategy of light-emitting component 4 is controlled for controller 7 to be not specifically limited.Preferably, controller 7 is only in the marble 5 traverse second position, and these marble 5 also extend through primary importance and open Preset Time, say, that controller 7 launches light only sequentially pass through the second position and primary importance at marble 5 after in Preset Time.
Specifically, controller 7 can after the first sensing element 3 have detected marble 5 traverse primary importance, it is judged that whether have the marble 5 traverse second position in a period of time before the first sensing element 3 detects marble 5 traverse primary importance.If it has, then illustrate have marble 5 to sequentially pass through the second position and primary importance, then controller 7 controls light-emitting component 4 and launches light in Preset Time；If it is not, illustrate do not have marble 5 to pass through in pitot tube 1, now, light-emitting component 4 does not launch light.
According to above-mentioned analysis it can be seen that when the position of the first sensing element 3 in the present embodiment and the second sensing element 6 is as set above and controller 7 has strategy controlled as described above, it is possible to the mistake preventing light-emitting component 4 is luminous, improves the reliability of muzzle speed measuring device.
Further, as in figure 2 it is shown, light-emitting component 4 includes the laser generator 41 that be connected fixing with pitot tube 1, be used for launching laser, described laser penetrate along marble 5 from muzzle speed measuring device after exit direction extension.In the present embodiment, concrete structure and type for laser generator 41 are not specifically limited, and those skilled in the art can arbitrarily select suitable laser generator 41 as required.There is good directivity and intensity of illumination due to laser, therefore, it has better indicative function, the spectators that can make a distant place more clearly see the flight path of bullet, and specify its drop point site, spectators can be made better to dodge the marble 5 of flight spectators, improve the safety of spectators' event watching further.
Further, as in figure 2 it is shown, light-emitting component 4 also includes the base 43 installing laser generator 41.This base 43 is fixed on the port of export 13 of pitot tube 1, and offers the through hole 431 of outlet with pitot tube 1 on base 43, for passing for marble 5.On this base 43 end face away from pitot tube 1, namely the left side in Fig. 2 is provided with multiple laser generator 41, the laser that these laser generators 41 are launched all along marble 5 from this through hole 431 penetrate after exit direction extend.
In the present embodiment, the concrete connected mode for the concrete shape of base 43, structure and material and itself and pitot tube 1 is not specifically limited.Such as, this base 43 can circular, rectangle or other shapes.This base 43 can be homogeneous texture can also be have a number of projection, groove on it.The connected mode of this base 43 and pitot tube 1 can be non-dismountable connection can also be removably connect.Preferably, this base 43 is a cuboid, offers and the through hole 431 of pitot tube 1 outlet, offer the groove connected with this through hole 431 in the bottom of this cuboid on this cuboid.Multiple laser generators 41 are then arranged on the periphery of through hole 431 uniformly.Further, with reference to Fig. 2 it can be seen that the line of the two sides of this cuboid and end face and bottom surface is arc transition.Certainly, in preferred example, base 43 is identical with the end face size of pitot tube 1 entrance point 11 and shape with the right side that pitot tube 1 connects.
The muzzle speed measuring device of the present embodiment, by arranging multiple laser generator 41 on the base 43 of light-emitting component 4, it is possible to further raising light-emitting component 4 launches light intensity during light, thus improving the identification of marble 5 flight path, to improve safety.
Preferably, as in figure 2 it is shown, above-mentioned multiple laser generator 41 includes at least two groups launches the laser generator 41 of different colours, the generating laser interval of these different colours is arranged.Such as in fig. 2, being provided with four laser generators 41 on base 43, these four laser generators 41 include the laser generator 41 of two transmitting red laser beams and the laser generator 41 of two transmitting green laser.These four laser generator 41 intervals are arranged, that is, two red lasers are positioned on a diagonal of rectangle, two green lasers are positioned on another diagonal of rectangle.
In above-mentioned preferred scheme, by arranging the laser generator 41 of different colours, such that it is able to indicate different warring parties by color in play.And then so that the playing conditions at the remotely located spectators scene of can grasping more intuitively.Meanwhile, to arrange the irradiation area that can make laser more uniform at the laser instrument interval of different colours.
Embodiment 4
The present embodiment provides the muzzle speed measuring device of a kind of hoodle emitter.
As shown in figures 8 and 10, the muzzle test device that the present embodiment provides is on the basis of the technical scheme provided in embodiment 1, embodiment 2 or embodiment 3, is arranged to include symmetrically arranged light generating device and light receiving element by the first sensing element 3 and the second sensing element 6.
In the present embodiment, particular type and structure for light generating device and light receiving element are not especially limited, and those skilled in the art can select the electronic devices and components of any appropriate.Such as, select light emitting diode 31 or light emitting transistor as light generating device；Select light sensitive diode or phototriode 33 as light receiving element.
In the present embodiment, the position that specifically arranges for light generating device and light receiving element is not specifically limited.Such as the light emitting diode 31 as light generating device can be arranged on the two sides that pitot tube 1 is relative with the phototriode 33 as light receiving element.Concrete, the line of light emitting diode 31 and phototriode 33 intersects with the centrage of the pipeline of pitot tube 1, and the light that light emitting diode 31 sends is irradiated on phototriode 33 along the line of light emitting diode 31 and phototriode 33.
First sensing element 3 and second sensing element 6 of the muzzle test device of the present embodiment all include symmetrically arranged light generating device and light receiving element, thus constitute the photoelectric sensor of intensity of illumination between the two line of detection.When marble 5 are through this line, the light that light generating device sends can be blocked, thus triggering the circuit of light receiving element, also just making the first sensing element 3 (the second sensing element 6) trigger, namely marble 5 traverse primary importance (second position) having been detected.Owing to light generating device and light receiving element are respectively provided with high sensitivity, the photoelectric sensor that especially light emitting diode 31 and phototriode 33 form has very high sensitivity, therefore, is extremely suitable for the detection this object with significantly high speed of marble 5.
Concrete shape and structure to pitot tube 1 are not specifically limited in the present embodiment, and it can be hollow cuboid, hollow circuit cylinder etc..Certainly projection or depression can also be formed with on the outer wall of pitot tube 1.Preferably, pitot tube 1 includes: roof 17 and be arranged on two sidewalls 19 below roof 17, and light emitting diode 31 and phototriode 33 are symmetrically arranged on two sidewalls 19, and controller 7 is then arranged on roof 17.
In above-mentioned preferred scheme, by light emitting diode 31 and phototriode 33 being arranged on two sidewalls 19 and controller 7 being arranged on roof 17, it is possible to the total making muzzle speed measuring device is compacter, thus reducing the volume of muzzle speed measuring device.
It is highly preferred that as in figure 2 it is shown, pitot tube 1 also includes diapire 15 that is relative with roof 17 and that be connected with two sidewalls 19, such that it is able to reduce the extraneous light impact on light emitting diode 31 and phototriode 33.
Embodiment 5
The present embodiment provides the muzzle speed measuring device of a kind of hoodle emitter.
As Figure 1-10 shows, the muzzle speed measuring device that the present embodiment provides, is on the basis of the technical scheme provided in embodiment 1, embodiment 2, embodiment 3 or embodiment 4, arranges an aiming element 9, this aiming element 9 includes aiming laser generator 91, for aiming at when launching marble 5.This aiming laser generator 91 is fixed on the tube wall of pitot tube 1, and, the laser that this aiming laser generator 91 is launched along marble 5 from speed measuring device penetrate after exit direction extend.
In the present embodiment, the installation site of aiming laser generator 91 is not especially limited, and it may be mounted at the optional position of pitot tube 1.The such as top of pitot tube 1, bottom or both sides.
Meanwhile, in the present embodiment, the color of the structure of aiming laser generator 91, type and laser does not do concrete restriction yet, such as, it is possible to select the iraser generator 41 of elongated tubular.When practical application, those skilled in the art can select as required, does not repeat them here.
It addition, aiming laser generator 91 can individually control, it is also possible to electrically connect with controller 7 and be controlled thereby through controller 7.Simultaneously, it is possible to control laser always on or control laser close after marble 5 send.
The muzzle speed measuring device of the present embodiment, by installing the aiming element 9 including aiming laser generator 91, thus can being aimed at by the laser that aiming laser generator 91 is launched before marble 5 are launched, to improve the hit rate of marble 5 on pitot tube 1.
In the present embodiment, as shown in Figure 2, preferably, aim at element 9 and also include mounting seat 93, laser generator 41 is fixed on the bottom of pitot tube 1 by mounting seat 93, thus strengthening the bonding strength of laser generator 41 and pitot tube 1, it is to avoid it drops in play, improve the service life of muzzle speed measuring device.
In the present embodiment, the concrete shape of mounting seat 93 and structure are not specifically limited.Those skilled in the art can select the mounting seat 93 of any suitable shape for connecting pitot tube 1 and aiming laser generator 91.Such as select the mounting seat 93 of hollow columnar, such that it is able to be socketed in the inner chamber of mounting seat 93 by the iraser generator 41 of elongated tubular.It addition, the connected mode of mounting seat 93 and pitot tube 1 is also not especially limited, it can be the non-removable bottom being fixed on pitot tube 1, such as, is welded on the bottom of pitot tube 1.This mounting seat 93 can also be detachably mounted to the bottom of pitot tube 1, such as, and clamping or threaded.
It addition, the connected mode between laser generator 41 and base 43 is also not specifically limited in the present embodiment, it can be connected with base 43 by dismountable mode, it is also possible to is connected with base 43 by non-removable mode.
Embodiment 6
The present embodiment provides a kind of hoodle emitter.
Referring to Fig. 1-10, the hoodle emitter that the present embodiment provides includes: emission system and the muzzle speed measuring device as described in above-described embodiment.Wherein, the entrance point of the pitot tube 1 of muzzle speed measuring device is fixing with the muzzle of emission system is connected.
Each modular construction of the muzzle speed measuring device in the present embodiment hoodle emitter, operation principle and effect thereof are identical with above-described embodiment 1-5, refer to above-described embodiment.Owing to hoodle emitter includes above-mentioned muzzle speed measuring device, therefore, this hoodle emitter also has the effect of above-mentioned muzzle speed measuring device, those skilled in the art are referred in above-described embodiment to infer that the present embodiment hoodle emitter has identical function and beneficial effect thereof for muzzle speed measuring device function and describing of beneficial effect thereof, do not repeat them here.
Embodiment 7
The present embodiment provides a kind of robot adopting hoodle emitter.
Refer to Fig. 1-10, the robot that the present embodiment provides, including: main body and the hoodle emitter as described in Example 6 being arranged in this main body.
The robot of the present embodiment includes hoodle emitter, and hoodle emitter includes the muzzle speed measuring device of any embodiment in embodiment 1-5.Therefore, the modular construction of muzzle speed measuring device in the present embodiment robot, operation principle and effect thereof are identical with above-described embodiment 1-5, refer to above-described embodiment.Owing to the present embodiment robot includes above-mentioned muzzle speed measuring device, therefore, this robot also has the effect of above-mentioned muzzle speed measuring device, those skilled in the art are referred in above-described embodiment to infer that the present embodiment robot also has identical function and beneficial effect thereof for muzzle speed measuring device function and describing of beneficial effect thereof, do not repeat them here.
The foregoing is only embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every equivalent structure utilizing this utility model description and accompanying drawing content to make or equivalence flow process conversion; or directly or indirectly it is used in other relevant technical fields, all in like manner include in scope of patent protection of the present utility model.
Claims (13)
1. the muzzle speed measuring device of a hoodle emitter, it is characterised in that including: the first sensing element, the second sensing element, controller, for for marble through pitot tube and connector；
The muzzle of the other end of the entrance point of described pitot tube Yu the emission system of described hoodle emitter is fixed by described connector；
Described first sensing element and the second sensing element are arranged and interval predeterminable range along the channel direction of described pitot tube；
Whether described first sensing element passes the primary importance of described pitot tube for detecting marble, and whether described second sensing element passes the second position of described pitot tube for detecting marble；
Described controller electrically connects with described first sensing element and the second sensing element, for recording the marble time difference through described primary importance with the described second position, and calculates the initial velocity of marble according to described time difference.
2. muzzle speed measuring device according to claim 1, it is characterized in that, also include light-emitting component, described light-emitting component is fixing with described pitot tube to be connected, and described light-emitting component electrically connects with described controller, described controller controls described light-emitting component at marble through launching light after primary importance in Preset Time, described light penetrate along marble from described emission system after exit direction extend.
3. muzzle speed measuring device according to claim 2, it is characterised in that described first sensing element is positioned close to the port of export of described pitot tube, and described second sensing element is positioned close to the entrance point of described pitot tube；Sequentially pass through the described second position and primary importance at marble after, described controller controls described light-emitting component and launches light in Preset Time.
4. muzzle speed measuring device according to claim 3, it is characterized in that, described light-emitting component includes: laser generator, and described laser generator and described pitot tube are fixing to be connected, the laser that described laser generator is launched penetrate along marble from described muzzle speed measuring device after exit direction extension.
5. muzzle speed measuring device according to claim 3, it is characterized in that, described light-emitting component also includes base, described base is fixed on the port of export of described pitot tube, described base offers the outlet with described pitot tube the through hole for marble traverse, described base is provided with multiple laser generator away from the end face of described pitot tube, described laser generator launch laser along marble from described through hole penetrate after exit direction extend.
6. muzzle speed measuring device according to claim 5, it is characterised in that the plurality of laser generator includes at least two groups and launches the laser generator of different colours laser, and the laser generator interval of described transmitting different colours laser is arranged.
7. muzzle speed measuring device according to claim 6, it is characterised in that described laser generator includes: the laser generator of the laser generator of two transmitting red laser beams and two transmitting green laser.
8. the muzzle speed measuring device according to any one of claim 1-7, it is characterised in that described first sensing element and the second sensing element all include: symmetrically arranged light generating device and light receiving element.
9. muzzle speed measuring device according to claim 8, it is characterized in that, described pitot tube includes: roof and be arranged on two sidewalls below roof, and described light generating device and light receiving element are symmetrically arranged on said two sidewall, and described controller is arranged on described roof.
10. the muzzle speed measuring device according to any one of claim 1-7, it is characterized in that, also include aiming at element, described aiming element includes aiming laser generator, described aiming laser generator is fixed on the tube wall of described pitot tube, and the laser launched of described aiming laser generator penetrate along described marble from described muzzle speed measuring device after exit direction extend.
11. muzzle speed measuring device according to claim 10, it is characterised in that described aiming element also includes mounting seat, and described aiming laser generator is fixed on the bottom of described pitot tube by mounting seat.
12. a hoodle emitter, it is characterised in that including: emission system and the muzzle speed measuring device described in any one of claim 1-11, the entrance point of the pitot tube of described muzzle speed measuring device and the muzzle of described emission system are fixed.
13. the robot adopting hoodle emitter, it is characterised in that including: main body and the hoodle emitter described in claim 12 being arranged in this main body.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620148307.0U CN205374499U (en) | 2016-02-26 | 2016-02-26 | Marble transmitter and muzzle speed sensor adopts robot of marble transmitter thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620148307.0U CN205374499U (en) | 2016-02-26 | 2016-02-26 | Marble transmitter and muzzle speed sensor adopts robot of marble transmitter thereof |
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| CN205374499U true CN205374499U (en) | 2016-07-06 |
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| CN201620148307.0U Expired - Fee Related CN205374499U (en) | 2016-02-26 | 2016-02-26 | Marble transmitter and muzzle speed sensor adopts robot of marble transmitter thereof |
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| CN107087425A (en) * | 2016-02-26 | 2017-08-22 | 深圳市大疆创新科技有限公司 | Hoodle transmitter and its muzzle speed measuring device, using the robot of hoodle transmitter |
| WO2018152913A1 (en) * | 2017-02-24 | 2018-08-30 | 深圳市大疆创新科技有限公司 | Shooting device and laser sight thereof |
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| WO2020082365A1 (en) * | 2018-10-26 | 2020-04-30 | 深圳市大疆创新科技有限公司 | Speed measuring method, speed measuring apparatus, toy gun, mobile robot, and control system |
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| CN107087425A (en) * | 2016-02-26 | 2017-08-22 | 深圳市大疆创新科技有限公司 | Hoodle transmitter and its muzzle speed measuring device, using the robot of hoodle transmitter |
| WO2017143596A1 (en) * | 2016-02-26 | 2017-08-31 | 深圳市大疆创新科技有限公司 | Marble launcher, muzzle speed testing device thereof, and robot using marble launcher |
| WO2018152913A1 (en) * | 2017-02-24 | 2018-08-30 | 深圳市大疆创新科技有限公司 | Shooting device and laser sight thereof |
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| WO2018205378A1 (en) * | 2017-05-12 | 2018-11-15 | 深圳市大疆创新科技有限公司 | Projectile for game and launching mechanism |
| CN110914631A (en) * | 2018-05-30 | 2020-03-24 | 深圳市大疆创新科技有限公司 | Gun barrel structure and toy gun |
| WO2020082365A1 (en) * | 2018-10-26 | 2020-04-30 | 深圳市大疆创新科技有限公司 | Speed measuring method, speed measuring apparatus, toy gun, mobile robot, and control system |
| CN110132476A (en) * | 2019-04-22 | 2019-08-16 | 武汉合厚丰玩具有限公司 | A kind of peashooter shooting dynamics test device |
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| CN112557691A (en) * | 2020-12-04 | 2021-03-26 | 中国船舶重工集团有限公司第七一0研究所 | Self-starting submarine emission pipe speed test system |
| CN112557691B (en) * | 2020-12-04 | 2023-02-28 | 中国船舶重工集团有限公司第七一0研究所 | Self-starting submarine emission pipe speed test system |
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