CN214372046U

CN214372046U - Target drone

Info

Publication number: CN214372046U
Application number: CN202120098703.8U
Authority: CN
Inventors: 张宇; 蒋文学; 许志强; 韩玉章; 于庆龙; 胡佳钰; 石璨; 李金宝; 刘波波; 刘继红
Original assignee: QINGDAO JARI AUTOMATION CO Ltd
Current assignee: QINGDAO JARI AUTOMATION CO Ltd
Priority date: 2021-01-14
Filing date: 2021-01-14
Publication date: 2021-10-08
Anticipated expiration: 2031-01-14

Abstract

The utility model discloses a target drone, which comprises a target, a direct current motor, a battery pack and a control circuit; the direct current motor is connected with the speed reducer, is connected with the four-bar mechanism through the speed reducer, and is connected with the target through the four-bar mechanism so as to drive the target to lift and fall; the control circuit comprises a battery sampling circuit, a controller and a half-bridge driving chip; the controller determines the time length of the direct current motor for driving the target from the inverted position to the standing position under the power supply of the output voltage according to the output voltage of the battery pack collected by the battery sampling circuit, adjusts the duty ratio of a PWM signal output by the direct current motor according to the time length, and further controls the on-off time sequence of the upper bridge MOS tube and the lower bridge MOS tube through the half-bridge driving chip, so that the direct current motor runs at full speed after being started, and gradually decelerates to run when the target approaches a target position until the target position is reached, and stops the direct current motor, therefore, the target can be controlled to be inverted to the standing position within a specified time limit and be kept stable, and the problem of shaking when the target stands is basically solved.

Description

Target drone

Technical Field

The utility model belongs to the technical field of trainer, specifically speaking relates to a target drone for shooting training.

Background

The target drone is a common device in shooting training, the traditional target drone needs manual target-reporting, and has low target-reporting efficiency, high human error rate and high danger. With the rapid development of electronic technology, many automatic target scoring devices are currently on the market, and an automatic target starting and reversing machine is the most common training target machine.

As shown in fig. 1, a conventional automatic target lifting and reversing machine generally includes a base 1, a target rod 2, a target plate 3, a battery box 4, a control box 5, and other main components. Wherein, the target rod 2 and the target plate 3 form a target; a lead battery pack or a lithium battery pack is generally disposed in the battery box 4 for supplying power to the dc motor and the control circuit in the control box 5. The direct current motor drives the target to stand or fall down through the speed reducer and the connecting rod mechanism.

In the process of standing or falling down the target, when the target reaches a designated position, the direct current motor is turned off by adopting a mode that the contact piece triggers the limit switch so as to stop the movement of the target. When the target is erected or fallen down, the linear speed of the tail end of the connecting rod mechanism can reach 6m/s, so that when the target is inverted to the upright position, the target can swing back and forth 5-6 times after reaching a specified position under the influence of inertia, and the target can be stabilized only after 3-4 seconds. In order to ensure the accuracy of shooting, shooting personnel need to wait for the shooting personnel to shoot after the target is stable, the waiting time makes the training time of the shooting personnel prolonged meaninglessly, and the training efficiency is seriously influenced. Meanwhile, the target swings back and forth to cause mechanical abrasion, which affects the service life of the target drone.

Disclosure of Invention

An object of the utility model is to provide a target drone that steerable target has stably risen and fallen to improve shooting personnel's training efficiency, reduce the mechanical wear of target drone.

In order to solve the technical problem, the utility model discloses a following technical scheme realizes:

a target drone comprises a target, a direct current motor, a battery pack and a control circuit; the target is used for recording the area where the shooting point is located and the number of rings; the direct current motor is connected with the speed reducer, is connected with the four-bar mechanism through the speed reducer, and is connected with the target through the four-bar mechanism so as to drive the target to stand or fall down; the battery pack is used for supplying power to the direct current motor; the control circuit comprises a battery sampling circuit, a controller and a half-bridge driving chip; the battery sampling circuit is connected with the battery pack and used for collecting the output voltage of the battery pack; the controller is connected with the battery sampling circuit, determines the time length T of the direct current motor for driving the target from the inverted position to the standing position under the power supply of the output voltage according to the output voltage of the battery pack, and generates PWM signal output with the duty ratio of 100% in the previous T time period and the follow-up duty ratio gradually reduced, wherein T is less than T; the input end of the half-bridge driving chip receives the PWM signal, the output end of an upper bridge control signal is connected with the grid electrode of the upper bridge MOS tube, and the output end of a lower bridge control signal is connected with the grid electrode of the lower bridge MOS tube; the drain electrode of the upper bridge MOS tube is connected to the output voltage of the battery pack, and the source electrode of the upper bridge MOS tube is connected with the anode of the direct current motor; the drain electrode of the lower bridge MOS tube is connected with the positive electrode of the direct current motor, and the source electrode of the lower bridge MOS tube is connected with the system ground; and the negative pole of the direct current motor is connected with the system ground.

In some embodiments of the present application, in order to enable the PWM signal generated by the controller to be connected to the half-bridge driving chip only when the target needs to be lifted, and then to realize accurate driving of the dc motor, the control circuit of the present application is further provided with a photocoupler, a triode, and an intermediate relay; the controller outputs a tilting signal when the target is required to be controlled to stand or fall, the triode is controlled to act through the photoelectric coupler, a power supply loop of the intermediate relay is connected, a signal transmission line between the PWM signal and the half-bridge driving chip is connected through the intermediate relay, and the PWM signal is transmitted to the half-bridge driving chip.

In some embodiments of the present application, the photocoupler includes a light emitting diode and a light receiving transistor, an anode of the light emitting diode is connected to a dc power supply, and a cathode of the light emitting diode is connected to an interface of the controller for outputting the up-down signal; the collector of the light receiving triode is connected with the direct-current power supply, and the emitter of the light receiving triode is connected with the base of the triode; the triode is preferably an NPN type triode, an emitting electrode of the triode is connected with the system ground, and a collecting electrode of the triode is connected with the direct-current power supply through a coil of the intermediate relay; connecting a normally open contact of the intermediate relay in series between an interface of the controller for outputting the PWM signal and an input end of the half-bridge driving chip, and switching on a signal transmission line between the PWM signal and the half-bridge driving chip when a coil of the intermediate relay is electrified; the direct current power supply can directly adopt the output voltage of the battery pack, and can also be generated by converting the output voltage of the battery pack through a voltage stabilizing circuit.

In some embodiments of the present application, the target drone further includes a plurality of projectile sensors disposed on the target for sensing the position of a firing point and generating a sensing signal to send to the controller; and when the controller receives the induction signal, the controller outputs the lifting signal to control the target to fall down, so that the automatic control of the target rod to lift down is realized.

In some embodiments of the present application, the target drone further includes two limit switches, which are respectively arranged at the target position when the target stands up and the target position when the target falls down, and generate a detection signal to be sent to the controller; and when the target reaches the target position, the controller stops outputting the reverse signal, controls the intermediate relay to cut off a signal transmission line between the PWM signal and the half-bridge driving chip, and controls the direct current motor to stop.

In some embodiments of the present application, the battery sampling circuit includes two voltage dividing resistors, and the two voltage dividing resistors are connected in series and then connected between the positive electrode and the negative electrode of the battery pack; the middle node of the two divider resistors is connected with the analog-to-digital conversion interface of the controller and is connected with the system ground through a voltage stabilizing diode. The voltage stabilizing diode is configured to play a role in instant voltage protection, and an analog-to-digital conversion interface of the controller is protected from being damaged.

In some embodiments of the present application, the drone further includes a wireless communication module and a tablet control display; the wireless communication module is connected with the controller and is used for wirelessly transmitting the area and the number of rings where the shooting point is located; the panel control display is communicated with the wireless communication module, receives the area and the number of rings where the shooting points are located, and displays the area and the number of rings so that shooting staff or coaches can check shooting scores conveniently.

Compared with the prior art, the utility model discloses an advantage is with positive effect: the utility model discloses a target drone generates duty ratio adjustable PWM signal through the output voltage who gathers the group battery, duty ratio through adjusting the PWM signal, control direct current motor is full speed operation after the start, reduce speed the operation step by step when the target is close the target location, shut down when reacing the target location, alright control target from this by inversion to standing and remain stable in the regulation time limit, the problem of rocking when having solved the target basically and standing up, the mechanical wear of target drone has been reduced, the life of target drone has been prolonged, and be favorable to promoting shooting personnel's training efficiency.

Other features and advantages of the present invention will become more apparent from the following detailed description of embodiments of the invention, which is to be read in connection with the accompanying drawings.

Drawings

FIG. 1 is a mechanical schematic of one embodiment of a drone;

FIG. 2 is a schematic block circuit diagram of an embodiment of an electronic control portion of the drone of the present invention;

FIG. 3 is a schematic diagram of a portion of the electrical circuitry corresponding to the electrical control portion of FIG. 2;

fig. 4 is a circuit schematic of one embodiment of the motor drive circuit of fig. 2.

Detailed Description

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

The target drone of the embodiment is basically consistent with the existing target drone in the mechanical structure design, and comprises a base 1, a target rod 2, a target plate 3, a battery box 4, a control box 5, a flat panel control display 6 and other main components, as shown in fig. 1. Wherein, battery box 4 and control box 5 are installed on base 1, and control box 5 embeds there are control circuit, direct current motor, reduction gear and four-bar linkage 7. The output shaft of the direct current motor is connected with a speed reducer, and the speed reducer is used for reducing the rotating speed of the direct current motor and simultaneously driving the four-bar mechanism 7 to move. The four-bar linkage 7 is connected with the target rod 2, the target plate 3 is arranged on the target rod 2, and the target plate 3 and the target rod 2 form a target together. In the process that the direct current motor keeps rotating in the same direction (forward rotation or reverse rotation), the four-bar linkage 7 can drive the target rod 2 to rotate from the standing position to the inverted position and then rotate from the inverted position to the standing position. Therefore, the target can be driven to finish the lifting process without controlling the forward and reverse rotation of the direct current motor.

In order to avoid that the target sways at the upright target position (vertical position) due to overhigh rotating speed of the direct current motor when the target moves from the inverted position to the upright position, thereby causing mechanical wear and affecting the service life of the target lifting machine, the embodiment improves the control circuit in the target lifting machine, can determine the maximum rotating speed of the direct current motor under the direct power supply of the battery pack by collecting the output voltage of the battery pack in the battery box 4, determine the time length T required by the target from the inverted position to the upright position according to the maximum rotating speed, and further generate a PWM signal with adjustable duty ratio according to the time length T, namely, the duty ratio of the PWM signal is adjusted to be 100% in a period of time T (T < T) after the direct current motor is started, and the subsequent duty ratio is gradually reduced, thereby controlling the target to quickly rise from the inverted position and decelerate when approaching the upright target position, when the target position is reached, the device is stably stopped, so that the shaking phenomenon of the target can be basically eliminated, and the effect of mechanical protection is achieved.

It is well known in the art that the rotational speed of a dc motor is proportional to the supply voltage to which it is connected. That is, the higher the supply voltage provided to the dc motor, the faster the motor speed; conversely, the smaller the supply voltage, the slower the motor speed. The target drone of this embodiment utilizes direct current motor drive target to rise and fall, utilizes the group battery to supply power for direct current motor, consequently, through the output voltage of gathering the group battery, can determine the highest rotational speed of direct current motor under the direct power supply condition of group battery. Since the distance that the target needs to rotate from the inverted position to the standing position is known, the time length T required by the direct current motor to drive the target from the inverted position to the standing position at the highest rotating speed can be calculated. The duration T here is the shortest duration required for the target to fall from the inverted position to the upright position. In order to avoid shaking of the target during the standing, the embodiment adopts a strategy of controlling the direct current motor to rotate at full speed first and then rotate at reduced speed to drive the target to stand stably. As a preferred embodiment, a reasonable time period t may be predetermined for the full-speed operation process of the dc motor, and during the time period t after the dc motor is started, the output voltage of the battery pack is used to directly supply power to the dc motor, so as to control the full-speed operation of the dc motor. And at the subsequent time, the direct current motor is configured to perform gradual speed reduction operation at the same speed reduction ratio. The embodiment preferably designs the direct current motor to run in a five-stage speed reduction mode until the direct current motor reaches the standing target position and then stops. The rotating speed of the tail end of the target is very low when the target is close to the target position, so that the control effect of stopping stably and avoiding shaking can be achieved.

In order to automatically control the rotation speed of the dc motor, the present embodiment provides a battery sampling circuit, a controller IC4 and a motor driving circuit in the control circuit of the drone, as shown in fig. 2-4. The battery sampling circuit is connected with the battery pack and used for collecting the output voltage of the battery pack and transmitting the output voltage to the controller IC 4. The controller IC4 may be an integrated chip with digital processing capability such as a single chip microcomputer, and generates a PWM signal according to the output voltage of the battery pack, and sends the PWM signal to the motor driving circuit to adjust the power supply to the dc motor, thereby controlling the dc motor to run at full speed first and then run at a reduced speed until the stop.

As a preferred embodiment, as shown in fig. 3, the battery sampling circuit includes at least two voltage dividing resistors R50 and R51, a filter capacitor C9, and a zener diode D8. The voltage dividing resistors R50 and R51 are preferably precision resistors with a precision of 1%, are connected in series and then are connected between the positive electrode and the negative electrode of the battery pack BAT, and are used for dividing the output voltage of the battery pack BAT, generating a sampling voltage Vc, and transmitting the sampling voltage Vc to the analog-to-digital conversion interface ADC of the controller IC4 through the intermediate node a, so as to convert the analog signal into a digital signal and then convert the digital signal into the output voltage value of the battery pack BAT. The filter capacitor C9 is connected between the intermediate node A of the divider resistors R50 and R51 and the system ground GND, and is used for filtering the sampling voltage Vc. The cathode of the voltage stabilizing diode D8 is connected with the middle node A of the voltage dividing resistors R50 and R51, and the anode is connected with the system ground GND. The zener diode D8 with reverse breakdown voltage drop of 3.3V is selected to be connected between the ADC interface of the controller IC4 and the ground, so that the instantaneous high voltage higher than 3.3V can be released to the ground, and the protection effect on the ADC interface of the controller IC4 is achieved. The negative pole of the battery pack is connected with a system ground, and the common ground of the whole system circuit is realized.

The controller IC4 calculates the maximum rotation speed of the dc motor M according to the output voltage of the battery pack BAT, and further determines the time length T for the target to move from the inverted position to the standing position when the dc motor M is operated at the maximum rotation speed. And determining time T according to the duration T, wherein T < T, and generating the PWM signal with the duty ratio of 100% in the previous T time period and the duty ratio of gradually reduced in the subsequent time period. The number of stages can be five or more, so that the deceleration motion process of the target is more stable. The process from the output voltage of the battery pack BAT to the determination of the duty ratio of the PWM signal is not creative for those skilled in the art, and belongs to the conventional technical means.

The controller IC4 outputs the PWM signal through its PB1 interface, and controls the motor drive circuit through the intermediate relay K1. In order to transmit the PWM signal to the motor driving circuit only when the target is required to be controlled to fall, the present embodiment further provides a photo-coupler OC1 and a transistor T1 in the control circuit, as shown in fig. 3. When the target is required to be controlled to fall, the controller IC4 outputs a fall signal IN2 through one IO interface PB15, and drives the triode T1 to act through the photoelectric coupler OC1, so that the power-on and power-off state of the intermediate relay K1 is changed, and the transmission of the PWM signal to the motor driving circuit is realized.

As a preferred embodiment, the anode of the light emitting diode in the photocoupler OC1 may be connected to the dc power supply VCC5 through a current limiting resistor R52. In this embodiment, the dc power VCC5 may directly use the output voltage of the battery pack BAT, or may be generated by converting the output voltage of the battery pack BAT through a voltage stabilizing circuit. The cathode of the light emitting diode is connected to the PB15 interface of the controller IC 4. The collector of a light receiving triode in the photoelectric coupler OC1 is connected to a direct current power supply VCC5, and the emitter is connected to the base of a triode T1 through a current limiting resistor R53. In this embodiment, the transistor T1 is preferably an NPN transistor, an emitter of the NPN transistor is connected to the system ground GND, and a collector of the NPN transistor is connected to the dc power source VCC5 through the coil of the intermediate relay K1. The normally open contact of the intermediate relay K1 is connected in series between the PB1 interface of the controller IC4 and the motor drive circuit, and when the normally open contact of the intermediate relay K1 is closed, the PWM signal output by the controller IC4 is transmitted to the motor drive circuit.

When the target needs to be controlled to fall, the controller IC4 sets the PB15 interface to be at a low level, that is, generates the fall signal IN2 with a low level being effective, and controls the light emitting diode IN the photocoupler OC1 to emit light, so that the light receiving triode is IN saturated conduction. At this time, the dc power VCC5 acts on the base of the NPN transistor T1 through the light receiving transistor and the current limiting resistor R53 to control the NPN transistor T1 to be in saturation conduction, so that the coil of the intermediate relay K1 is energized to control the normally open contact to pull in, so that the PWM signal output by the controller IC4 is transmitted to the motor driving circuit, and the motor driving circuit controls the current motor M to operate.

On the contrary, when the target does not need to be controlled to fall, the controller IC4 sets the PB15 interface thereof to be at a high level, and controls the light emitting diode in the photocoupler OC1 to be extinguished, so that the light receiving triode enters a cut-off state. At this time, the NPN transistor T1 is turned to an off state due to its base voltage being low, and turns off the coil of the intermediate relay K1, and its normally open contact is opened, thereby cutting off the PWM signal transmission line between the controller IC4 and the motor drive circuit, controlling the motor drive circuit to stop operating, and stopping the current motor M.

As a preferred embodiment, as shown in fig. 4, the motor driving circuit is mainly formed by connecting a half-bridge driving chip U5, an upper bridge MOS transistor Q5 and a lower bridge MOS transistor Q6. Specifically, the half-bridge driving chip U5 may be an integrated chip of type IR2104S, and its input terminal IN is connected to the normally open contact of the intermediate relay K1 to receive the PWM signal transmitted through the normally open contact of the intermediate relay K1. An upper bridge control signal output end HO of the half-bridge driving chip U5 is connected to the gate of an upper bridge MOS tube Q5 through a current-limiting resistor R13, and a lower bridge control signal output end LO of the half-bridge driving chip U5 is connected to the gate of a lower bridge MOS tube Q6 through a current-limiting resistor R14. The output voltage Vbat of the battery pack is connected through the drain of the upper bridge MOS transistor Q5, and the source of the upper bridge MOS transistor Q5 is connected to the positive electrode + of the dc motor M. The drain of the lower bridge MOS transistor Q6 is connected to the positive pole of the dc motor M, and the source of the lower bridge MOS transistor Q6 is connected to the system ground GND. The negative pole of the direct current motor M is connected to the system ground GND. Diodes D12 and D13 can be further connected in parallel between the drain and source electrodes of the upper bridge MOS transistor Q5 and the lower bridge MOS transistor Q6.

The working principle of the motor driving circuit is as follows: when the PWM signal is at a high level, the half-bridge driver chip U5 outputs a high level through its upper bridge control signal output terminal HO, and puts its lower bridge control signal output terminal LO at a low level. At this time, the upper bridge MOS transistor Q5 is in saturation conduction, the lower bridge MOS transistor Q6 is cut off, and when the duty ratio of the PWM signal is 100%, the output voltage Vbat of the battery pack directly supplies power to the dc motor M, so that the dc motor M is controlled to operate at the highest rotation speed, and the target is driven to rapidly lift through the speed reducer and the four-bar mechanism. When the duty ratio of the PWM signal is decreased, if the PWM signal is at a low level, the half-bridge driver chip U5 outputs a high level through its lower bridge control signal output terminal LO, and its upper bridge control signal output terminal HO is at a low level. At this time, the upper bridge MOS transistor Q5 is turned off, and the lower bridge MOS transistor Q6 is turned on in a saturated state. By adjusting the duty ratio of the PWM signal, the supply voltage Vout transmitted to the dc motor M can be reduced, i.e., Vout < Vbat, thereby reducing the rotational speed of the dc motor M. The smaller the duty ratio of the PWM signal, the smaller the supply voltage Vout transmitted to the dc motor M, the slower the rotational speed of the dc motor M, and the slower the movement of the target. The final control result is: when the target is lifted up from the inverted position, the target starts to move at the fastest speed; when approaching the target position in the upright position, the speed of the target gradually slows down, and eventually stops smoothly at the target position in the upright position. Of course, the same fast-slow control process can be used when the target is fallen down from the standing position. However, considering that the target may directly contact the ground when reaching the inverted target position, and the shaking problem does not occur even if the movement speed is too fast, the controller IC4 may be configured to always output a PWM signal with a duty ratio of 100% during the process of falling the target, and the output voltage Vbat of the battery pack is used to directly supply power to the dc motor M, so as to drive the target to fall at the fastest speed, thereby saving training time.

In order to control the dc motor M to stop when the target reaches the target position, two limit switches may be disposed on the control box 5, respectively at the target position when the target stands up and the target position when the target falls down, and when the target rod 2 reaches the target position, the two limit switches generate the detection signal OUT1/OUT2 and transmit the detection signal OUT1/OUT2 to the controller IC4, for example, to the two IO interfaces PA1 and PA4 of the controller IC 4. After receiving the detection signal OUT1/OUT2, the controller IC4 sets the PB15 interface to high level, that is, stops outputting the low level effective start-up signal IN2, controls the opto-coupler OC1 and the NPN type triode T1 to turn off, so that the intermediate relay loses power, cuts off the signal transmission line between the PWM signal and the half-bridge driving chip U5, and controls the dc motor M to stop when power is cut off.

In addition, the present embodiment is further provided with a plurality of projectile sensors on the target board 3, as shown in fig. 3, for sensing the positions of the shooting points and generating sensing signals to be sent to the controller IC 4. The controller IC4 may be configured to set the PB15 interface to low level when receiving the sensing signal, that is, output the IN2 with low level being effective, so as to switch on the signal transmission line between the PWM signal and the half-bridge driving chip U5, control the dc motor M to operate, and further drive the target to fall down.

The controller IC4 determines the area and number of rings where the shot point is located and records it based on the position of the shot point as sensed by the middle ball sensor. After the target falls down, the controller IC4 can transmit the area and the number of rings where the shooting point is located to the wireless communication module connected with the controller IC, and the wireless communication module is used for wirelessly transmitting the score of the shooting person to the panel control display 6 for displaying so that the shooting person and the coach can conveniently check the score.

In order to improve the reliability of wireless signal transmission, as shown in fig. 1, external antennas 8 are uniformly arranged on the control box 5 and the flat panel control display 6 in the present embodiment, so as to improve the radiation intensity of the wireless signal.

After the shooting result is sent out, the controller IC4 can control the target to stand up to wait for the next shooting of the person, thereby completing the automatic starting and backing control process of the drone.

Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and the changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also belong to the protection scope of the present invention.

Claims

1. A target drone, comprising:

the target is used for recording the area where the shooting point is located and the number of rings;

the direct current motor is connected with the speed reducer, is connected with the four-bar mechanism through the speed reducer, and is connected with the target through the four-bar mechanism so as to drive the target to stand or fall down;

the battery pack is used for supplying power to the direct current motor;

it is characterized in that the device also comprises a control circuit, which comprises:

the battery sampling circuit is connected with the battery pack and is used for collecting the output voltage of the battery pack;

the controller is connected with the battery sampling circuit, determines the time length T of the direct current motor for driving the target from the inverted position to the standing position under the power supply of the output voltage according to the output voltage of the battery pack, and generates PWM signal output with the duty ratio of 100% in the previous T time period and the duty ratio gradually reduced in the subsequent time period, wherein T is less than T;

the input end of the half-bridge driving chip receives the PWM signal, the output end of the upper bridge control signal of the half-bridge driving chip is connected with the grid electrode of the upper bridge MOS tube, and the output end of the lower bridge control signal of the half-bridge driving chip is connected with the grid electrode of the lower bridge MOS tube; the drain electrode of the upper bridge MOS tube is connected to the output voltage of the battery pack, and the source electrode of the upper bridge MOS tube is connected with the anode of the direct current motor; the drain electrode of the lower bridge MOS tube is connected with the positive electrode of the direct current motor, and the source electrode of the lower bridge MOS tube is connected with the system ground; and the negative pole of the direct current motor is connected with the system ground.

2. The drone of claim 1, wherein an opto-coupler, a triode, and an intermediate relay are also provided in the control circuit; the controller outputs a falling signal when the target is required to be controlled to stand or fall, the triode is controlled to act through the photoelectric coupler, a power supply loop of the intermediate relay is connected, and a signal transmission line between the PWM signal and the half-bridge driving chip is connected through the intermediate relay.

3. The drone of claim 2,

the photoelectric coupler comprises a light emitting diode and a light receiving triode, wherein the anode of the light emitting diode is connected with a direct current power supply, and the cathode of the light emitting diode is connected with an interface of the controller for outputting the rising and falling signals; the collector of the light receiving triode is connected with the direct-current power supply, and the emitter of the light receiving triode is connected with the base of the triode;

the triode is an NPN type triode, an emitting electrode of the triode is connected with the system ground, and a collector electrode of the triode is connected with the direct-current power supply through a coil of the intermediate relay;

the normally open contact of the intermediate relay is connected in series between the interface of the controller for outputting the PWM signal and the input end of the half-bridge driving chip;

the direct current power supply is generated by converting the output voltage of the battery pack or the output voltage of the battery pack through a voltage stabilizing circuit.

4. The drone of claim 2, further comprising:

the middle bullet sensors are arranged on the targets and used for sensing the positions of the shooting points, generating induction signals and sending the induction signals to the controller; and when the controller receives the induction signal, the controller outputs the tilting signal to control the target to tilt.

5. The drone of claim 4, further comprising:

the two limit switches are respectively arranged at the target position when the target is erected and the target position when the target falls down, generate detection signals and send the detection signals to the controller; and when the target reaches the target position, the controller stops outputting the reverse signal, controls the intermediate relay to cut off a signal transmission line between the PWM signal and the half-bridge driving chip, and controls the direct current motor to stop.

6. The target machine of claim 1, wherein the battery sampling circuit comprises two voltage dividing resistors, and the two voltage dividing resistors are connected in series and then connected between the positive and negative poles of the battery pack; the middle node of the two divider resistors is connected with the analog-to-digital conversion interface of the controller and is connected with the system ground through a voltage stabilizing diode.

7. The drone of any one of claims 1 to 6, further comprising:

the wireless communication module is connected with the controller and is used for wirelessly transmitting the area and the number of rings where the shooting points are located;

and the panel control display is in wireless communication with the wireless communication module, receives the area where the shooting point is located and the number of rings and displays the area.