WO2023151218A1

WO2023151218A1 - Automatic firing method and apparatus, and gun and storage medium

Info

Publication number: WO2023151218A1
Application number: PCT/CN2022/100991
Authority: WO
Inventors: 黄立; 黄晟; 陈蔡朋
Original assignee: 武汉高德智感科技有限公司
Priority date: 2022-02-14
Filing date: 2022-06-24
Publication date: 2023-08-17
Also published as: CN114459291A

Abstract

An automatic firing method and apparatus, and a gun and a storage medium. The automatic firing method is applied to a gun, which is provided with a sight and an automatic firing assembly. The method comprises: determining an initial point of aim by means of a sight on the basis of the current posture of a gun; calculating a ballistic trajectory on the basis of the distance between a muzzle and a preset target, and environment parameters, so as to determine an offset of aim; determining a final point of aim on the basis of the initial point of aim and the offset of aim, and displaying the final point of aim in a display area of the sight; and if a target mark point of the preset target coincides with the final point of aim, controlling an automatic firing assembly to fire the gun.

Description

A method, device, gun and storage medium for automatic shooting

technical field

The invention relates to the technical field of automatic shooting, in particular to an automatic shooting method, device, gun and storage medium.

Background technique

Usually the rifle is given the target aiming point through the scope and the ballistic calculation system, and the shooter manually pulls the trigger to fire after aiming at the aiming point; in the actual scene, when the rifle is manually fired, during the process of aiming and shooting, The line of sight has been dynamically adjusted near the target, which requires the shooter to go through a lot of live ammunition shooting training before he can make accurate judgments, and during the shooting process, the shooter's reaction and the shooter's own shaking will affect the shooting accuracy. Therefore, a better solution is currently required to solve the problems in the prior art.

Contents of the invention

In view of this, the present invention proposes an automatic shooting method, device, gun and storage medium to solve the problems in the prior art.

Specifically, the present invention proposes the following specific embodiments:

The embodiment of the present invention proposes a method for automatic shooting, which is applied to a gun provided with a scope and an automatic firing assembly, and the method includes:

determining an initial aiming point based on the current attitude of the firearm through the scope;

Ballistic calculation based on the distance between the muzzle and the preset target and environmental parameters to determine the aiming offset;

determining a final aiming point based on the initial aiming point and the aiming offset, and displaying the final aiming point in a display area of the scope;

If the target marking point of the preset target coincides with the final aiming point, the automatic firing component is controlled to complete the firing of the gun.

In a specific embodiment, the environmental parameters include: one or more of wind speed, air pressure, temperature and humidity.

In a specific embodiment, the automatic firing assembly is rotatably connected with the firearm;

It also includes: a rotating part; wherein, the rotating part is arranged on the automatic firing assembly, and the rotating part is used to drive the automatic firing assembly to rotate relative to the firearm, so that the automatic firing assembly can trigger the switch between a trigger area where the firing of the gun is fired and a non-trigger area where the firing of the firearm cannot be triggered.

In a specific embodiment, the automatic firing assembly includes: a motor, a cam, a simulated manipulator and a base;

The output shaft of the motor is sleeved with the cam;

The first end of the simulated manipulator is provided with a trigger lever, the second end of the simulated manipulator is provided with an abutment part, the abutment part is connected with the base, and the cam abuts against the simulated manipulator, so as to When the cam rotates, it squeezes the simulated manipulator, and causes the trigger lever of the simulated manipulator to trigger the trigger of the firearm.

In a specific embodiment, the simulated manipulator further includes a connecting rod for connecting the trigger rod and the abutting part;

The side of the abutting portion facing the trigger lever abuts against the cam; the side of the abutting portion away from the trigger lever is arranged in the base;

A compression spring is provided in the base; one side of the compression spring is connected to the inner wall on the side of the base away from the abutment portion, and the other side of the compression spring and the abutment portion face the One side of the base is attached.

In a specific embodiment, a limit slot is provided on the abutting portion; a limit pin is also provided on the base; the limit pin is inserted into the limit slot to constrain the simulated manipulator along the The length direction of the limiting slot moves.

In a specific embodiment, it also includes:

generating an indication of movement of the final aiming point towards the target marker;

The movement indication is displayed on a display area of the scope.

The embodiment of the present invention also proposes an automatic shooting device, which is applied to a gun provided with a scope and an automatic firing assembly, and the device includes:

an initial module, configured to determine an initial aiming point based on the current attitude of the firearm through the scope;

The offset module is used to perform ballistic calculation based on the distance between the muzzle and the preset target and environmental parameters to determine the aiming offset;

A display module, configured to determine a final aiming point based on the initial aiming point and the aiming offset, and display the final aiming point in the display area of the scope;

The firing module is configured to control the automatic firing assembly to complete the firing of the firearm if the target marking point of the preset target coincides with the final aiming point.

The embodiment of the present invention also proposes a firearm, including: a processor and a memory, a computer program is stored in the memory, and the above automatic shooting method is realized when the processor executes the computer program.

The embodiment of the present invention also provides a storage medium, in which a computer program is stored, and when the computer program is executed, the above automatic shooting method is realized.

Therefore, the embodiment of the present invention proposes an automatic shooting method, device, gun and storage medium, which is applied to a gun equipped with a scope and an automatic firing component. The method includes: Determine the initial aiming point based on the posture of the gun; perform ballistic calculation based on the distance between the muzzle and the preset target and environmental parameters to determine the aiming offset; determine the final aiming point based on the initial aiming point and the aiming offset, And display the final aiming point in the display area of the scope; if the target mark point of the preset target coincides with the final aiming point, then control the automatic firing assembly to complete the firing of the gun. In this solution, the timing of shooting is judged by the program, and the automatic firing component is used to fire, which can eliminate the influence of the shooter on the accuracy of aiming and shooting, and greatly improve the hit rate.

Description of drawings

In order to illustrate the technical solution of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded It is regarded as limiting the protection scope of the present invention. In the respective drawings, similar components are given similar reference numerals.

Fig. 1 shows a schematic flow chart of a method for automatic shooting proposed by an embodiment of the present invention;

Fig. 2 shows a schematic structural view of the automatic firing assembly in a viewing angle in an automatic shooting method proposed by an embodiment of the present invention;

Fig. 3 shows a structural schematic diagram of the automatic firing component in another viewing angle in an automatic shooting method proposed by an embodiment of the present invention;

Fig. 4 shows a schematic structural diagram of an automatic shooting device proposed by an embodiment of the present invention.

illustration:

100-motor; 110-cam;

120-analog manipulator; 121-trigger lever; 122-connecting rod;

123-butting portion; 1231-limiting slot;

130-base; 131-stage compression spring; 132-limit pin; 140-rotating part;

201-initial module; 202-offset module; 203-display module; 204-firing module.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.

The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

Hereinafter, the terms "comprising", "having" and their cognates that may be used in various embodiments of the present invention are only intended to represent specific features, numbers, steps, operations, elements, components or combinations of the foregoing, And it should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing or adding one or more features, numbers, steps, operations, elements, components or a combination of the foregoing possibilities.

In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, Unless clearly defined in various embodiments of the present invention.

Example 1

Embodiment 1 of the present invention discloses a method for automatic shooting, which is applied to a firearm provided with a scope and an automatic firing assembly. As shown in Figure 1, the method includes the following steps:

Step S101, determining an initial aiming point based on the current attitude of the gun through the scope;

Specifically, the scope is arranged on the gun, and the direction of the light passing through the scope is parallel to the length direction of the barrel of the gun, so as to pass through the scope and the current attitude of the gun (specifically, it can include the muzzle pointing of the barrel). and attitude) to determine the initial aiming point.

Step S102: Perform ballistic calculation based on the distance between the muzzle and the preset target and the environmental parameters to determine the aiming offset; specifically, the muzzle and distance determined based on the rangefinder set on the scope The distance between the preset targets and the environmental parameters sensed by the environmental parameter perception module are used for ballistic calculation to determine the aiming offset;

Further, further, the environmental parameters include: one or more of wind speed, air pressure, temperature and humidity.

Specifically, the sight can realize the fusion of infrared and visible light images. In addition, through the range finder (such as a laser range finder) and the environmental parameter automatic perception module, the distance to the preset target, the wind speed and air pressure in the current environment can be obtained. , temperature and humidity, etc., are passed to the ballistic calculation module in the scope to calculate the aiming offset, that is, the offset of the aiming point, and automatically match the aiming point.

In the actual application scenario, if the target is a dynamic object, the motion characteristics of the target also need to be considered during the ballistic calculation process, specifically, the position of the center of mass of the preset target is determined; based on the multiple images of the preset time period The center of mass position of the preset target determines the motion characteristic data of the preset target; based on the motion characteristic data, the initial aiming point is corrected to obtain the final aiming point, and shooting guidance is performed based on the final aiming point.

In the actual application scenario, it can be based on the position of the center of mass of the preset target in the current image (based on which the distance from the target to the muzzle can be determined), the current environmental data (such as wind speed, temperature, etc.), the attribute data of the gun ( For example, the type of gun, chamber pressure, muzzle velocity, etc.) and the ballistic table for ballistic calculation. The specific ballistic table records the ballistic elements of the bullet under different shooting conditions. The ballistic table corresponds to the gun, based on The ballistic table combines environmental data and the distance of the target from the muzzle to determine the point of impact.

Step S 103. Determine a final aiming point based on the initial aiming point and the aiming offset, and display the final aiming point in the display area of the sight;

After the aiming offset is determined, the initial aiming point is corrected to obtain the final aiming point, and the final aiming point is displayed in the display area of the scope.

Step S104, if the target marking point of the preset target coincides with the final aiming point, then control the automatic firing component to complete the firing of the gun.

Specifically, the number of preset targets can be one or more, each target is identified by the scope, and a target mark point is generated, specifically, it is displayed as a light point of a certain color, such as a red light point or a blue light point wait.

When the shooter moves the gun barrel so that the final aiming point coincides with the target marking point of the preset target, the firing of the firearm is immediately completed by the automatic firing assembly. Achieved rapid firing. During the whole process, the shooter only needs to roughly aim the muzzle at the target and then make minor adjustments to make the target mark coincide with the aiming point.

Further, as shown in FIGS. 2 and 3 , the automatic firing assembly includes: a motor 100 , a cam 110 , a simulated manipulator 120 and a base 130 ;

The output shaft of the motor 100 is sleeved with the cam 110; wherein, the cam 110 has at least one proximal portion and at least one distal portion, and the proximal portion and the distal portion are smoothly transitioned, The motor 100 drives the cam 110 to rotate, and then switches between the proximal part and the distal part to abut against the abutting part 123 . In an optional embodiment, the cam 110 is elliptical, and the cam 110 has two proximal parts and two distal parts, the proximal parts and the distal parts are arranged alternately, the proximal part and the The abaxial part has a smooth transition connection.

The first end of the simulated manipulator is provided with a trigger lever 121, the second end of the simulated manipulator is provided with an abutting portion 123, the abutting portion 123 is connected with the base 130, and the cam 110 abuts against the The simulated manipulator 120 is used to squeeze the simulated manipulator 120 when the cam 110 rotates, and make the trigger lever 121 of the simulated manipulator 120 trigger the trigger of the firearm.

Further, the simulated manipulator also includes a connecting rod 122 for connecting the trigger rod 121 and the abutting portion 123;

The side of the abutting portion 123 facing the trigger lever 121 abuts against the cam 110 ; the side of the abutting portion 123 away from the trigger lever 121 is disposed in the base 130 ;

The base 130 is provided with a compression spring 131; one side of the compression spring 131 is connected to the inner wall on the side of the base 130 away from the abutting portion 123, and the other side of the compression spring 131 is connected to the The abutting portion 123 is connected to one side of the base 130 .

Specifically, in the initial state, the proximal part of the cam 110 is in contact with the abutment part 123, and when the target mark point of the preset target coincides with the final aiming point, the starter motor 100 rotates, and then the cam 110 rotates, and the far shaft of the cam 110 The portion gradually approaches the abutting portion 123, the cam 110 gives the abutting portion 123 a backward pressure, and the abutting portion 123 is arranged in the base 130, the abutting portion 123 provides elastic force through the compression spring 131 in the base 130, and the This can make the cam 110 keep in contact with the abutting portion 123, and when the abutting portion 123 moves backward, it drives the connecting rod 122 and the trigger rod 121 to move backward simultaneously, and when moving backward to a certain degree (for example, The far shaft portion of the cam 110 is in contact with the abutting portion 123), the trigger lever 121 contacts the trigger, and when it continues to move backward, the trigger will be triggered, and then complete the firing of the firearm and complete the shooting.

The abutting portion 123 is provided with a limiting slot 1231; the base 130 is also provided with a limiting pin 132; the limiting pin 132 is embedded in the limiting slot 1231 to constrain the simulation manipulator 120 along the The lengthwise movement of the limiting slot 1231.

In order to ensure the stability of the backward movement, a limiting slot 1231 is provided on the abutting portion 123 (for example, the shape of the limiting slot 1231 can be elongated), and a limiting pin 132 is provided on the base 130. When moving, the limit pin 132 will be embedded in the limit slot 1231 , so that the simulated manipulator 120 can only move along the length direction of the limit slot 1231 .

Further, considering that the shooter may want to fire manually, in this case, the automatic firing component needs to have a usable state and an unusable state, and it is convenient to switch between the two states. Thus the automatic firing assembly is rotatably connected with the firearm;

Therefore, it also includes: a rotating part 140; wherein, the rotating part 140 is arranged on the automatic firing assembly, and the rotating part 140 is used to drive the automatic firing assembly to rotate relative to the firearm, so that the automatic The firing assembly switches between a trigger area where the gun can be fired and a non-trigger area where the gun cannot be fired.

Further, the rotating part 140 can be arranged on the base 130, and the rotating part 140 is used to drive the automatic firing assembly to rotate relative to the firearm, so that the automatic firing assembly can trigger the firing of the firearm. To switch between a trigger area and a non-trigger area where the firearm cannot be triggered, specifically, the trigger lever 121 is switched between a trigger area where the trigger can be triggered and a non-trigger area where the trigger cannot be triggered.

By turning the rotating part 140, the rotation of the entire automatic firing assembly can be realized, and finally the trigger lever 121 can be switched between the trigger area where the trigger can be triggered and the non-trigger area where the trigger cannot be triggered. Here, the area can be within a certain distance in front of the trigger, and the non-triggering area refers to other areas outside the triggering area. In the non-triggering area, the trigger cannot be triggered based on the automatic firing component.

Specifically, the simulated manipulator 120 can be rotated as a whole driven by the rotating part 140 (for example, a rotating handwheel). Manual shooting; or directly loosen the fixing mechanism that the automatic firing component is fixed on the firearm, so that the automatic firing component can be fired without affecting the use of manual firing.

Further, in order to further facilitate the shooter to adjust the muzzle, the method further includes: generating a movement indication that the final aiming point points to the target marking point; and displaying the movement indication in a display area of the scope. In this solution, when the shooter adjusts the muzzle, there will be a display of moving instructions, which can give the shooter an intuitive impression and enable the user to adjust the muzzle correctly and faster.

Example 2

In order to further illustrate this solution, Embodiment 2 of the present invention also discloses an automatic shooting device, which is applied to a gun equipped with a scope and an automatic firing assembly, as shown in Figure 4, the device includes:

An initial module 201, configured to determine an initial aiming point based on the current attitude of the firearm through the scope;

An offset module 202, configured to perform ballistic calculation based on the distance between the muzzle and the preset target and environmental parameters, so as to determine the aiming offset;

A display module 203, configured to determine a final aiming point based on the initial aiming point and the aiming offset, and display the final aiming point in the display area of the scope;

The firing module 204 is configured to control the automatic firing assembly to complete the firing of the firearm if the target marking point of the preset target coincides with the final aiming point.

It also includes: a rotating part 140; wherein, the rotating part 140 is arranged on the automatic firing assembly, and the rotating part 140 is used to drive the automatic firing assembly to rotate relative to the firearm, so that the automatic firing assembly Switching between a trigger area that can trigger firing of the gun and a non-trigger area that cannot trigger firing of the gun.

In a specific embodiment, the automatic firing assembly includes: a motor 100, a cam 110, a simulated manipulator 120 and a base 130;

The cam 110 is sleeved on the output shaft of the motor 100;

Further, the abutting portion 123 is provided with a limiting slot 1231; the base 130 is also provided with a limiting pin 132; the limiting pin 132 is inserted into the limiting slot 1231 to constrain the simulated manipulator 120 moves along the length direction of the limiting slot 1231 .

In a specific embodiment, the device also includes:

An indication module, configured to generate a movement indication that the final aiming point points to the target marker point;

The movement indication is displayed on a display area of the scope.

Example 3

Embodiment 3 of the present invention also discloses a firearm, including: a processor and a memory, wherein a computer program is stored in the memory, and the automatic shooting method described in Embodiment 1 is implemented when the processor executes the computer program.

Example 4

Embodiment 4 of the present invention also discloses a storage medium, in which a computer program is stored, and when the computer program is executed, the automatic shooting method described in Embodiment 1 is realized.

In the several embodiments provided in this application, it should be understood that the disclosed devices and methods may also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flow charts and structural diagrams in the accompanying drawings show the possible implementation architecture and functions of devices, methods and computer program products according to multiple embodiments of the present invention. and operation. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions. It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It is also to be noted that each block of the block diagrams and/or flow diagrams, and combinations of blocks in the block diagrams and/or flow diagrams, can be implemented by a dedicated hardware-based system that performs the specified function or action. may be implemented, or may be implemented by a combination of special purpose hardware and computer instructions.

In addition, each functional module or unit in each embodiment of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention.

Claims

A method for automatic shooting, characterized in that it is applied to a firearm provided with a scope and an automatic firing assembly, the method comprising:

determining an initial aiming point based on the current attitude of the firearm through the scope;

Ballistic calculation based on the distance between the muzzle and the preset target and environmental parameters to determine the aiming offset;

determining a final aiming point based on the initial aiming point and the aiming offset, and displaying the final aiming point in a display area of the scope;

If the target marking point of the preset target coincides with the final aiming point, the automatic firing component is controlled to complete the firing of the gun.
The method according to claim 1, wherein the environmental parameters include: one or more of wind speed, air pressure, temperature and humidity.
The method of claim 1, wherein the automatic firing assembly is rotatably connected to the firearm;

It also includes: a rotating part; wherein, the rotating part is arranged on the automatic firing assembly, and the rotating part is used to drive the automatic firing assembly to rotate relative to the firearm, so that the automatic firing assembly can trigger the Switch between the trigger area where the firearm is fired and the non-trigger area where the firearm cannot be fired.
The method according to claim 1, wherein the automatic firing assembly comprises: a motor, a cam, a simulated manipulator and a base;

The output shaft of the motor is sleeved with the cam;

The first end of the simulated manipulator is provided with a trigger lever, the second end of the simulated manipulator is provided with an abutment part, the abutment part is connected with the base, and the cam abuts against the simulated manipulator, so as to When the cam rotates, it squeezes the simulated manipulator, and causes the trigger lever of the simulated manipulator to trigger the trigger of the firearm.
The method according to claim 4, wherein the simulated manipulator further comprises a connecting rod for connecting the trigger rod and the abutting part;

The side of the abutting portion facing the trigger lever abuts against the cam; the side of the abutting portion away from the trigger lever is arranged in the base;

A compression spring is provided in the base; one side of the compression spring is connected to the inner wall on the side of the base away from the abutment portion, and the other side of the compression spring and the abutment portion face the One side of the base is attached.
The method according to claim 4, characterized in that, a limiting slot is provided on the abutting portion; a limiting pin is also provided on the base; and the limiting pin is inserted into the limiting slot to constrain The simulated manipulator moves along the length direction of the limiting slot.
The method of claim 1, further comprising:

generating an indication of movement of the final aiming point towards the target marker;

The movement indication is displayed on a display area of the scope.
An automatic shooting device is characterized in that it is applied to a firearm provided with a scope and an automatic firing assembly, and the device includes:

an initial module, configured to determine an initial aiming point based on the current attitude of the firearm through the scope;

The offset module is used to perform ballistic calculation based on the distance between the muzzle and the preset target and environmental parameters to determine the aiming offset;

A display module, configured to determine a final aiming point based on the initial aiming point and the aiming offset, and display the final aiming point in the display area of the scope;

The firing module is configured to control the automatic firing assembly to complete the firing of the firearm if the target marking point of the preset target coincides with the final aiming point.
A firearm, characterized in that it comprises: a processor and a memory, a computer program is stored in the memory, and the automatic shooting method according to any one of claims 1-7 is realized when the processor executes the computer program .
A storage medium, characterized in that a computer program is stored in the storage medium, and when the computer program is executed, the automatic shooting method according to any one of claims 1-7 is realized.