WO2020150906A1 - 射击装置、射击控制方法及射击机器人 - Google Patents

射击装置、射击控制方法及射击机器人 Download PDF

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Publication number
WO2020150906A1
WO2020150906A1 PCT/CN2019/072707 CN2019072707W WO2020150906A1 WO 2020150906 A1 WO2020150906 A1 WO 2020150906A1 CN 2019072707 W CN2019072707 W CN 2019072707W WO 2020150906 A1 WO2020150906 A1 WO 2020150906A1
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WO
WIPO (PCT)
Prior art keywords
piston
shooting
rack
trigger signal
completed
Prior art date
Application number
PCT/CN2019/072707
Other languages
English (en)
French (fr)
Inventor
宋强
梁健航
韩家斌
梁贵彬
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/072707 priority Critical patent/WO2020150906A1/zh
Priority to CN201980005394.0A priority patent/CN111315455A/zh
Publication of WO2020150906A1 publication Critical patent/WO2020150906A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F9/00—Games not otherwise provided for
    • A63F9/02—Shooting or hurling games
    • A63F9/0252—Shooting devices therefor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F9/00—Games not otherwise provided for
    • A63F9/02—Shooting or hurling games
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41B—WEAPONS FOR PROJECTING MISSILES WITHOUT USE OF EXPLOSIVE OR COMBUSTIBLE PROPELLANT CHARGE; WEAPONS NOT OTHERWISE PROVIDED FOR
    • F41B11/00—Compressed-gas guns, e.g. air guns; Steam guns
    • F41B11/60—Compressed-gas guns, e.g. air guns; Steam guns characterised by the supply of compressed gas
    • F41B11/64—Compressed-gas guns, e.g. air guns; Steam guns characterised by the supply of compressed gas having a piston effecting a compressor stroke during the firing of each shot
    • F41B11/642—Compressed-gas guns, e.g. air guns; Steam guns characterised by the supply of compressed gas having a piston effecting a compressor stroke during the firing of each shot the piston being spring operated
    • F41B11/643—Compressed-gas guns, e.g. air guns; Steam guns characterised by the supply of compressed gas having a piston effecting a compressor stroke during the firing of each shot the piston being spring operated the piston being arranged concentrically with the barrel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41B—WEAPONS FOR PROJECTING MISSILES WITHOUT USE OF EXPLOSIVE OR COMBUSTIBLE PROPELLANT CHARGE; WEAPONS NOT OTHERWISE PROVIDED FOR
    • F41B7/00—Spring guns
    • F41B7/08—Toy guns, i.e. guns launching objects of the gliding type, e.g. airplanes, parachute missiles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F9/00—Games not otherwise provided for
    • A63F9/02—Shooting or hurling games
    • A63F9/0252—Shooting devices therefor
    • A63F2009/0265—Shooting devices therefor using resilient elements
    • A63F2009/0273—Catapults

Definitions

  • This application relates to the field of shooting technology, in particular to a shooting device, a shooting control method and a shooting robot.
  • Shooting device is a device that shoots projectiles, which can be used in a variety of scenes such as entertainment and competition.
  • some existing shooting devices perform shooting by manually pressing the switch to close the switch, and stop pressing the switch to stop shooting, and the time of manual pressing is uncertain. Therefore, the position where the piston stops after the shooting is completed has great uncertainty, resulting in a large difference between each shooting, and the shooting cannot be performed stably according to the user's expectations, which brings a bad user experience to the user.
  • the application provides a shooting device, shooting control method and shooting robot for stable shooting.
  • a shooting device including: a barrel with a muzzle; a piston, slidably arranged at one end of the barrel relative to the muzzle, for driving projectiles by the gun
  • a drive assembly used to drive the piston to slide away from the muzzle
  • a control device which is electrically connected to the drive assembly, and used to control the movement of the drive assembly
  • the control device includes: The detecting element is arranged on the sliding path of the piston and is used for detecting the piston; the controller is respectively electrically connected with the detecting element and the driving assembly, and is used when the detecting element detects the piston , Control the movement of the drive assembly so that the piston is at the set position after the shooting is completed.
  • a shooting control method for controlling the shooting of a shooting device.
  • the shooting control method includes: detecting a piston through a detection element provided on a sliding path of the piston. To drive the projectile to shoot out; and when the piston is detected, control the movement of the drive assembly so that the piston is located at a set position after the shooting is completed.
  • a shooting robot includes a chassis, a power mechanism installed on the chassis and used to drive the chassis to move, and a shooting device.
  • the detection element of the control device of the shooting device of the present application can detect the piston, and the controller can control the movement of the drive assembly when the detection element detects the piston, so that the piston is located at the set position after the shooting is completed, which can be performed stably according to the user's expectations Shoot to improve user experience.
  • Figure 1 is a side view of the internal structure of an embodiment of the shooting device of the application.
  • Fig. 2 is a perspective schematic view of a part of the structure of the shooting device shown in Fig. 1.
  • Fig. 3 is a perspective view of the piston and the manipulation device of the shooting device shown in Fig. 1.
  • Fig. 4 is a partial enlarged view of the shooting device described in Fig. 2.
  • Fig. 5 is a schematic side view of the control device shown in Fig. 3.
  • Fig. 6 is a schematic side view showing part of the structure of the shooting device shown in Fig. 1.
  • Fig. 7 is a three-dimensional schematic diagram of the gun housing and the control device of the shooting device shown in Fig. 1.
  • Fig. 8 is a perspective schematic view of the gear set of the shooting device shown in Fig. 2.
  • the shooting device of the embodiment of the present application includes a barrel, a piston, a drive assembly and a control device.
  • the barrel has a muzzle.
  • the piston is slidably arranged at one end of the barrel opposite to the muzzle, and is used to drive the projectile to be ejected from the muzzle.
  • the drive assembly is used to drive the piston to slide away from the muzzle.
  • the control device is electrically connected with the drive assembly for controlling the movement of the drive assembly.
  • the control device includes a detection element and a controller.
  • the detecting element is arranged on the sliding path of the piston and used for detecting the piston.
  • the controller is respectively electrically connected with the detecting element and the driving assembly, and is used for controlling the movement of the driving assembly when the detecting element detects the piston, so that the piston is located at the set position after the shooting is completed.
  • the detection element of the control device of the shooting device can detect the piston, and the controller can control the movement of the drive assembly when the detection element detects the piston, so that the piston is located at the set position after the shooting is completed.
  • the embodiment of the present application uses a controller to make the movement of the piston controllable, avoiding the uncertainty of the pressing time in manual control and the actual number of shots.
  • the embodiment of the present application can make the shooting device stably shoot according to the user's expectation, and improve the user experience.
  • the shooting control method of the embodiment of the present application is used to control the shooting of a shooting device.
  • the shooting control method includes detecting the piston through a detecting element arranged on the sliding path of the piston, and the piston is used to drive the projectile to shoot out.
  • the shooting control method further includes controlling the movement of the driving assembly when the piston is detected, so that the piston is located at a set position after the shooting is completed.
  • the shooting robot in the embodiment of the present application includes a chassis, a power mechanism installed on the chassis and used to drive the chassis to move, and the shooting device described above.
  • FIG. 1 is a side view of the internal structure of an embodiment of the shooting device 10.
  • FIG. 2 is a schematic perspective view of a part of the structure of the shooting device 10 shown in FIG. 1.
  • the shooting device 10 may include, but is not limited to, a toy gun (for example, a toy water gun), a shooting device of a competitive robot, or other devices that emit projectiles.
  • the projectile may be spherical, and may be made of a material with a certain hardness and light weight such as plastic, such as a water bomb.
  • the size, size and weight of the projectiles are basically the same, so that the shooting device 10 has better accuracy and consistency when shooting projectiles.
  • the shooting device 10 includes a barrel 20, a piston 30, a driving assembly 40 and a manipulation device 50.
  • the barrel 20 has a muzzle 21 from which projectiles are fired.
  • the barrel 20 has a hollow structure, and an end of the barrel 20 opposite to the muzzle 21 is formed with a push port 22, and the push port 22 is in communication with the muzzle 21.
  • the barrel 20 is also formed with a bullet inlet 23 communicating with the muzzle 21 and the pushing opening 22, and the bullet inlet 23 may be substantially perpendicular to the muzzle 21 and the pushing opening 22.
  • the projectile can enter the barrel 20 from the bullet inlet 23.
  • the barrel 20 may include a launching tube 24 and an inlet tube 25 communicating with the launching tube 24.
  • the muzzle 21 and the pushing port 22 are arranged at opposite ends of the launching tube 24.
  • the inlet 23 is formed in the shooting tube 25 away from the launching tube. 24 at one end.
  • the launch tube 24 and the bomb inlet tube 25 may form a three-way tube structure.
  • the shooting device 10 includes a plucking mechanism 60 assembled above the bullet inlet 23 and a plucking plate 70 arranged above the plucking mechanism 60.
  • the plucking plate 70 can hold projectiles, and the plucking mechanism 60 can The projectile is moved to the bullet inlet 23 and can fall into the barrel 20.
  • the piston 30 is slidably arranged at one end of the barrel 20 opposite to the muzzle 21, and is used to drive projectiles to be ejected from the muzzle 21.
  • One end of the piston 30 is inserted into the barrel 20 through the pushing port 22 to push the projectile.
  • FIG. 3 shows a three-dimensional schematic diagram of the piston 30 and the manipulation device 50.
  • the piston 30 includes a primary piston 32 and a secondary piston 33 partially housed in the primary piston 32, and the secondary piston 33 can move relative to the primary piston 32.
  • the primary piston 32 can move relative to the barrel 20.
  • the secondary piston 33 is assembled on the end of the primary piston 32 away from the barrel 20.
  • the piston 30 has a rack.
  • the rack includes a first rack 321 provided on the primary piston 32 and a second rack 331 provided on the secondary piston 33.
  • the length of the second rack 331 may be longer than the length of the first rack 321, and the number of teeth of the second rack 331 may be more than the number of teeth of the first rack 321.
  • the secondary piston 33 may be longer than The displacement of the primary piston 32 sliding in the direction away from the muzzle 21 is longer. Therefore, after the primary piston 32 moves away from the muzzle 21, the secondary piston 33 can continue to move away from the muzzle 21.
  • the rack may also include a first rack 321 provided on the first-stage piston 32 or a second rack 331 provided on the second-stage piston 33, so as to drive only the first-stage piston 32 Or the secondary piston 33 moves to achieve the firing of the projectile.
  • the first-stage piston 32 is partially arranged in the barrel 20, and one end of the first-stage piston 32 blocks the bullet inlet 23.
  • the first-stage piston 32 is formed with a pushing portion 322 near the front end of the barrel 20.
  • the pushing portion 322 is inserted into the barrel 20 through the pushing port 22.
  • the compression is generated by the relative movement of the first-stage piston 32 and the second-stage piston 33 in the piston 30.
  • the gas can be ejected from the port of the pushing part 322 for pushing the projectile.
  • the first-stage piston 32 slides away from the muzzle 21 until the front end of the pushing part 322 is located behind the bullet inlet tube 25, so that the bullet inlet 23 is not blocked, so that the projectile can enter the launching tube 24, and when the first-stage piston When 32 moves in the direction of the muzzle 21, the pushing part 322 of the first-stage piston 32 hinders the communication between the inlet tube 25 and the barrel 20, thereby blocking the inlet 23, while the second-stage piston 33 moves in the direction of the muzzle 21 At this time, the gas between the first-stage piston 32 and the second-stage piston 33 is compressed, and the compressed gas is sent out from the pushing part 322, so that the projectile can be pushed. In this way, the normal loading and firing of the projectile can be realized.
  • the shooting device further includes a secondary elastic member 81, and the secondary elastic member 81 abuts against the secondary piston 33 for driving the secondary piston 33 to slide in a direction close to the muzzle 21.
  • a cavity 332 is provided in the secondary piston 33, and the secondary elastic member 81 is partially received in the cavity 332.
  • the secondary elastic member 81 abuts on an end of the secondary piston 33 away from the primary piston 32.
  • a cavity 332 is recessed inward at one end of the secondary piston 33 away from the primary piston 32, and the cavity 332 can limit the secondary elastic member 81.
  • the shooting device further includes a primary elastic member 82, which is connected to the front end of the primary piston 32 and may be a tension spring for driving the primary piston 32 to slide in a direction close to the muzzle 21, so that the primary The pushing portion 322 of the piston 32 blocks the bullet inlet 23.
  • a primary elastic member 82 which is connected to the front end of the primary piston 32 and may be a tension spring for driving the primary piston 32 to slide in a direction close to the muzzle 21, so that the primary The pushing portion 322 of the piston 32 blocks the bullet inlet 23.
  • the driving assembly 40 is used to drive the piston 30 to slide in a direction away from the muzzle 21 to make the secondary elastic member 81 and the primary elastic member 82 elastically deform.
  • the driving assembly 40 is in transmission connection with the piston 30, and the driving piston 30 moves in a direction away from the muzzle 21, after which the driving assembly 40 separates from the piston 30 and the driving ends, the elastically deformed secondary elastic member 81 and the primary elastic member 82 Move the piston 30 in the direction of the muzzle 21, so that the secondary piston 33 moves relative to the primary piston 32, and compresses the gas in the containing space formed by the primary piston 32 and the secondary piston 33, and then pushes the projectile to complete One shot.
  • the primary piston 32 when the driving assembly 40 drives the piston 30 to move away from the muzzle 21, the primary piston 32 stretches the primary elastic member 82, and the secondary piston 33 compresses the secondary elastic member 81.
  • the bullet inlet tube 25 communicates with the barrel 20, and the projectile can enter the barrel through the bullet inlet 23.
  • the stretched first-stage elastic member 82 pulls the first-stage piston 32 toward the muzzle 21. In this way, the pushing portion 322 of the first-stage piston 32 can stop the bullet inlet 23, The projectile cannot enter the barrel 20, thereby stopping the filling of the projectile.
  • the compressed first and secondary elastic member 81 pushes the secondary piston 33 toward the muzzle 21, and the compressed gas formed by the piston 30 is pushed by the primary piston 32
  • the part 322 sends out to realize the firing of the projectile.
  • the movement stroke of the primary piston 32 is smaller than the movement stroke of the secondary piston 33. It can be understood that the movement of the primary piston 32 in a direction away from the muzzle 21 may also be independent of the drive assembly 40.
  • the driving assembly 40 may include a motor 41 and a gear part connected to the motor 41, and the motor 41 is used to drive the piston 30 to move through the gear part.
  • the driving assembly 40 drives the piston 30 to move
  • the rack of the piston 30 meshes with the gear part.
  • the rotating shaft of the motor 41 drives the gear portion, and the gear portion drives the rack to drive the piston 30 to move.
  • FIG. 4 is an enlarged view of a partial area 100 of the shooting device 10 shown in FIG. 2.
  • FIG. 5 shows a schematic side view of an embodiment of the manipulation device 50. 2-5, the control device 50 is electrically connected to the drive assembly 40 for controlling the movement of the drive assembly 40.
  • the manipulation device 50 includes a detection element 51 and a controller 52.
  • the detecting element 51 is arranged on the sliding path of the piston 30 and used for detecting the piston 30.
  • the controller 52 is respectively electrically connected with the detecting element 51 and the driving assembly 40, and is used for controlling the movement of the driving assembly 40 when the detecting element 51 detects the piston 30, so that the piston 30 is located at a set position after the shooting is completed.
  • the detection element 51 can detect the piston 30, and the controller 52 can control the movement of the drive assembly 40 when the detection element 51 detects the piston 30, so that the piston 30 is located at a set position after the shooting is completed.
  • the controller 52 can plan the movement of the driving assembly 40 so that the piston 30 can move to a set position after the shooting is completed, so that the movement of the piston 30 can be controlled.
  • the embodiment of the present application uses a controller to make the movement of the piston controllable, avoiding the uncertainty of the pressing time in manual control and the actual number of shots. For the problem of inconsistency in the number of shots desired by the user, the embodiment of the present application enables the shooting device 10 to stably shoot according to the user's desire, thereby improving user experience.
  • the control device 50 further includes a circuit board 53, and the controller 52 and the detection element 51 are arranged on the circuit board 53, as shown in FIG. 5.
  • the circuit board 53 may be a PCB board, and the controller 52 may be a microprocessor.
  • the circuit board 53 can also be provided with peripheral circuits electrically connected to the controller 52, such as a power supply circuit, a motor drive circuit, and/or other circuits, which can be designed according to actual applications.
  • the detection element 51 may be arranged on the edge of the circuit board 53.
  • the detection element 51 is separated from the piston 30 during the sliding of the piston 30 for non-contact detection of the piston 30.
  • the non-contact detection of the detection element 51 can avoid sliding of the piston 30 influences.
  • the detection element 51 includes a photodetection element, and the photodetection element includes a light transmitter 511 and a light receiver 512 disposed opposite to the light transmitter 511.
  • the light receiver 512 is electrically connected to the controller 52 for When the piston 30 slides between the light transmitter 511 and the light receiver 512, a trigger signal indicating that the piston 30 is detected is generated to the controller 52.
  • the controller 52 receives the trigger signal, it can control the drive assembly 40 to move according to the planned movement mode.
  • the optical transmitter 511 is used to transmit optical signals
  • the optical receiver 512 is used to receive the optical signals sent by the optical transmitter 511, and convert the optical signals into corresponding electrical signals.
  • the optical receiver 512 can receive the optical signal sent by the optical transmitter 511, and can generate a signal different from the trigger signal, such as a low-level signal.
  • the piston 30 slides between the light transmitter 511 and the light receiver 512, the piston 30 blocks the light signal from the light transmitter 511, and the light signal cannot reach the light receiver 512, and the light receiver 512 generates a trigger signal, such as a high level signal.
  • the photoelectric detection element includes an infrared pair tube, and the infrared pair tube includes an infrared emitter and an infrared receiver arranged opposite to the infrared emitter.
  • the optical transmitter 511 is an infrared transmitter
  • the optical receiver 512 is an infrared receiver.
  • the infrared transmitter can emit infrared rays
  • the infrared receiver can receive infrared rays to generate corresponding electrical signals.
  • the photodetection element may include a device that realizes detection through other light.
  • the detection element 51 may be roughly "U" shaped. As shown in FIGS. 3 and 5, in one embodiment, the detecting element 51 is formed with a first groove 513, and a light emitter 511 and a light receiver 512 are respectively provided on opposite inner side walls of the first groove 513. In another embodiment, a second groove is protrudingly provided on the circuit board 53, and the light emitter 511 and the light receiver 512 are respectively provided on the opposite side walls of the second groove.
  • the piston 30 includes a piston main body 34 and a baffle 35 protruding from the piston main body 34, and the baffle 35 moves relative to the photodetecting element 51.
  • the photodetection element 51 is used to generate a trigger signal when the baffle 35 moves between the light transmitter 511 and the light receiver 512.
  • the baffle 35 slides with the piston 30, and when the baffle 35 slides between the light transmitter 511 and the light receiver 512, the light signal is blocked, and the light receiver 512 generates a trigger signal.
  • the detecting element 51 is arranged on the sliding path of the secondary piston 33 for detecting the secondary piston 33.
  • the piston main body 34 is the main body of the secondary piston 33, and the baffle 35 is provided on the main body of the secondary piston 33.
  • the baffle 35 can slide into the first groove 513 or the second groove.
  • the baffle 35 protrudes from the rear end of the piston 30 away from the muzzle 31.
  • the baffle 35 is provided at the rear end of the secondary piston 33.
  • the baffle 35 may extend outward in the radial direction of the piston main body 34.
  • the piston 30 further includes a balance plate 36 protruding from the piston main body 34.
  • the balance plate 36 and the baffle 35 are radially symmetrically arranged with respect to the piston main body 34 to ensure the balance of the piston 30.
  • the shape and size of the balance plate 36 are basically the same as those of the baffle 35.
  • the balance plate 36 and the baffle 35 are symmetrically arranged at the rear end of the secondary piston 33.
  • the baffle 35 of the piston 30 when the baffle 35 of the piston 30 moves backward to the detection element 51, it can continue to move backward to the back of the detection element 51, and the baffle 35 passes the detection element 51 again when the piston 30 moves forward. In this way, the detection element 51 detects the piston 30 twice in one shot.
  • the "forward movement" points to the direction of the muzzle 21.
  • the controller 52 can determine the current shooting mode of the shooting device 10, detect the trigger signal according to the time rule corresponding to the shooting mode, and control the movement of the drive assembly 40 when the trigger signal is detected, so that the piston 30 is finished shooting The back is at the set position.
  • Shooting modes can include single shot shooting mode, multiple shot shooting mode, etc. Multiple shots can be triggered by the interactive device once, and the shooting device 10 continuously fires multiple shots.
  • the controller 52 may receive a signal representing the shooting mode sent by the interactive device, and determine the current shooting mode according to the signal.
  • the trigger signal is a pulse signal.
  • the detection element 51 detects the piston 30 twice in one shot
  • the detection is stopped, and the detection is restarted at the set detection interval until the next one is detected. Stop the detection when the signal is pulsed, and do so periodically.
  • the detected pulse signal is the trigger signal.
  • the detection interval time is greater than the duration from the start time of the first pulse signal to the end time of the second pulse signal in the two adjacent pulse signals, and is less than the period of the trigger signal (that is, the start time of the first pulse signal to the first pulse signal) The start time of the three pulse signals). This avoids repeated detection in a shot, and can avoid missed detection, thereby improving accuracy.
  • the trigger signal can be detected once according to the detection interval time set by the interval.
  • the controller 52 can continuously detect the trigger signal, and can detect the first pulse signal (for example, the piston 30 moves backwards).
  • the driving assembly 40 is controlled to move so that the piston 30 is located at the set position after the shooting is completed. Multi-shot shooting mode and/or single-shot shooting mode can use this method to detect trigger signals.
  • FIG. 6 shows a partial structural side view of the shooting device 10.
  • the shooting device 10 also includes a gun housing 90 assembled with a piston 30.
  • a guide rail 91 is formed in the gun housing 90 and the piston 30 moves along the guide rail 91.
  • the internal components such as the barrel 20, the piston 30, and the drive assembly 40 of the shooting device 10 can be assembled in the gun housing 90.
  • the gun shell 90 may include a plurality of assembled and spliced shells.
  • the secondary elastic member 81 can abut between the secondary piston 33 and the gun housing 90, and the primary elastic member 82 can be elastically connected between the primary piston 32 and the gun housing 90.
  • the guide rail 91 may extend laterally.
  • the light transmitter 511 and the light receiver 512 are located on opposite sides of the guide rail 91.
  • a first relief gap 911 and a second relief gap 912 are formed on both sides of the guide rail 91 corresponding to the positions of the light transmitter 511 and the light receiver 512 to make way for the light transmitter 511 and the light receiver 512 to avoid blocking the light transmitter 511 The light emitted.
  • the baffle 35 of the piston 30 slides along the guide rail 91 and can slide between the light transmitter 511 and the light receiver 512.
  • the piston 30 is assembled on the inside of the gun housing 90, and the circuit board 53 of the control device 50 is assembled on the outside of the gun housing 90.
  • the control device 50 has a great influence on the layout of the components in the gun housing 90. It is small, does not affect the movement of components such as the piston 30, is convenient to assemble, and is convenient to replace and maintain the control device 50.
  • the detection element 51 extends from the side of the circuit board 53 facing the gun housing 90 to the gun housing 90 and extends into the gun housing 90.
  • the guide rail 91 is formed inside the gun housing 90.
  • a shell (not shown) may be assembled on the outside of the gun shell 90 to cover the circuit board 53.
  • the gun housing 90 is provided with an opening 92
  • the width D of the opening 92 is not less than the width d of the opposite sides of the guide rail 91
  • the detection element 51 passes through the opening 92 and extends into the gun Inside the shell 90 to ensure that the detection element 51 does not affect the movement of the piston 30.
  • the width D of the opening 92 is greater than the width d of the opposite sides of the guide rail 91.
  • the width D of the opening 92 may be approximately equal to the width d of the opposite sides of the guide rail 91.
  • the opening 92 intersects the guide rail 91, and the light emitter 511 and the light receiver 512 of the detecting element 51 are close to the upper and lower sides of the opening 92.
  • the distance between the light emitter 511 and the light receiver 512 is not less than the width d of the opposite sides of the guide rail 91.
  • the width d of the opposite sides of the guide rail 91 is greater than the thickness of the baffle 35, so the distance between the light emitter 511 and the light receiver 512 is greater than the thickness of the baffle 35, so that the sliding of the piston 30 is not affected.
  • the piston 30 touches the detection element 51 to trigger the detection element 51, so that the detection element 51 detects the piston 30 and generates a trigger signal.
  • the detection element 51 includes a touch switch. When the piston 30 slides to the touch switch, the touch switch can be triggered. The touch switch can be triggered by the baffle 35. In some other embodiments, the detection element 51 can also be other electrical devices that can detect the piston 30.
  • the controller 52 shown in FIG. 5 is used to control the drive assembly 40 to move to the same position after each shot of at least two shots is completed, so that the piston 30 is located at the same set position after each shot is completed.
  • the piston 30 may be located at the same set position after each single shot is completed; in the multiple shot mode, the piston 30 may be located at the same set position after each shot is completed.
  • the position of the driving assembly 40 relative to the piston 30 remains the same after each shot, so that the controller 52 can control the driving assembly 40 to drive the piston 30 to move away from the muzzle 21 during each shot.
  • the displacement is basically the same, and the resistance of the secondary elastic member 81 and the primary elastic member 82 is basically the same, so it can be ensured that the speed of the piston 30 moving toward the muzzle 21 in each shot is basically the same, and the sound of each shot is basically the same , So that there is basically no difference or very little difference between each shot, so as to carry out stable shooting and improve user experience.
  • FIG. 8 is a perspective view of the gear set 42.
  • the drive assembly 40 may include a motor 41 and a gear set 42 connected to the motor 41.
  • the gear set 42 includes a gear portion with a plurality of teeth.
  • the gear portion drives the piston When moving, 30 meshes with the rack of piston 30 (as shown in FIG. 3).
  • the teeth of the gear part may be arranged in an arc shape, and the gear part is an incomplete gear, that is, a part of the circumference of the gear part is provided with teeth.
  • the piston 30 can be driven to move away from the muzzle 21.
  • the piston 30 acts on the secondary elastic member 81 and the primary elastic member 82 Move down to the muzzle 21 direction.
  • the gear part includes a first gear part 44 and a second gear part 45, and the number of teeth of the second gear part 45 is greater than that of the first gear part 44.
  • the first gear portion 44 meshes with the first rack 321 when driving the primary piston 32 to move
  • the second gear portion 45 meshes with the second rack 331 when driving the secondary piston 33 to move.
  • the displacement of the second gear part 45 driving the second-stage piston 33 is longer than the displacement of the first gear part 44 driving the first-stage piston 32.
  • the gear portion may include the first gear portion 44 or the second gear portion 45 to drive the primary piston 32 or the secondary piston 33.
  • the driving assembly 40 further includes a transmission gear 43, which is coaxial and overlaps the first gear portion 44 and the second gear portion 45, and the first rack 321 and the second rack 331 are arranged in parallel,
  • the motor 41 is in transmission connection with the transmission gear 43.
  • the transmission gear 43 may be a complete gear.
  • the transmission gear 43 may be drivingly connected with the motor 41 through one or more gears 46.
  • the motor 41 rotates and drives the transmission gear 43 to rotate, and the rotation shaft of the transmission gear 43 drives the first gear portion 44 and the second gear portion 45 to rotate.
  • the controller 52 is used to control the driving assembly 40 to make the relative positions of the gear portion and the rack the same after each shot of at least two shots is completed, so that the relative positions of the driving assembly 40 and the piston 30 are the same.
  • the controller 52 is used to control the drive assembly 40 to separate the gear portion from the rack after each shot of the at least two shots is completed, and the distance from the end of the gear portion close to the rack to the rack is the same, that is, The distance between the first tooth of the gear part close to the rack and the rack is the same.
  • the first rack 321 is separated from the first gear portion 44, and the distance from the end of the first gear portion 44 close to the first rack 321 to the first rack 321 is the same; and the second rack 331 is The second gear portion 45 is separated, and the distance from one end of the second gear portion 45 close to the second rack 331 to the second rack 331 is the same.
  • the controller 52 is used to control the drive assembly 40 to make the predetermined position of the gear part mesh with the rack after each shot of the at least two shots is completed. After each shot is completed, the number of teeth meshed between the gear part and the rack is the same.
  • the first rack 321 and the second rack 331 respectively mesh with the preset positions of the corresponding gear parts.
  • the first rack 321 is separated from the first gear portion 44, and the distance from the end of the first gear portion 44 close to the first rack 321 to the first rack 321 is the same; the second rack 331 is The preset position of the second gear part 45 meshes.
  • the controller 52 can control the driving assembly 40 to move to different positions after the shooting is completed in at least two different shooting modes to meet the requirements of different shooting modes. For example, in different shooting modes, the speed requirements of the projectiles are different, and the driving assembly 40 can be controlled to move to different positions after the shooting is completed. In the same shooting mode, the controller 52 controls the driving assembly 40 to move to the same position after each shot, so as to ensure stable shooting in the same shooting mode.
  • the controller 52 is used to control the driving assembly 40 to move at a set motion parameter when the piston 30 is detected by the detecting element.
  • the motion parameter includes one of the length of motion of the motor 41 and the number of rotations.
  • the controller 52 can control the motor 41 to rotate at the same speed and the set duration of movement when the detecting element detects the piston 30, so that the gear set 42 has the same movement and the drive assembly
  • the position of 40 relative to piston 30 is the same after the shooting is completed.
  • the movement duration can be determined according to the desired movement stroke of the gear set 42, the transmission relationship between the gear set 42 and the motor 21, and the rotation speed of the motor 41.
  • the controller 52 can control the motor 41 to rotate the same number of rotations when the piston 30 is detected by the detecting element, so that the movement of the gear set is the same.
  • the position relative to the piston 30 is the same.
  • the number of rotations can be determined according to the desired movement stroke of the gear set 42 and the transmission relationship between the gear set 42 and the motor 41.
  • a rotation detection device may be provided to detect the rotation of the motor 41, and the controller 52 determines the number of rotations of the motor 41 according to the electrical signal of the rotation detection device, and when the set number of rotations is reached, controls the drive assembly 40 Stop driving.
  • the rotation detection device includes an angle sensor, the angle sensor includes a magnetic ring and a magnetic encoder. The magnetic ring is arranged on the motor 41, and the magnetic encoder is arranged on the ESC. The rotation circle of the motor 41 is determined by detecting the change in the magnetic field. number.
  • the controller 52 is used to record the number of times the piston 30 is detected by the detection element 51 to determine the number of shots.
  • the baffle 35 of the piston 30 moves backward to the detection element 51, the backward movement is stopped, the drive assembly 40 is separated from the rack of the piston 30, and the number of shots is the same as the number of times the detection element 51 detects the piston 30 .
  • the baffle 35 of the piston 30 moves backward to the detection element 51, continues to move backward, and the piston 30 passes the detection element 51 again when it moves forward, so the number of shots is that the detection element 51 detects the piston Half of 30 times.
  • the controller 52 generates a prompt signal for prompting the number of shots to an interactive device (not shown) according to the determined number of shots, and the interactive device can prompt the user of the number of shots.
  • the interactive device is, for example, a display device and a voice broadcast device.
  • the interactive device may be provided on the shooting device 10, and the controller 52 may be connected to the interactive device in a wired manner.
  • the interactive device may be separated from the shooting device 10, and the controller 52 may communicate with the interactive device in a wired or wireless manner.
  • the interactive device can be a mobile phone, a computer or a remote control, etc., and can also be used to control a shooting device.
  • the controller 52 may receive the shooting trigger signal of the interactive device, and control the movement of the driving assembly 40 according to the shooting trigger signal.
  • the user can operate the interactive device, and the interactive device can generate a corresponding shooting trigger signal according to the user's operation.
  • the shooting trigger signal includes a start trigger signal indicating the start of shooting, a shooting number trigger signal indicating the number of shots and/or a stop trigger signal indicating the stop of shooting.
  • the controller 52 receives the start trigger signal to start shooting, it starts to control the action of the driving assembly 40.
  • the controller 52 can control the driving assembly 40 to drive the piston 30 to move multiple times, and the piston 30 reciprocates multiple times, so that the actual firing number of the shooting device 10 is the same as the firing number trigger signal.
  • the controller 52 receives the stop trigger signal, it can control the driving assembly 40 to move so that the piston 30 finally stops at the set position and then stops driving, thereby stopping the shooting and ensuring the stability during the next shooting.
  • the shooting robot in the embodiment of the present application includes a chassis, a power mechanism installed on the chassis and used to drive the chassis to move, and a shooting device 10.
  • the power structure can include driving wheels, which can drive the chassis to move on the ground.
  • the shooting robot also includes a pan/tilt mounted on the chassis, and the shooting device 10 is carried on the pan/tilt.
  • the pan/tilt can rotate around one or more rotating shafts, so that the muzzle of the shooting device 10 can face different directions and can shoot in different directions.
  • the shooting control method of the embodiment of the present application is used to control the shooting of a shooting device.
  • the shooting device may be, for example, the shooting device 10 described above.
  • the shooting control method includes detecting the piston through a detecting element arranged on the sliding path of the piston.
  • the shooting control method also includes controlling the movement of the driving assembly when the piston is detected, so that the piston is located at a set position after the shooting is completed.
  • the detection element includes a photodetection element, and the photodetection element includes a light emitter and a light receiver disposed opposite to the light emitter.
  • the step of detecting the piston includes: when the piston slides between the light transmitter and the light receiver, the light receiver generates a trigger signal indicating that the piston is detected.
  • the photoelectric detection element includes an infrared pair tube, and the infrared pair tube includes an infrared emitter and an infrared receiver arranged opposite to the infrared emitter.
  • the piston includes a piston main body and a baffle protruding outside the piston main body, and the baffle moves relative to the photoelectric detection element.
  • the step of generating a trigger signal indicating that the piston is detected by the light receiver includes: generating a trigger signal when the baffle moves between the light transmitter and the light receiver .
  • the step of controlling the movement of the driving assembly so that the piston is located at the set position after the shooting is completed includes: controlling the driving assembly to move to the same position after each shot of at least two shots is completed , So that the piston is at the same set position after each shot.
  • the drive assembly includes a motor and a gear set connected to the motor, and the motor is used to drive the piston to move through the gear set.
  • the gear set includes a gear portion with a plurality of teeth arranged in an arc shape, the piston has a rack cooperating with the gear portion, and the gear portion meshes with the rack when the piston is driven to move.
  • the step of controlling the drive assembly to move to the same position after each shot of at least two shots is completed, so that the piston is located at the same set position after each shot is completed includes: controlling the drive assembly after each shot of at least two shots is completed , Make the relative position of the gear part and the rack the same.
  • the drive assembly is controlled to separate the gear portion from the rack after each shot of the at least two shots is completed, and the distance from the end of the gear portion close to the rack to the rack is the same. In another embodiment, the drive assembly is controlled to make the preset position of the gear part mesh with the rack after each shot of at least two shots is completed.
  • the driving assembly when the detecting element detects the piston, the driving assembly is controlled to move according to the set motion parameter.
  • the motion parameter includes one of motion duration and number of rotations.
  • the shooting control method further includes: recording the number of times the piston is detected by the detecting element to determine the number of shots.
  • the shooting control method also includes: generating a prompt signal for prompting the number of shots to the interactive device according to the determined number of shots.
  • the shooting control method further includes: receiving a shooting trigger signal of the interactive device; and controlling the movement of the driving component according to the shooting trigger signal.
  • the shooting trigger signal includes a start trigger signal indicating the start of shooting, a shooting number trigger signal indicating the number of shots, and/or a stop trigger signal indicating the stop of shooting.
  • the step of detecting the piston through the detecting element provided on the sliding path of the piston includes: when the piston is detected, a trigger signal indicating that the piston is detected is generated; when the piston is detected, the drive assembly is controlled to move to make the piston
  • the steps in the set position include: determining the current shooting mode of the shooting device; detecting the trigger signal according to the time rule corresponding to the shooting mode; when the trigger signal is detected, controlling the movement of the drive assembly to make the piston after the shooting is completed Located at the set position.
  • the relevant part can refer to the description of the device embodiment.
  • the method embodiment and the device embodiment are complementary to each other.

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Abstract

一种射击装置（10）、射击控制方法和射击机器人，射击装置（10）包括枪管（20）、活塞（30）、驱动组件（40）和操控装置（50）；枪管（20）具有枪口（21）；活塞（30）滑动设置于枪管（20）相对于枪口（21）的一端，用于驱动弹丸由枪口（21）射出；驱动组件（40）用于驱动活塞（30）向远离枪口（21）的方向滑动；操控装置（50）与驱动组件（40）电连接，用于控制驱动组件（40）的运动；操控装置（50）包括探测元件（51）和控制器（52）；探测元件（51）设置于活塞（30）滑动的路径上，用于探测活塞（30）；控制器（52）分别与探测元件（51）和驱动组件（40）电连接，用于在探测元件（51）探测到活塞（30）时，控制驱动组件（40）的运动，以使活塞（30）在射击完成后位于设定位置。

Description

射击装置、射击控制方法及射击机器人 技术领域
本申请涉及射击技术领域，尤其涉及一种射击装置、射击控制方法和射击机器人。
背景技术
射击装置是一种将弹丸射出的装置，可用于娱乐、竞技等多种场景。然而，现有一些射击装置通过手动按压开关使开关闭合来进行射击，停止按压开关而停止射击，手动按压的时间具有不确定性。因此，活塞在射击完成后停止的位置具有很大的不确定性，造成每次射击差异很大，不能按照用户期望稳定地进行射击，给用户带来了不好的用户体验。
发明内容
本申请提供一种稳定射击的射击装置、射击控制方法和射击机器人。
根据本申请实施例的一个方面，提供一种射击装置，包括：枪管，具有枪口；活塞，滑动设置于所述枪管相对于所述枪口的一端，用于驱动弹丸由所述枪口射出；驱动组件，用于驱动所述活塞向远离所述枪口的方向滑动；及操控装置，与所述驱动组件电连接，用于控制所述驱动组件的运动，所述操控装置包括：探测元件，设置于所述活塞滑动的路径上，用于探测所述活塞；控制器，分别与所述探测元件和所述驱动组件电连接，用于在所述探测元件探测到所述活塞时，控制所述驱动组件的运动，以使所述活塞在射击完成后位于设定位置。
根据本申请实施例的另一个方面，提供一种射击控制方法，用于控制射击装置的射击，所述射击控制方法包括：通过设置于活塞滑动路径上的探测元件，探测活塞，所述活塞用于驱动弹丸射出；及在探测到所述活塞时，控制驱动组件的运动，使所述活塞在射击完成后位于设定位置。
根据本申请实施例的另一个方面，提供一种射击机器人，所述射击机器人包括底盘、安装于所述底盘并用于驱动所述底盘移动的动力机构及射击装置。
本申请射击装置的操控装置的探测元件可以探测活塞，控制器可以在探测元件探测到活塞时控制驱动组件的运动，以使活塞在射击完成后位于设定位置，如此可以按照用户期望稳定地进行射击，提高用户体验。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1所示为本申请射击装置的一个实施例的内部结构侧面示意图。
图2所示为图1所示的射击装置的部分结构立体示意图。
图3所示为图1所示的射击装置的活塞和操控装置的立体示意图。
图4所示为图2所述的射击装置的局部放大图。
图5所示为图3所示的操控装置的侧面示意图。
图6所示为图1所示的射击装置的部分结构侧面示意图。
图7所示为图1所示的射击装置的枪壳和操控装置的立体示意图。
图8所示为图2所示的射击装置的齿轮组的立体示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。除非另行指出，“前部”、“后部”、“下部”和/或“上部”等类似词语只是为了便于说明，而并非限于一个位置或者一种空间定向。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而且可以包括电性的连接，不管是直接的还是间接的。在本申请中“能够”可以表示具有能力。
本申请实施例的射击装置包括枪管、活塞、驱动组件和操控装置。枪管具有枪口。活塞滑动设置于枪管相对于枪口的一端，用于驱动弹丸由枪口射出。驱动组件用于驱动活塞向远离枪口的方向滑动。操控装置与驱 动组件电连接，用于控制驱动组件运动。操控装置包括探测元件和控制器。探测元件设置于活塞滑动的路径上，用于探测活塞。控制器分别与探测元件和驱动组件电连接，用于在探测元件探测到活塞时，控制驱动组件的运动，以使活塞在射击完成后位于设定位置。
射击装置的操控装置的探测元件可以探测活塞，控制器可以在探测元件探测到活塞时控制驱动组件的运动，以使活塞在射击完成后位于设定位置。相对于通过手动按压开关使驱动组件运动且停止按压时使电机停止转动的方案，本申请实施例利用控制器使活塞的运动可控，避免手动控制中按压时间不确定而造成实际射击发数与用户期望的射击发数不一致的问题，本申请实施例可以使得射击装置按照用户期望稳定地进行射击，提高用户体验。
本申请实施例的射击控制方法用于控制射击装置的射击。射击控制方法包括通过设置于活塞滑动路径上的探测元件，探测活塞，活塞用于驱动弹丸射出。射击控制方法还包括在探测到所述活塞时，控制驱动组件的运动，使活塞在射击完成后位于设定位置。
本申请实施例的射击机器人包括底盘、安装于底盘并用于驱动底盘移动的动力机构及上述射击装置。
下面结合附图，对本申请的射击装置、射击控制方法和射击机器人进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
图1所示为射击装置10的一个实施例的内部结构侧面示意图。图2所示为图1所示的射击装置10的部分结构立体示意图。射击装置10可以包括，但不限于，玩具枪(例如玩具水弹枪)、竞技机器人的射击装置或其他发射弹丸的装置。在一些实施例中，弹丸可以为圆球形，可以为塑胶等具有一定硬度且质量较轻的材质制成，例如水弹。弹丸的尺寸、大小及 重量基本一致，以使射击装置10在射击弹丸时具有较好的准确度和一致性。射击装置10包括枪管20、活塞30、驱动组件40和操控装置50。
枪管20具有枪口21，弹丸从枪口21发射出。枪管20为中空结构，枪管20相对于枪口21的一端形成有推动口22，推动口22和枪口21连通。枪管20还形成有与枪口21和推动口22连通的进弹口23，进弹口23可以与枪口21和推动口22大致垂直。弹丸可以从进弹口23进入枪管20中。枪管20可以包括发射管24和与发射管24连通的进弹管25，枪口21和推动口22设置于发射管24的相对两端，进弹口23形成于进弹管25远离发射管24的一端。在一个实施例中，发射管24和进弹管25可以形成三通管结构。
在一个实施例中，射击装置10包括组装于进弹口23上方的拨弹机构60和设置于拨弹机构60上方的拨弹盘70，拨弹盘70可以盛放弹丸，拨弹机构60可以将弹丸拨至进弹口23，可以落入枪管20内。
活塞30滑动设置于枪管20相对于枪口21的一端，用于驱动弹丸由枪口21射出。活塞30的一端穿过推动口22插入枪管20内，可以推动弹丸。图3所示为活塞30和操控装置50的立体示意图。结合参考图3，在一个实施例中，活塞30包括一级活塞32和部分收容于一级活塞32内的二级活塞33，二级活塞33能够相对于一级活塞32运动。一级活塞32可相对于枪管20运动。二级活塞33组装于一级活塞32远离枪管20的一端。
活塞30具有齿条，齿条包括设于一级活塞32上的第一齿条321和设于二级活塞33上的第二齿条331。在一个实施例中，第二齿条331的长度可以比第一齿条321的长度长，第二齿条331的齿数可以比第一齿条321的齿数多，如此，二级活塞33可以比一级活塞32向远离枪口21的方向滑动的位移更长。因此，一级活塞32向远离枪口21的方向运动结束后，二级活塞33可以继续向远离枪口21的方向运动。当然，可以理解，在实际应用中，齿条也可以包括设于一级活塞32上的第一齿条321或设于二级活塞33 上的第二齿条331，从而只驱动一级活塞32或二级活塞33运动，以实现弹丸的击发。
参考图1和3，一级活塞32部分设于枪管20内，且一级活塞32的一端部止挡进弹口23。在一级活塞32向远离枪口21的方向滑动时，弹丸能够从进弹口23进入枪管20内。一级活塞32靠近枪管20的前端形成有推动部322，推动部322穿过推动口22插入枪管20内，由活塞30中第一级活塞32与二级活塞33的相对运动产生的压缩气体可以从推动部322的端口喷出，以用于推动弹丸。一级活塞32向远离枪口21的方向滑动至推动部322的前端位于进弹管25的后方，使进弹口23不被遮挡，从而使弹丸可以进入发射管24内，而当一级活塞32向枪口21方向运动时，一级活塞32的推动部322则阻碍进弹管25与枪管20的连通，从而止挡进弹口23，而在二级活塞33向枪口21方向运动时，压缩一级活塞32和二级活塞33之间的气体，将压缩气体从推动部322送出，从而可以推动弹丸。如此，可以实现弹丸的正常装填与击发。
在一个实施例中，射击装置还包括二级弹性件81，二级弹性件81抵接于二级活塞33，用于驱动二级活塞33向靠近枪口21的方向滑动。在一个实施例中，二级活塞33内设有腔体332，二级弹性件81部分收容于腔体332内。二级弹性件81抵接于二级活塞33远离一级活塞32的一端。二级活塞33远离一级活塞32的一端向内凹陷形成有腔体332，腔体332可以限位二级弹性件81。在一个实施例中，射击装置还包括一级弹性件82，连接于一级活塞32的前端，可以为拉簧，用于驱动一级活塞32向靠近枪口21的方向滑动，以使得一级活塞32的推动部322止挡进弹口23。
驱动组件40用于驱动活塞30向远离枪口21的方向滑动，以使二级弹性件81和一级弹性件82发生弹性变形。一发射击中，驱动组件40与活塞30传动连接，驱动活塞30向远离枪口21的方向运动，之后驱动组件40与活塞30分离驱动结束，弹性变形的二级弹性件81和一级弹性件82 使活塞30向枪口21的方向运动，从而使二级活塞33相对于一级活塞32运动，并压缩一级活塞32与二级活塞33形成的容纳空间内的气体，进而推动弹丸，完成一发射击。在一个实施例中，驱动组件40驱动活塞30向远离枪口21的方向运动时，一级活塞32拉伸一级弹性件82，二级活塞33压缩二级弹性件81，同时，在一级活塞32远离枪口21的方向运动时，进弹管25与枪管20连通，弹丸可以由进弹口23进入枪管内。而当一级活塞32与驱动组件40分离时，拉伸的一级弹性件82向枪口21方向拉动一级活塞32，如此，一级活塞32的推动部322可以止挡进弹口23，使得弹丸无法进入枪管20内，从而停止弹丸的装填。进一步的，二级活塞33与驱动组件40分离时，压缩的第一二级弹性件81向枪口21方向推动二级活塞33，并使得由活塞30形成的压缩气体由一级活塞32的推动部322送出，以实现弹丸的击发。其中，一级活塞32的运动行程小于二级活塞33的运动行程。可以理解，一级活塞32向远离枪口21的方向的运动也可以不依赖于驱动组件40。
驱动组件40可以包括电机41和与电机41连接的齿轮部，电机41用于通过齿轮部带动活塞30运动。在驱动组件40驱动活塞30运动时，活塞30的齿条与齿轮部啮合。电机41的转轴带动齿轮部，齿轮部带动齿条，从而驱动活塞30运动。
图4所示为图2所示的射击装置10的局部区域100的放大图。图5所示为操控装置50的一个实施例的侧面示意图。参考图2-5，操控装置50与驱动组件40电连接，用于控制驱动组件40运动。操控装置50包括探测元件51和控制器52。探测元件51设置于活塞30滑动的路径上，用于探测活塞30。控制器52分别与探测元件51和驱动组件40电连接，用于在探测元件51探测到活塞30时，控制驱动组件40的运动，以使活塞30在射击完成后位于设定位置。
探测元件51可以探测活塞30，控制器52可以在探测元件51探测 到活塞30时控制驱动组件40的运动，以使活塞30在射击完成后位于设定位置。探测到活塞30后，控制器52可以规划驱动组件40的运动，使活塞30在射击完成后可以运动到设定位置，使活塞30的运动可控。相对于通过手动按压开关使驱动组件运动且停止按压时使电机停止转动的方案，本申请实施例利用控制器使活塞的运动可控，避免手动控制中按压时间不确定而造成实际射击发数与用户期望的射击发数不一致的问题，本申请实施例使射击装置10可以按照用户期望稳定地进行射击，提高用户体验。
操控装置50还包括电路板53，控制器52和探测元件51设置于电路板53，如图5所示。电路板53可以为PCB板，控制器52可以为微处理器。电路板53上还可以设置与控制器52电连接的外围电路，例如供电电路、电机驱动电路和/或其他电路，可以根据实际应用设计。探测元件51可以设置于电路板53的边缘。
继续参考3和4，在一些实施例中，探测元件51在活塞30滑动中与活塞30分离，用于非接触式地探测活塞30，探测元件51的非接触式探测可以避免对活塞30滑动的影响。在一个实施例中，探测元件51包括光电探测元件，光电探测元件包括光发射器511和与光发射器511相对设置的光接收器512，光接收器512与控制器52电连接，用于在活塞30滑动至光发射器511和光接收器512之间时，产生表示探测到活塞30的触发信号给控制器52。控制器52接收到触发信号时，可以控制驱动组件40按照规划的运动方式运动。
光发射器511用于发射光信号，光接收器512用于接收光发射器511发出的光信号，将光信号转换为相应的电信号。在活塞30未滑动到光发射器511和光接收器512之间时，光接收器512可以接收到光发射器511发出的光信号，可以产生不同于触发信号的信号，例如低电平信号。在活塞30滑动到光发射器511和光接收器512之间时，活塞30遮挡光发射器511发出的光信号，光信号不能到达光接收器512，光接收器512产生触发信 号，例如高电平信号。
在一个实施例中，光电探测元件包括红外线对管，红外线对管包括红外发射器和与红外发射器相对设置的红外接收器。光发射器511为红外发射器，光接收器512为红外接收器。红外发射器可以发射红外线，红外接收器可以接收红外线，产生相应的电信号。在其他一些实施例中，光电探测元件可以包括通过其他光线实现探测的器件。
在一个实施例中，探测元件51可以大致呈“U”型。如图3和5所示，在一个实施例中，探测元件51形成有第一凹槽513，第一凹槽513的相对内侧壁上分别设有光发射器511和光接收器512。在另一个实施例中，电路板53上凸设有第二凹槽，第二凹槽的相对侧壁上分别设有光发射器511和光接收器512。
继续参考图3和图4，在一个实施例中，活塞30包括活塞主体34和凸设于活塞主体34外的挡板35，挡板35相对于光电探测元件51运动。光电探测元件51用于在挡板35运动到光发射器511和光接收器512之间时，产生触发信号。挡板35随着活塞30滑动，挡板35滑动到光发射器511和光接收器512之间时，遮挡光信号，光接收器512产生触发信号。在一个实施例中，探测元件51设置于二级活塞33的滑动路径上，用于探测二级活塞33。活塞主体34为二级活塞33的主体，挡板35设置于二级活塞33的主体上。挡板35可以滑动至第一凹槽513或第二凹槽内。
在一个实施例中，挡板35凸设于活塞30的远离枪口31的后端。在一个实施例中，挡板35设置于二级活塞33的后端。挡板35可以沿活塞主体34的径向向外延伸。在一个实施例中，活塞30还包括凸设于活塞主体34外的平衡板36，平衡板36和挡板35相对于活塞主体34的径向对称设置，可以保证活塞30平衡。平衡板36的形状和尺寸与挡板35的形状和尺寸基本一致。在一个实施例中，平衡板36和挡板35对称设置于二级活塞33的后端。
在一个实施例中，活塞30的挡板35向后运动到探测元件51时停止向后运动，驱动组件40和活塞30的齿条分离，如此，一发射击中探测元件51探测到一次活塞30。“向后运动”指向远离枪口21的方向运动。
在另一个实施例中，活塞30的挡板35向后运动到探测元件51时，可以继续向后运动至探测元件51的后方，则在活塞30向前运动时挡板35再次经过探测元件51，如此，一发射击中探测元件51探测到两次活塞30。“向前运动”指向枪口21方向运动。
在一些实施例中，控制器52可以确定射击装置10当前的射击模式，根据射击模式对应的时间规则检测触发信号，在检测到触发信号时，控制驱动组件40的运动，使活塞30在射击完成后位于设定位置。射击模式可以包括单发射击模式、多发射击模式等。多发射击可以是交互装置触发一次，射击装置10连续发射多发弹丸。控制器52可以接收交互装置发送的表示射击模式的信号，根据该信号确定当前射击模式。
触发信号为脉冲信号。在一发射击中探测元件51探测到两次活塞30的情况下，在一个实施例中，检测到一个脉冲信号时，停止检测，间隔设定的检测间隔时间再开始检测，直到检测到下一个脉冲信号时再停止检测，如此周期性地检测。检测到的脉冲信号为触发信号。检测间隔时间大于相邻的两个脉冲信号中第一个脉冲信号的开始时间至第二个脉冲信号的结束时间的时长，且小于触发信号的周期(即第一个脉冲信号的开始时间至第三个脉冲信号的开始时间)。从而避免一发射击中重复检测，且可以避免漏检，从而提高准确性。多发射击模式中可以按照间隔设定的检测间隔时间检测一次触发信号。
在另一些实施例中，在一发射击中探测元件51探测到两次活塞30的情况下，控制器52可以持续检测触发信号，可以在检测到第一个脉冲信号(例如活塞30向后运动时检测到活塞30)或检测到第二个脉冲信号(例如活塞30向前运动时检测到活塞30)时，控制驱动组件40运动使活塞30 在射击完成后位于设定位置。多发射击模式和/或单发射击模式可以采用该方式进行检测触发信号。
图6所示为射击装置10的部分结构侧视图。射击装置10还包括组装活塞30的枪壳90，枪壳90内形成有导轨91，活塞30沿导轨91运动。射击装置10的枪管20、活塞30、驱动组件40等内部部件可以组装于枪壳90内。图中为了示出内部结构，仅画出一部分枪壳90。枪壳90可以包括多个组装拼接的壳体。结合图1所示，二级弹性件81可以抵接于二级活塞33和枪壳90之间，一级弹性件82可以弹性连接于一级活塞32和枪壳90之间。
参考图4和6，导轨91可以横向延伸。在一个实施例中，光发射器511和光接收器512位于导轨91的相对两侧。导轨91的两侧对应光发射器511和光接收器512的位置形成有第一让位缺口911和第二让位缺口912，给光发射器511和光接收器512让位，避免遮挡光发射器511发出的光。活塞30的挡板35沿导轨91滑动，可以滑至光发射器511和光接收器512之间。
在一个实施例中，活塞30组装于枪壳90的内侧，操控装置50的电路板53组装于枪壳90的外侧，结合参考图7，操控装置50对枪壳90内的部件的布局影响很小，不影响活塞30等部件的运动，组装方便，且方便更换和维修操控装置50。探测元件51从电路板53面向枪壳90的一侧向枪壳90延伸，并伸入枪壳90内。导轨91形成于枪壳90的内侧。在一个实施例中，枪壳90外侧可以组装有外壳(未图示)，将电路板53罩住。
继续参考图4和6，在一个实施例中，枪壳90上设有开口92，开口92的宽度D不小于导轨91的相对两侧的宽度d，探测元件51穿过开口92并伸入枪壳90内，以保证探测元件51不影响活塞30的运动。在图示实施例中，开口92的宽度D大于导轨91的相对两侧的宽度d。在另一个实施例中，开口92的宽度D可以与导轨91的相对两侧的宽度d大致相等。开 口92与导轨91相交，探测元件51的光发射器511和光接收器512靠近开口92的上下两侧。光发射器511和光接收器512间隔的距离不小于导轨91的相对两侧的宽度d。导轨91的相对两侧的宽度d大于挡板35的厚度，从而光发射器511和光接收器512间隔的距离大于挡板35的厚度，如此不影响活塞30的滑动。
在另一个实施例中，在活塞30的滑动过程中，活塞30触碰探测元件51来触发探测元件51，从而探测元件51探测到活塞30，产生触发信号。在一个实施例中，探测元件51包括触控开关。活塞30滑动到触控开关处时，可以触发触控开关。可以通过挡板35触发触控开关。在其他一些实施例中，探测元件51还可以是其他可以探测活塞30的电器件。
图5所示的控制器52用于控制驱动组件40在至少两发射击的每发射击完成后运动到相同位置，使活塞30在每发射击完成后位于相同的设定位置。例如，可以使活塞30在每次单发射击完成后位于相同的设定位置；可以在多发射击模式中使活塞30在每发射击完成后位于相同的设定位置。参考图1所示，驱动组件40在每发射击完成后相对于活塞30的位置保持一致，从而在每发射击时，控制器52可以控制驱动组件40驱动活塞30向远离枪口21的方向运动的位移基本相同，且二级弹性件81和一级弹性件82的阻力基本相同，因此可以保证每发射击中活塞30向枪口21方向运动的速度基本相同，且每发射击的声音基本相同，使得每发射击基本没有差异或者差异很小，从而进行稳定地射击，提高用户体验。
图8所示为齿轮组42的立体示意图。参考图2、3和8所示，在一个实施例中，驱动组件40可以包括电机41和与电机41连接的齿轮组42，齿轮组42包括具有多个齿的齿轮部，齿轮部在驱动活塞30运动时与活塞30的齿条(如图3所示)啮合。齿轮部的齿可以沿弧形排布，该齿轮部为不完全齿轮，即齿轮部的圆周上部分区域布有齿。为不完全齿轮的齿轮部与齿条啮合时，可以带动活塞30向远离枪口21的方向运动，齿轮部与齿 条分离时，活塞30在二级弹性件81和一级弹性件82的作用下向枪口21方向运动。
在一些实施例中，齿轮部包括第一齿轮部44和第二齿轮部45，第二齿轮部45的齿数大于第一齿轮部44的齿数。第一齿轮部44在驱动一级活塞32运动时与第一齿条321啮合，第二齿轮部45在驱动二级活塞33运动时与第二齿条331啮合。第二齿轮部45驱动二级活塞33运动的位移比第一齿轮部44驱动一级活塞32运动的位移长。当然，可以理解，对应齿条的设计，齿轮部可以包括第一齿轮部44或第二齿轮部45，以实现对一级活塞32或二级活塞33的驱动。
在一些实施例中，驱动组件40还包括传动齿轮43，传动齿轮43与第一齿轮部44和第二齿轮部45同轴且叠置，第一齿条321与第二齿条331平行设置，电机41与传动齿轮43传动连接。传动齿轮43可以为完全齿轮。传动齿轮43可以通过一个或多个齿轮46与电机41传动连接。电机41转动并带动传动齿轮43转动，传动齿轮43的转轴带动第一齿轮部44和第二齿轮部45转动。
控制器52用于控制驱动组件40在至少两发射击的每发射击完成后，使齿轮部与齿条的相对位置相同，从而驱动组件40和活塞30的相对位置相同。在一个实施例中，控制器52用于控制驱动组件40在至少两射击的每发射击完成后，使齿轮部与齿条分离，且齿轮部靠近齿条的一端到齿条的距离相同，即齿轮部靠近齿条的第一个齿到齿条的距离相同。在一个实施例中，第一齿条321与第一齿轮部44分离，且第一齿轮部44靠近第一齿条321的一端到第一齿条321的距离相同；且第二齿条331与第二齿轮部45分离，且第二齿轮部45靠近第二齿条331的一端到第二齿条331的距离相同。
在另一个实施例中，控制器52用于控制驱动组件40在至少两发射击的每发射击完成后，使齿轮部的预设位置与齿条啮合。每发射击完成后， 齿轮部与齿条啮合的齿的数目相同。在一个实施例中，第一齿条321和第二齿条331分别与对应齿轮部的预设位置啮合。在另一个实施例中，第一齿条321与第一齿轮部44分离，且第一齿轮部44靠近第一齿条321的一端到第一齿条321的距离相同；第二齿条331与第二齿轮部45的预设位置啮合。
在一些实施例中，控制器52可以在至少两个不同的射击模式下控制驱动组件40在射击完成后运动到的位置不同，以满足不同射击模式的需求。例如在不同射击模式下，弹丸射出的速度要求不同，可以控制驱动组件40在射击完成后运动到的位置不同。在同一射击模式下，控制器52控制驱动组件40每发射击完成后运动到的位置相同，以保证同一射击模式下的稳定射击。
在一些实施例中，控制器52用于在探测元件探测到活塞30时，控制驱动组件40以设定的运动参数运动。当驱动组件40包括电机41时，运动参数包括电机41的运动时长、转动圈数中的一种。在一个实施例中，每发射击中，控制器52可以在探测元件探测到活塞30时，控制电机41以相同的转速和设定的运动时长转动，从而使齿轮组42的运动相同，驱动组件40在射击完成后相对于活塞30的位置相同。运动时长可以根据期望齿轮组42运动的行程、齿轮组42与电机21的传动关系和电机41的转速来确定。
在另一个实施例中，每发射击中，控制器52可以在探测元件探测到活塞30时，控制电机41转动相同的转动圈数，从而使齿轮组的运动相同，驱动组件40在射击完成后相对于活塞30的位置相同。转动圈数可以根据期望齿轮组42运动的行程和齿轮组42与电机41的传动关系来确定。在一些实施例中，可以设置转动检测装置，来检测电机41的转动，控制器52根据转动检测装置的电信号确定电机41转动的圈数，在达到设定的转动圈数时，控制驱动组件40停止驱动。在一个例子中，转动检测装置包括角度 传感器，角度传感器包括磁环和磁编码器，磁环设置在电机41上，磁编码器设置于电调上，通过检测磁场的变化确定电机41的转动圈数。
在一些实施例中，控制器52用于记录探测元件51探测到活塞30的次数，以确定射击发数。在一个实施例中，活塞30的挡板35向后运动到探测元件51时停止向后运动，驱动组件40和活塞30的齿条分离，射击发数与探测元件51探测到活塞30的次数一致。在另一个实施例中，活塞30的挡板35向后运动到探测元件51，继续向后运动，且活塞30向前运动时再次经过探测元件51，如此射击发数为探测元件51探测到活塞30的次数的一半。
在一个实施例中，控制器52根据确定的射击发数，产生用于提示射击发数的提示信号给交互装置(未图示)，交互装置可以提示用户射击的发数。交互装置为诸如显示装置、语音播报装置。在一些实施例中，交互装置可以设置于射击装置10上，控制器52可以通过有线方式与交互装置通讯连接。在另一些实施例中，交互装置可以与射击装置10分离，控制器52可以通过有线或无线的方式与交互装置通讯。交互装置可以为手机、电脑或遥控器等，还可以用于控制射击装置。
在一个实施例中，控制器52可以接收交互装置的射击触发信号，并根据射击触发信号控制驱动组件40运动。用户可以操作交互装置，交互装置可以根据用户的操作产生相应的射击触发信号。射击触发信号包括表示开始射击的开始触发信号、表示射击发数的射击发数触发信号和/或表示停止射击的停止触发信号。控制器52接收到开始射击的开始触发信号时，开始控制驱动组件40动作。控制器52可以控制驱动组件40带动活塞30多次运动，活塞30多次往复运动，使射击装置10实际射击的发数与射击发数触发信号表示的发数相同。控制器52在接收到停止触发信号时，可以控制驱动组件40运动以使活塞30最终停在设定位置后停止驱动，从而停止射击，且保证下次射击时的稳定性。
本申请实施例的射击机器人包括底盘、安装于底盘并用于驱动底盘移动的动力机构及射击装置10。射击装置10的详细描述参见上文所述，在此不再赘述。动力结构可以包括驱动轮，可以带动底盘在地面上移动。射击机器人还包括设于底盘上的云台，射击装置10承载于云台上。云台可以绕一个或多个转轴转动，可以让射击装置10的枪口朝向不同的方向，可以向不同的方向射击。
本申请实施例的射击控制方法用于控制射击装置的射击。射击装置可以为例如上文所述的射击装置10。射击控制方法包括通过设置于活塞滑动路径上的探测元件，探测活塞。射击控制方法还包括在探测到活塞时，控制驱动组件的运动，使活塞在射击完成后位于设定位置。
在一个实施例中，探测元件包括光电探测元件，光电探测元件包括光发射器和与光发射器相对设置的光接收器。通过设置于活塞滑动路径上的探测元件，探测活塞的步骤包括：在活塞滑动至光发射器和光接收器之间时，通过光接收器产生表示探测到活塞的触发信号。在一个实施例中，光电探测元件包括红外线对管，红外线对管包括红外发射器和与红外发射器相对设置的红外接收器。
在一个实施例中，活塞包括活塞主体和凸设于活塞主体外的挡板，挡板相对于光电探测元件运动。在活塞滑动至挡于光发射器和光接收器之间时，通过光接收器产生表示探测到活塞的触发信号的步骤包括：在挡板运动至光发射器和光接收器之间时，产生触发信号。
在一个实施例中，在探测到活塞时，控制驱动组件的运动，使活塞在射击完成后位于设定位置的步骤包括：控制驱动组件在至少两发射击的每发射击完成后运动到相同位置，使活塞每发射击完成后位于相同的设定位置。
在一个实施例中，驱动组件包括电机和与电机连接的齿轮组，电机 用于通过齿轮组带动活塞运动。齿轮组包括具有弧形排布的多个齿的齿轮部，活塞具有配合齿轮部的齿条，齿轮部在驱动活塞运动时与齿条啮合。控制驱动组件在至少两发射击的每发射击完成后运动到相同位置，使活塞每发射击完成后位于相同的设定位置的步骤包括：控制驱动组件在至少两发射击的每发射击完成后，使齿轮部与齿条的相对位置相同。
在一个实施例中，控制驱动组件在至少两发射击的每发射击完成后，使齿轮部与齿条分离，且齿轮部靠近齿条的一端到齿条的距离相同。在另一个实施例中，控制所述驱动组件在至少两发射击的每发射击完成后，使所述齿轮部的预设位置与所述齿条啮合。
在一个实施例中，在探测元件探测到活塞时，控制驱动组件以设定的运动参数运动。在一个实施例中，当驱动组件包括电机时，运动参数包括运动时长、转动圈数中的一种。
在一个实施例中，射击控制方法还包括：记录探测元件探测到活塞的次数，以确定射击发数。射击控制方法还包括：根据确定的射击发数，产生用于提示射击发数的提示信号给交互装置。
在一个实施例中，射击控制方法还包括：接收交互装置的射击触发信号；并根据射击触发信号控制驱动组件运动。在一个实施例中，射击触发信号包括表示开始射击的开始触发信号、表示射击发数的射击发数触发信号和/或表示停止射击的停止触发信号。
在一个实施例中，通过设置于活塞滑动路径上的探测元件，探测活塞的步骤包括：在探测到活塞时产生表示探测到活塞的触发信号；在探测到活塞时，控制驱动组件运动，使活塞在射击完成后位于设定位置的步骤包括：确定射击装置当前的射击模式；根据射击模式对应的时间规则检测触发信号；在检测到触发信号时，控制驱动组件的运动，使活塞在射击完成后位于设定位置。
对于方法实施例而言，由于其基本对应于装置实施例，所以相关之处参见装置实施例的部分说明即可。方法实施例和装置实施例互为补充。
需要说明的是，在本文中，诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。

Claims (46)

  1. 一种射击装置，其特征在于，包括：
    枪管，具有枪口；
    活塞，滑动设置于所述枪管相对于所述枪口的一端，用于驱动弹丸由所述枪口射出；
    驱动组件，用于驱动所述活塞向远离所述枪口的方向滑动；及
    操控装置，与所述驱动组件电连接，用于控制所述驱动组件的运动，所述操控装置包括：
    探测元件，设置于所述活塞滑动的路径上，用于探测所述活塞；
    控制器，分别与所述探测元件和所述驱动组件电连接，用于在所述探测元件探测到所述活塞时，控制所述驱动组件的运动，以使所述活塞在射击完成后位于设定位置。
  2. 根据权利要求1所述的射击装置，其特征在于，所述探测元件包括光电探测元件，所述光电探测元件包括光发射器和与所述光发射器相对设置的光接收器，所述光接收器与所述控制器电连接，用于在所述活塞滑动至所述光发射器和所述光接收器之间时，产生表示探测到所述活塞的触发信号给所述控制器。
  3. 根据权利要求2所述的射击装置，其特征在于，所述光电探测元件包括红外线对管，所述红外线对管包括红外发射器和与所述红外发射器相对设置的红外接收器。
  4. 根据权利要求2所述的射击装置，其特征在于，所述活塞包括活塞主体和凸设于所述活塞主体外的挡板，所述挡板相对于所述光电探测元件运动；
    所述光电探测元件用于在所述挡板运动到所述光发射器和所述光接收器之间时，产生所述触发信号。
  5. 根据权利要求4所述的射击装置，其特征在于，所述挡板凸设于所 述活塞的远离所述枪口的后端。
  6. 根据权利要求4所述的射击装置，其特征在于，所述活塞还包括凸设于所述活塞主体外的平衡板，所述平衡板和所述挡板相对于所述活塞主体的径向对称设置。
  7. 根据权利要求2所述的射击装置，其特征在于，所述射击装置还包括组装所述活塞的枪壳，所述枪壳内形成有导轨，所述活塞能够沿所述导轨运动。
  8. 根据权利要求7所述的射击装置，其特征在于，所述光发射器和所述光接收器位于所述导轨的相对两侧。
  9. 根据权利要求7所述的射击装置，其特征在于，所述操控装置还包括电路板，所述控制器和所述探测元件设置于所述电路板。
  10. 根据权利要求9所述的射击装置，其特征在于，所述活塞组装于所述枪壳的内侧，所述电路板组装于所述枪壳的外侧；
    所述枪壳上设有开口，所述开口的宽度不小于所述导轨的相对两侧的宽度，所述探测元件穿过所述开口并伸入所述枪壳内。
  11. 根据权利要求9所述的射击装置，其特征在于，所述探测元件形成有第一凹槽，所述第一凹槽的相对内侧壁上分别设有所述光发射器和所述光接收器；或
    所述电路板上凸设有第二凹槽，所述第二凹槽的相对内侧壁上分别设有所述光发射器和所述光接收器。
  12. 根据权利要求1所述的射击装置，其特征在于，所述探测元件包括触控开关。
  13. 根据权利要求1所述的射击装置，其特征在于，所述控制器用于控制所述驱动组件在至少两发射击的每发射击完成后运动到相同位置，使所述活塞在每发射击完成后位于相同的设定位置。
  14. 根据权利要求13所述的射击装置，其特征在于，所述驱动组件包括电机和与所述电机连接的齿轮部，所述电机用于通过所述齿轮部带动 所述活塞运动；
    所述活塞具有配合所述齿轮部的齿条，所述齿轮部在驱动所述活塞运动时与所述齿条啮合；
    所述控制器用于控制所述驱动组件在至少两发射击的每发射击完成后，使所述齿轮部与所述齿条的相对位置相同。
  15. 根据权利要求14所述的射击装置，其特征在于，所述控制器用于控制所述驱动组件在至少两发射击的每发射击完成后，使所述齿轮部与所述齿条分离，且所述齿轮部靠近所述齿条的一端到所述齿条的距离相同。
  16. 根据权利要求14所述的射击装置，其特征在于，所述控制器用于控制所述驱动组件在至少两发射击的每发射击完成后，使所述齿轮部的预设位置与所述齿条啮合。
  17. 根据权利要求14至16中任一项所述的射击装置，其特征在于，所述活塞包括一级活塞和部分收容于所述一级活塞内的二级活塞，所述二级活塞能够相对于所述一级活塞运动；
    所述齿条包括设于所述一级活塞上的第一齿条和/或设于所述二级活塞上的第二齿条，所述齿轮部包括在驱动所述一级活塞运动时与所述第一齿条啮合的第一齿轮部和/或在驱动所述二级活塞运动时与所述第二齿条啮合第二齿轮部；
    其中，在所述齿轮部包括所述第一齿轮部和所述第二齿轮部时，所述第二齿轮部的齿数大于所述第一齿轮部的齿数。
  18. 根据权利要求17所述的射击装置，其特征在于，所述枪管还包括进弹口，所述一级活塞部分设于所述枪管内，且所述一级活塞的一端部止挡所述进弹口；
    在所述一级活塞向远离所述枪口的方向滑动时，所述弹丸能够从所述进弹口进入所述枪管内。
  19. 根据权利要求18所述的射击装置，所述射击装置还包括一级弹性件，所述一级弹性件抵接于所述一级活塞，用于驱动所述一级活塞向靠 近所述枪口的方向滑动，以止挡所述进弹口。
  20. 根据权利要求17所述的射击装置，其特征在于，所述射击装置还包括二级弹性件，所述二级弹性件抵接于所述二级活塞，用于驱动所述二级活塞向靠近所述枪口的方向滑动。
  21. 根据权利要求17所述的射击装置，其特征在于，所述驱动组件还包括传动齿轮，所述传动齿轮与所述第一齿轮部和所述第二齿轮部同轴且叠置，所述第一齿条与所述第二齿条平行设置，所述电机与所述传动齿轮传动连接。
  22. 根据权利要求1所述的射击装置，其特征在于，所述控制器用于在所述探测元件探测到所述活塞时，控制所述驱动组件以设定的运动参数运动。
  23. 根据权利要求22所述的射击装置，其特征在于，所述驱动组件包括电机，所述运动参数包括所述电机的运动时长、转动圈数中的一种。
  24. 根据权利要求1所述的射击装置，其特征在于，所述控制器用于记录所述探测元件探测到所述活塞的次数，以确定射击发数。
  25. 根据权利要求24所述的射击装置，其特征在于，所述控制器用于根据确定的所述射击发数，产生用于提示所述射击发数的提示信号给交互装置。
  26. 根据权利要求1所述的射击装置，其特征在于，所述控制器用于接收交互装置的射击触发信号，并根据所述射击触发信号控制所述驱动组件运动。
  27. 根据权利要求26所述的射击装置，其特征在于，所述射击触发信号包括表示开始射击的开始触发信号、表示射击发数的射击发数触发信号和/或表示停止射击的停止触发信号。
  28. 根据权利要求1所述的射击装置，其特征在于，所述探测元件用于在探测到所述活塞时，产生表示探测到所述活塞的触发信号；
    所述控制器用于确定所述射击装置当前的射击模式，根据所述射击模 式对应的时间规则检测所述触发信号，并且在检测到所述触发信号时，控制驱动组件的运动，使所述活塞在射击完成后位于设定位置。
  29. 一种射击控制方法，用于控制射击装置的射击，其特征在于，所述射击控制方法包括：
    通过设置于活塞滑动路径上的探测元件探测活塞，所述活塞用于驱动弹丸射出；及
    在探测到所述活塞时，控制驱动组件的运动，使所述活塞在射击完成后位于设定位置。
  30. 根据权利要求29所述的射击控制方法，其特征在于，所述探测元件包括光电探测元件，所述光电探测元件包括光发射器和与所述光发射器相对设置的光接收器；
    所述通过设置于活塞滑动路径上的探测元件，探测活塞，包括：在所述活塞滑动至所述光发射器和所述光接收器之间时，通过所述光接收器产生表示探测到所述活塞的触发信号。
  31. 根据权利要求30所述的射击控制方法，其特征在于，所述光电探测元件包括红外线对管，所述红外线对管包括红外发射器和与所述红外发射器相对设置的红外接收器。
  32. 根据权利要求30所述的射击控制方法，其特征在于，所述活塞包括活塞主体和凸设于所述活塞主体外的挡板，所述挡板相对于所述光电探测元件运动；
    所述在所述活塞滑动至挡于所述光发射器和所述光接收器之间时，通过所述光接收器产生表示探测到所述活塞的触发信号，包括：
    在所述挡板运动至所述光发射器和所述光接收器之间时，产生所述触发信号。
  33. 根据权利要求29所述的射击控制方法，其特征在于，所述在探测到所述活塞时，控制驱动组件的运动，使所述活塞在射击完成后位于设定位置，包括：
    控制所述驱动组件在至少两发射击的每发射击完成后运动到相同位置，使所述活塞每发射击完成后位于相同的设定位置。
  34. 根据权利要求33所述的射击控制方法，其特征在于，所述驱动组件包括电机和与所述电机连接的齿轮部，所述电机用于通过所述齿轮部带动所述活塞运动；
    所述活塞具有配合所述齿轮部的齿条，所述齿轮部在驱动所述活塞运动时与所述齿条啮合；
    所述控制所述驱动组件在至少两发射击的每发射击完成后运动到相同位置，使所述活塞每发射击完成后位于相同的设定位置，包括：
    控制所述驱动组件在至少两发射击的每发射击完成后，使所述齿轮部与所述齿条的相对位置相同。
  35. 根据权利要求34所述的射击控制方法，其特征在于，所述控制所述驱动组件在至少两发射击的每发射击完成后，使所述齿轮部与所述齿条的相对位置相同，包括：
    控制所述驱动组件在至少两发射击的每发射击完成后，使所述齿轮部与所述齿条分离，且所述齿轮部靠近所述齿条的一端到所述齿条的距离相同。
  36. 根据权利要求34所述的射击控制方法，其特征在于，所述控制所述驱动组件在至少两发射击的每发射击完成后，使所述齿轮部与所述齿条的相对位置相同，包括：
    控制所述驱动组件在至少两发射击的每发射击完成后，使所述齿轮部的预设位置与所述齿条啮合。
  37. 根据权利要求34至36中任一项所述的射击装置，其特征在于，所述活塞包括一级活塞和部分收容于所述一级活塞内的二级活塞，所述二级活塞能够相对于所述一级活塞运动；
    所述齿条包括设于所述一级活塞上的第一齿条和/或设于所述二级活塞上的第二齿条，所述齿轮部包括在驱动所述一级活塞运动时与所述第一 齿条啮合的第一齿轮部和/或在驱动所述二级活塞运动时与所述第二齿条啮合第二齿轮部；
    其中，在所述齿轮部包括所述第一齿轮部和所述第二齿轮部时，所述第二齿轮部的齿数大于所述第一齿轮部的齿数。
  38. 根据权利要求29所述的射击控制方法，其特征在于，所述在探测到所述活塞时，控制驱动组件的运动，使所述活塞在射击完成后位于设定位置，包括：
    在所述探测元件探测到所述活塞时，控制所述驱动组件以设定的运动参数运动。
  39. 根据权利要求38所述的射击控制方法，其特征在于，当所述驱动组件包括电机时，所述运动参数包括运动时长、转动圈数中的一种。
  40. 根据权利要求29所述的射击控制方法，其特征在于，所述射击控制方法还包括：
    记录所述探测元件探测到所述活塞的次数，以确定射击发数。
  41. 根据权利要求40所述的射击控制方法，其特征在于，所述射击控制方法还包括：
    根据确定的所述射击发数，产生用于提示所述射击发数的提示信号给交互装置。
  42. 根据权利要求29所述的射击控制方法，其特征在于，所述射击控制方法还包括：
    接收交互装置的射击触发信号；
    根据所述射击触发信号控制所述驱动组件运动。
  43. 根据权利要求42所述的射击控制方法，其特征在于，所述射击触发信号包括表示开始射击的开始触发信号、表示射击发数的射击发数触发信号和/或表示停止射击的停止触发信号。
  44. 根据权利要求29所述的射击控制方法，其特征在于，所述通过设置于活塞滑动路径上的探测元件探测活塞，包括：
    在探测到所述活塞时，产生表示探测到活塞的触发信号；
    所述在探测到所述活塞时，控制驱动组件运动，使所述活塞在射击完成后位于设定位置，包括：
    确定所述射击装置当前的射击模式；
    根据所述射击模式对应的时间规则检测所述触发信号；
    在检测到所述触发信号时，控制驱动组件的运动，使所述活塞在射击完成后位于设定位置。
  45. 一种射击机器人，其特征在于，所述射击机器人包括底盘、安装于所述底盘并用于驱动所述底盘移动的动力机构及如权利要求1至28任一项所述的射击装置。
  46. 根据权利要求45所述的射击机器人，其特征在于，所述射击机器人还包括设于所述底盘上的云台，所述射击装置承载于所述云台上。
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