CN216620831U - Multi-mode target scoring system capable of achieving trackless movement - Google Patents
Multi-mode target scoring system capable of achieving trackless movement Download PDFInfo
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- CN216620831U CN216620831U CN202123071635.5U CN202123071635U CN216620831U CN 216620831 U CN216620831 U CN 216620831U CN 202123071635 U CN202123071635 U CN 202123071635U CN 216620831 U CN216620831 U CN 216620831U
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- 238000010304 firing Methods 0.000 claims description 9
- 238000012549 training Methods 0.000 abstract description 13
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
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- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 239000003381 stabilizer Substances 0.000 description 1
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- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model belongs to the field of small arms shooting training, in particular to a trackless moving multi-mode target scoring system, which comprises: the target vehicle comprises a target vehicle body, a target vehicle main control board, a communication module, a laser tracking module, a laser detection sensing module, a radar module, a GPS navigation module and a target system, wherein the communication module, the laser tracking module, the laser detection sensing module, the radar module, the GPS navigation module and the target system are connected with the target vehicle main control board; the radar module, the laser detection sensing module and the laser tracking module are all arranged on two sides of the front side shell and the rear side shell of the target car. The system has the advantages that the ground white line is identified through the built-in laser tracking module, the radar module and the laser detection sensing module, reciprocating advancing of A-B points and automatic obstacle avoidance are realized under the condition that a fixed track is not laid, a planned path can be edited through control software, positioning and advancing along a track are realized by means of the built-in GPS navigation module, trackless movement can be realized through remote control, and meanwhile, the system also has various shooting modes.
Description
Technical Field
The utility model belongs to the field of small arms shooting training, and particularly relates to a trackless moving multi-mode target scoring system.
Background
The movable target car is an indispensable training device for shooting training subjects, most of the existing movable target cars advance on a track, a steel fixed track needs to be preset, the requirement on the field is high, the field solidification is easy to corrode due to wind, water and rain, the movable target car is difficult to use in field standing and training, a target can only advance in a fixed track reciprocating mode, and the shooting training actual combat level is difficult to improve. Present remote control target car shooting mode is comparatively single, only possesses the firing practice mode, does not have at present at home to remove target elevation precision laser shooting target scoring equipment moreover, can't remove target laser simulation shooting training. Therefore, there is a need to design a scoring system that can be used in multiple shooting modes without the need for rail movement.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a multi-mode target scoring system for realizing trackless movement, which comprises three maneuvering modes, namely, a ground white line can be identified through a built-in laser tracking module, a radar module and a laser detection sensing module, reciprocating advancing of A-B points and automatic obstacle avoidance can be realized under the condition of not laying a fixed track, a planned path can be edited through control software, positioning and planned advancing along a track are carried out by depending on a GPS navigation module, and trackless movement can be realized through remote control; the front wheels of the target vehicle are directional wheels, the rear wheels of the target vehicle are universal wheels with 90 degrees, the friction force of the front wheels is large, the off-road property is strong, the mobility of the rear wheels is strong, and the target vehicle is universal steering, so that the target vehicle is more flexible and faster; the utility model aims to provide two shooting target scoring modes in a target moving state, namely: a laser shooting target-scoring mode and a live-action shooting target-scoring mode, which are used for solving the problems of the existing target vehicle.
The technical scheme adopted by the utility model for realizing the purpose is as follows: the utility model provides a realize multi-mode target scoring system of trackless removal, locates on the target car, includes: the target vehicle comprises a target vehicle main control board, and a communication module, a laser tracking module, a laser detection sensing module, a radar module, a GPS navigation module and a target system which are connected with the target vehicle main control board;
the radar module, the laser detection sensing module and the laser tracking module are symmetrically arranged on the front side shell and the rear side shell of the target car.
The target system is a laser shooting function module, and comprises: target, installation fish-eye camera's image acquisition treater, wireless wifi module.
The image acquisition processor provided with the fisheye camera is arranged on an upper panel at the top of the target car, the target is arranged on the upper panel of the target car, and the view field direction of the image acquisition processor provided with the fisheye camera is opposite to the target;
the image acquisition processor of installation flake camera is connected with wireless wifi module to realize for hit-in terminal wireless communication.
The target is a common target plate and is arranged at the center of the upper panel of the target vehicle, the image acquisition processor provided with the fisheye camera is arranged at one end of the upper panel of the target vehicle in the advancing direction, and the target surface of the target is arranged opposite to the view field direction of the image acquisition processor provided with the fisheye camera.
The target system is a live-action firing function module, and comprises: the device comprises a target, a conductive target reporting module, a LoRa communication control board, a motor drive board and a rotating motor;
the conductive target reporting module, the LoRa communication control board, the motor drive board and the rotating motor are arranged in a shell of the target car; the output end of the rotating motor is exposed out of the upper panel of the target vehicle and is connected with the target,
the conductive target is connected with the LoRa communication control board through a conductive target reporting module; the LoRa communication control board is in wireless communication with the target reporting terminal;
the LoRa communication control board passes through the motor drive board and is connected with the rotating electrical machines to drive the rotating electrical machines and drive the target and realize rotating.
The target is a conductive target plate, is arranged at the center of the upper panel of the target vehicle and is rotationally connected with the rotating motor.
The two radar modules are arranged and symmetrically arranged at two corners of the top of the front side shell and the rear side shell of the target car body;
the laser tracking modules are two laser diffuse reflection sensors and are symmetrically arranged on the front side shell and the rear side shell;
the laser detection sensing modules are two infrared obstacle avoidance sensors and are symmetrically arranged at two corners of the bottom of the front side shell and the bottom of the rear side shell of the target car.
The laser tracking module is a laser diffuse reflection sensor and is symmetrically arranged on two sides of the central point of the front side shell and the rear side shell.
The front wheels of the target car are two and are directional wheels, and the rear wheels of the target car are two and are 90-degree universal wheels.
Still include the power supply unit, the power supply unit includes: the radar system comprises a first transformer, a second transformer, a third transformer and a radar controller;
the input end of the first transformer is connected with a power supply, and the output end of the first transformer is respectively connected with the radar controller and the second transformer and is connected with a driving motor of a front wheel of the target vehicle through a server;
the radar controller is respectively connected with each radar module; the second transformer is connected with the target vehicle main control panel;
and the third transformer is connected with a driving motor of the rear wheel of the target vehicle through a server.
And the second transformer is also connected with an anti-reverse diode to prevent reverse current from being generated.
The utility model has the following beneficial effects and advantages:
1. the ground white line can be identified through the built-in laser tracking module, the radar module and the laser detection sensing module, and the reciprocating advance and automatic obstacle avoidance of the A-B point are realized under the condition that a fixed track is not laid; the planned path can be edited through control software, and the navigation system can be positioned and plan to advance along the track by relying on a GPS navigation module; the rail-free movement can be realized through remote control, and the device is not limited by a training field and a training mode.
2. The target vehicle is provided with two front wheels which are directional wheels, two rear wheels which are 90-degree universal wheels, the two directional wheels of the front wheels have large friction force and strong off-road property, and the two universal wheels of the rear wheels are universal steering, so that the target vehicle has higher traveling speed and more agile and flexible steering.
3. The utility model has the high-precision laser shooting target-scoring mode and the ball firing target-scoring mode of the moving target, enriches the shooting experience and has strong practicability. The laser shooting target scoring mode is suitable for teaching, training and examination, targets can be replaced according to actual training requirements, the precision of high-precision laser shooting target scoring for moving targets is high, the deviation rectifying capability is strong, the shooting level can be quickly improved, and the method is safe and reliable; the practice shooting target-reporting mode can match various target types such as a chest target and a humanoid entity target through the conductive target, and the actual combat shooting situation is really restored.
4. The laser shooting target-scoring mode of the utility model realizes the high-precision laser target scoring of the moving target by utilizing the image acquisition processor provided with the fisheye camera, the fisheye camera is utilized to acquire the target image in real time, the image processing system calculates the shooting result, and the information is rapidly transmitted through the wireless AP on the wireless wifi module, so that the target scoring is precise.
5. The utility model adopts the conductive target to report the live ammunition shooting target, and can report various target types such as chest targets and humanoid entity targets through different target plates.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a functional block system architecture diagram of the present invention;
FIG. 3 is a wiring diagram of the power supply unit of the present invention;
the system comprises a laser tracking module 1, a radar module 2, a laser detection sensing module 3, a target system 4, a target 401, an image acquisition processor 402 for installing a fisheye camera, a front wheel 5, a rear wheel 6, a control panel 7 and an emergency stop switch 8, wherein the laser tracking module 2, the laser detection sensing module 3, the image acquisition processor 401, the front wheel, the rear wheel, the control panel 7 and the emergency stop switch 8 are connected in sequence.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example (b):
as shown in fig. 1 and 2, the present invention is a schematic structural diagram and a functional module system architecture diagram, the present invention is configured on a target vehicle body through wireless communication between an antenna on the target vehicle and a remote control device, and the target vehicle includes: the target vehicle comprises a target vehicle main control board, and a communication module, a laser tracking module 1, a laser detection sensing module 3, a radar module 2, a GPS navigation module and a target system 4 which are connected with the target vehicle main control board;
the target vehicle main control board, the communication module, the laser tracking module 1, the laser detection sensing module 3, the radar module 2, the GPS navigation module and the target system 4 are all arranged on the target vehicle body;
the target vehicle main control board is in wireless communication with the remote control device through the antenna.
The target car body in this embodiment includes: a front panel, a rear panel, a side panel, an upper panel, a chassis, a traveling device and a control panel 7;
the front panel, the rear panel, the side panels, the upper panel and the chassis form a vehicle body shell of the target vehicle body, and the traveling device, the GPS navigation module, the communication module and the target vehicle main control panel are all arranged on the chassis; the target vehicle main control board is connected with the power supply circuit to receive the electric quantity provided by the power supply;
the power supply circuit is connected with the walking device to provide electric quantity for the running of the walking device; the target vehicle main control board is connected with the traveling device to control the traveling device to operate;
the radar module 2, the laser detection sensing module 3 and the laser tracking module 1 are arranged on the front panel and the rear panel;
the target vehicle antenna and the target system 4 are both arranged on the upper panel; an emergency stop switch 8 is arranged on a certain vertex angle of the upper panel close to the rear panel, and the emergency stop switch 8 is connected with the main control panel of the target car.
The control panel 7 is embedded on the side panel and is connected with the main control panel of the target vehicle.
The target system 4 is a laser shooting functional module, including: target 401, image acquisition processor 402 with fish-eye camera installed, wireless wifi module.
The image acquisition processor 402 provided with the fisheye camera is arranged at the front end of the upper panel of the target vehicle, the target 401 is arranged at the center of the upper panel of the target vehicle, the field directions of the two are oppositely arranged, and the image acquisition processor 402 provided with the fisheye camera is connected with an independent wireless wifi module;
the target system 4 is a live-action firing function module, and comprises: electrically conductive target, electrically conductive hit-in module, loRa communication control board, motor drive board.
The conductive target reporting module, the LoRa communication control board and the motor drive board are arranged in a vehicle body shell of the target vehicle body;
the conductive target is connected with the LoRa communication control board through a conductive target reporting module; the LoRa communication control panel and target-scoring terminal wireless communication.
The target 401 in the laser shooting target scoring module is a common target plate, the image acquisition processor 402 provided with the fisheye camera and the target 401 are arranged on the upper panel of the target car, the target 401 is arranged at the center of the upper panel of the target car, and the target surface of the target 401 and the view field direction of the image acquisition processor 402 provided with the fisheye camera are oppositely arranged; the image acquisition processor 402 provided with the fisheye camera is connected with an independent wireless wifi module; the target 401 in the firing practice target reporting module is a conductive target plate and is arranged at the center of the upper panel of the target vehicle.
The radar module 2 is respectively arranged at the symmetrical positions of the upper left corner and the upper right corner of the front panel right in front of the main body structure of the device, and the radar module 2 adopts an ultrasonic sensor; wherein, 45 below the radar module, namely: the cross center of a front panel right in front of a target vehicle main body is a central point, and two symmetrical parts respectively extending to the left side edge and the right side edge by the central point are respectively provided with a laser tracking module 1, wherein a laser diffuse reflection sensor is adopted in the embodiment;
the front panel bottom directly ahead of target car major structure, promptly: the symmetrical positions of the left lower corner and the right lower corner are respectively provided with a laser detection sensing module 3; in the embodiment, the laser detection sensing module 3 adopts an infrared obstacle avoidance sensor;
the rear panel at the rear is also provided with a radar module 2, a laser tracking module 1 and a laser detection sensing module 3 at the same position.
Any side panel department is provided with control panel 7, and control panel 7 includes: the target vehicle control system comprises an electric quantity display, a power switch, a USB port, a network port, a charging socket, a work indicator lamp and a reset key, which are all connected with a target vehicle main control panel;
running gear of target car includes: the target vehicle comprises a target vehicle front wheel 5, a target vehicle rear wheel 6, a front wheel servo motor, a rear wheel servo motor, a servo driver A and a servo driver B;
the number of the front wheel servo motors is two, the input end of each front wheel servo motor is connected with the servo driver A, and the output end of each front wheel servo motor is connected with the front wheel 5 of the target vehicle;
the two rear wheel servo motors are provided, the input ends of the two rear wheel servo motors are connected with the servo driver B, and the output ends of the two rear wheel servo motors are connected with the rear wheels 6 of the target vehicle;
the front wheel servo motor and the rear wheel servo motor are respectively connected with a front wheel 5 and a rear wheel 6 of the target vehicle;
the front wheel servo motor and the rear wheel servo motor are both connected with the target vehicle main control board and the power supply circuit.
The target car sets up two target car front wheels 5, and the front wheel is directional wheel, sets up two target car rear wheels 6, and the rear wheel is 90 universal wheels, and two directional wheel frictional force of target car front wheel 5 are big, and the cross-country nature is strong, and two universal wheels of target car rear wheel 6 omnipotent turn to, have more the flexibility, and mobility is strong, and the two cooperation makes the target car speed of travel faster, turn to more nimble.
As shown in fig. 3, which is a wiring diagram of the power supply circuit of the present invention, the present embodiment further includes a power supply unit, and the power supply unit includes: the radar system comprises a first transformer, a second transformer, a third transformer and a radar controller;
the input end of the first transformer is connected with a power supply, and the output end of the first transformer is respectively connected with the radar controller, the second transformer and the servo driver A through the junction box;
the radar controller is respectively connected with each radar module; the second transformer is connected with the main control panel;
and the third transformer is connected with the two servo drivers B through the junction box.
The servo driver A and the servo driver B are also connected with a direct current voltage transformation device, namely a voltage stabilizer; an anti-reverse diode is connected to the second transformer to prevent reverse current from being generated.
The working principle of the utility model is as follows:
when the system is used, a switch of the target vehicle on the control panel 7 is turned on, so that the system can be combined with an infrared obstacle avoidance sensor of the laser detection sensing module 3 and an ultrasonic sensor of the radar module 2 by utilizing the principle that a built-in laser detection sensing module 3, a radar module 2 and a laser tracking module 1 on the target vehicle form high and low level signals by utilizing the difference of the laser diffuse reflection sensor of the laser tracking module 1 on the ground reflected laser intensity, and the reciprocating travel and the automatic obstacle avoidance of the A-B points are realized on the premise of not laying a track; the planned path can also be edited by control software, and the target vehicle is positioned by a built-in GPS navigation module and travels along the planned path; meanwhile, the target vehicle can be controlled by a remote control device, the advancing direction of the target vehicle can be adjusted at will, and the track-free movement of the advancing path is realized.
The utility model comprises two shooting target-scoring modes under a moving target:
laser shooting target-scoring mode: according to the utility model, the image acquisition processor 402 provided with the fisheye camera is applied to a laser shooting target-reporting mode, the image acquisition processor 402 provided with the fisheye camera is supported on an upper panel right above a target vehicle, the lower part of the target 401 is arranged opposite to the visual field direction of the target 401, the type of the target 401 can be changed according to the requirement of training lessons, embedded image acquisition and processing software is arranged in the image acquisition processor 402 provided with the fisheye camera, the fisheye camera acquires target images in real time, the embedded image acquisition and processing software calculates shooting results and quickly returns information to a target-reporting terminal through a wireless AP on a wireless wifi module, the real-time target surface images and simulation images are displayed on the same screen, high-precision laser target-reporting under a moving target is realized, and the target-reporting effect is real, accurate and reliable.
Firing practice target reporting mode: electrically conductive target plate is applied to firing practice shooting target mode, utilizes the electrically conductive characteristic of electrically conductive target to report the target, and electrically conductive target plate is hit in the twinkling of an eye by the bullet, constitutes the return circuit between two-layer aluminium foil in the target plate and the bullet body, and then the signal of telecommunication of production to give electrically conductive target reporting module with signal of telecommunication send, electrically conductive target reporting module forms the message and sends to loRa communication control panel, and loRa communication control panel passes through digital-to-analog conversion, gives the target terminal realization target reporting with the target information transmission. Target-reporting terminal transmission control instruction is implemented through loRa communication control panel, and the target type can be changed according to training course demand, like chest target, humanoid entity target.
The present invention is described with reference to method flow diagrams according to embodiments of the application. It will be understood that each flow in the flow diagrams can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a realize multi-mode indication of shots system of trackless removal, locates on the target car which characterized in that includes: the system comprises a target vehicle main control board, and a communication module, a laser tracking module (1), a laser detection sensing module (3), a radar module (2), a GPS navigation module and a target system which are connected with the target vehicle main control board;
the radar module (2), the laser detection sensing module (3) and the laser tracking module (1) are symmetrically arranged on a front side shell and a rear side shell of the target car.
2. A trackless mobile multi-mode hit-reporting system as claimed in claim 1, wherein the target system (4) is a laser firing function module comprising: the system comprises a target (401), an image acquisition processor (402) provided with a fisheye camera, and a wireless wifi module;
the image acquisition processor (402) provided with the fisheye camera is arranged on an upper panel at the top of the target vehicle, the target (401) is arranged on the upper panel of the target vehicle, and the view field direction of the image acquisition processor (402) provided with the fisheye camera is opposite to that of the target (401);
the image acquisition processor (402) provided with the fisheye camera is connected with the wireless wifi module to realize wireless communication of the target reporting terminal.
3. The trackless mobile multi-mode hit-scoring system according to claim 2, wherein the target (401) is a common target board, and is disposed at the center of the upper panel of the target car, the image capture processor (402) for installing the fisheye camera is disposed at one end of the advancing direction of the upper panel of the target car, and the target surface of the target (401) and the view field direction of the image capture processor (402) for installing the fisheye camera are disposed opposite to each other.
4. A trackless mobile multi-mode hit-reporting system as claimed in claim 1, wherein the target system (4) is a live firing function module, comprising: the target (401), the conductive target scoring module, the LoRa communication control board, the motor drive board and the rotating motor;
the conductive target scoring module, the LoRa communication control board, the motor drive board and the rotating motor are arranged in a shell of the target car; the output end of the rotating motor is exposed out of the upper panel of the target vehicle and is connected with the target,
the target (401) is connected with the LoRa communication control board through a conductive target reporting module; the LoRa communication control board is in wireless communication with the target reporting terminal;
the LoRa communication control board passes through the motor drive board and is connected with the rotating electrical machines to drive the rotating electrical machines and drive the target and realize rotating.
5. The trackless mobile multi-mode hit-reporting system of claim 4, wherein the target (401) is a conductive target plate and is disposed at the center of the upper panel of the target vehicle and is rotatably connected to the rotating motor.
6. The trackless mobile multi-mode target scoring system is characterized in that the radar modules (2) are ultrasonic sensors and are provided with two radar modules, and the two radar modules are symmetrically arranged at two top corners of a front side shell and a rear side shell of a target car body;
the laser tracking modules (1) are laser diffuse reflection sensors and are arranged in two numbers, and the laser tracking modules are symmetrically arranged on the front side shell and the rear side shell;
the laser detection sensing modules (3) are infrared obstacle avoidance sensors, are provided with two laser detection sensing modules, and are symmetrically arranged at two corners of the bottom of the front side shell and the bottom of the rear side shell of the target car.
7. A trackless mobile multi-mode target scoring system according to claim 6, characterized in that the laser tracking modules (1) are laser diffuse reflection sensors symmetrically arranged on both sides of the center point of the front and rear housings.
8. A multi-mode hit-reporting system for trackless movement as claimed in claim 1, wherein there are two front wheels (5) of the target vehicle, which are directional wheels, and two rear wheels (6) of the target vehicle, which are 90 ° universal wheels.
9. The system of claim 1, further comprising a power unit, wherein the power unit comprises: the radar system comprises a first transformer, a second transformer, a third transformer and a radar controller;
the input end of the first transformer is connected with a power supply, and the output end of the first transformer is respectively connected with the radar controller and the second transformer and is connected with a driving motor of a front wheel of the target vehicle through a server;
the radar controller is respectively connected with each radar module; the second transformer is connected with the target vehicle main control panel;
and the third transformer is connected with a driving motor of the rear wheel of the target vehicle through a server.
10. A trackless movement-enabling multi-mode hit-reporting system as claimed in claim 9, wherein an anti-reverse diode is further connected to the second transformer to prevent reverse current from being generated.
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| CN202123071635.5U CN216620831U (en) | 2021-12-09 | 2021-12-09 | Multi-mode target scoring system capable of achieving trackless movement |
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| CN202123071635.5U CN216620831U (en) | 2021-12-09 | 2021-12-09 | Multi-mode target scoring system capable of achieving trackless movement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115077307A (en) * | 2022-07-13 | 2022-09-20 | 河北砺兵科技有限责任公司 | Multi-mode automatic target-reporting target drone and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115077307A (en) * | 2022-07-13 | 2022-09-20 | 河北砺兵科技有限责任公司 | Multi-mode automatic target-reporting target drone and method |
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Effective date of registration: 20240117 Address after: 101123 No. 9 Taihu Street, Taihu Town, Tongzhou District, Beijing Patentee after: CHINESE PEOPLE'S LIBERATION ARMY AVIATION College Address before: 110179 No. 5-3, Shiji Road, Hunnan District, Shenyang City, Liaoning Province (1618) Patentee before: Shenyang Zhongke Zhisheng Technology Co.,Ltd. |