CN206709701U - A kind of full landform intelligent mobile target system of shoot training of light weapons - Google Patents
A kind of full landform intelligent mobile target system of shoot training of light weapons Download PDFInfo
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- CN206709701U CN206709701U CN201720259586.2U CN201720259586U CN206709701U CN 206709701 U CN206709701 U CN 206709701U CN 201720259586 U CN201720259586 U CN 201720259586U CN 206709701 U CN206709701 U CN 206709701U
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Abstract
The utility model provides a kind of full landform intelligent mobile target system of shoot training of light weapons, is related to shoot training of light weapons target equipment technical field.Target apparatus includes a humanoid stereo target and full landform intelligent robot motion platform in system；The casing lower end of platform is provided with glide steering control system；Box house is provided with motion motor drive system, power supply module, location navigation sensor, landform detecting sensor, ambient sensors and Study of Intelligent Robot Control system；Each sensor is connected with Study of Intelligent Robot Control system；Humanoid stereo target is provided with the structure for simulating partes corporis humani position, and conductive rubber sensor is respectively arranged with inside each portion structure；The bullet hiting signal that the bullet hit detection circuit of box house is sensed by conductive rubber sensor determines the simulation human body that bullet is hit；Manual mode control terminal, tactics display control terminal are connected with Study of Intelligent Robot Control system and bullet hit detection circuit communication.
Description
Technical field
It the utility model is related to shoot training of light weapons target equipment technical field, more particularly to a kind of light weapon firing instruction
Practice full landform intelligent mobile target system.
Background technology
Currently, with international situation continuous change and security protection anti-terrorism objective demand, shoot training of light weapons into
For the important means of military training.And it is current, in shoot training of light weapons, use the humanoid target system of mobile shooting plane mostly
System is used as national defence shoot training of light weapons apparatus.Behavior modeling to people for a long time is shoot training of light weapons target construction
Emphasis, the main simulation for including three aspects：(1) people of different postures (i.e. exposed area is different)；(2) back and forth transported along route
Dynamic people；(3) irregular movement, possess intelligentized people or crowd.
Traditional shoot training of light weapons target majority domestic and international at present is by the way of in orbit, i.e., in gunnery training
Light rail or section bar are laid in target range as guide rail, builds target room to place target (as shown in figure 1, the target of prior art is big
Mostly plane target drone, can be disc or plane it is humanoid, number of rings is labeled with target), arrangement power line, switch board and
Hidden facility of operating personnel etc..It is in-orbit that hawser traction, track power transmission or self-powered mode is usually taken in gunnery training target
Run on road, training is shot at for trainer to simulate human-like target.It is overall to build although such mode implementation method is simple
If high with maintenance cost, target location is relatively fixed, and lacks flexibility.Therefore traditional moving target mark is difficult to meet modernization
Gunnery training demand, and have very big difference with true battle.
In addition, the detection for shooting result, existing indication of shots detection method mainly has both at home and abroad at present：Electric pole short circuit
Method, photoelectric detection method, pattern-recognition method, acoustic-electric positioning mode etc..Photoelectric detection method, laser array cost is high, and difficulty of processing is big, and
Easily by bullets damage.Pattern-recognition method is mainly used in individual soldier's precision shooting training, needs to change target sheet after being hit by a bullet every time, for vertical
Body humanoid target and easily misjudge, be not suitable for moving target mark.The problem of interfering be present in acoustic-electric positioning mode, and
Easily there is the situation of failing to judge to continuous middle target.In addition, current shoot training of light weapons is generally adopted by plane target, with reality
The body configuration on border and volume difference are larger.
It can be seen that target location motion mode to be present single for the shoot training of light weapons target system of prior art, to true
The analog simulation degree of environment is poor, and indication of shots detection method positioning shooting result is not accurate enough.
Utility model content
Embodiment of the present utility model provides a kind of full landform intelligent mobile target system of shoot training of light weapons, to solve
The shoot training of light weapons target system of prior art has that target location motion mode is single, to the analog simulation of true environment
Spend poor and the problem of true battlefield face-off scene can not be simulated.
To reach above-mentioned purpose, the utility model adopts the following technical scheme that：
A kind of full landform intelligent mobile target system of shoot training of light weapons, including：Manual mode control terminal, tactics show
Show control terminal and one or more target apparatus；
The target apparatus includes a humanoid stereo target and the full landform intelligence being connected with humanoid stereo target bottom
Can robot movement platform；
The full landform intelligent robot motion platform includes a casing；The casing lower end is provided with glide steering control
System processed；Motion motor drive system, power supply module are provided with the box house, for positioning full landform intelligent robot
The location navigation sensor of moving platform position, the landform sense for sensing landform residing for full landform intelligent robot motion platform
Know sensor, whether have around full landform intelligent robot motion platform for sensing barrier ambient sensors and
For controlling the Study of Intelligent Robot Control system of full landform intelligent robot motion platform movement；The glide steering control system
System, location navigation sensor, landform detecting sensor, ambient sensors connect with the Study of Intelligent Robot Control system
Connect；
The humanoid stereo target is provided with the structure for simulating partes corporis humani position, inside each portion structure
It is respectively arranged with conductive rubber sensor；
In the box house, the bullet hit detection electricity being connected with the Study of Intelligent Robot Control system is additionally provided with
Road；The bullet hit detection circuit is connected respectively with each conductive rubber sensor；
The power supply module and the motion motor drive system, glide steering control system, Study of Intelligent Robot Control system
System and the connection of bullet hit detection circuit；
Manual mode control terminal and tactics display control terminal with the Study of Intelligent Robot Control system and son
Play the connection of hit detection circuit communication.
Specifically, the glide steering control system includes 4 independent drivings and uses rigid suspended wheeled construction；Institute
To state 4 independent drivings and be divided into front and rear two groups using rigid suspended wheeled construction, each wheeled construction is connected with motion motor,
The motion motor of 4 tunnel independences is connected with motion motor drive system；The motion motor drive system and the intelligent robot
Control system connects；The motion motor drive system is used for the motion motor for controlling 4 tunnel independences, to drive wheeled construction to revolve
Turn.
Specifically, the landform detecting sensor includes gyro sensor and gravity accelerometer；The gyro
Instrument sensor and gravity accelerometer are connected with the Study of Intelligent Robot Control system respectively；The gyro sensor and
Gravity accelerometer is used for the attitude information for sensing the full landform intelligent robot motion platform.
Specifically, the ambient sensors include being arranged at the laser radar sensor of the casing front end；It is described
Laser radar sensor is connected with the Study of Intelligent Robot Control system；The laser radar sensor be used for sense it is described entirely
The obstacle information of shape intelligent robot motion platform front end.
Specifically, the humanoid stereo target includes humanoid polythene material kernel；In the humanoid polyethylene
Conductive rubber sensor is distributed with the inside configuration that material core simulates partes corporis humani position；In the humanoid polythene material
The structure that core simulates partes corporis humani position includes human body head, neck, shoulder, chest, arm, cardia and belly.
Specifically, it is provided with bulletproof armour structure outside the full landform intelligent robot motion platform；The shellproof dress
First structure bullet layer, fire prevention packed layer and burster course including aluminium alloy；The fire prevention packed layer is located at the aluminium alloy and bullet
The centre of layer and the burster course；The aluminium alloy the front portion that bullet layer is located at the bulletproof armour structure；The burster course position
In the rear portion of the bulletproof armour structure；The burster course is made of hot-rolled armor plate.
Specifically, it is provided with the full landform intelligent robot motion platform upper end with humanoid stereo target junction
Back starting target control structure；The back starting target control structure includes target connecting bracket, plays rotation-inversion axis, Hall sensor, direct current
Machine, worm and gear train of reduction gears and rise fall control circuit；The target connecting bracket upper end and the humanoid Stereo target
Mark is fixedly connected；Described rotation-inversion axis is by the target connecting bracket lower end and the full landform intelligent robot motion platform
End connection；Described in being set respectively in the target connecting bracket lower end and the full landform intelligent robot motion platform upper end suddenly
Your sensor, the Hall sensor with described control circuit be connected；The Hall sensor is used to sense the target
Connecting bracket lower end and the relative position of the full landform intelligent robot motion platform upper end；Described fall control circuit and institute
Direct current generator connection is stated, by worm and gear train of reduction gears described in the DC MOTOR CONTROL, to drive described rotation-inversion axis
Rotation；Described fall control circuit be connected respectively with the Study of Intelligent Robot Control system and the bullet hit detection circuit.
In addition, the casing side is provided with audio simulator；The audio simulator and the intelligent robot control
System connection processed；The audio simulator is used for the sound for sending apery or simulation is hit by a bullet audio.
In addition, the Study of Intelligent Robot Control system is connected with network transport interface；
The tactics display control terminal is led to by the LAN that two wireless bridges are formed and the network transport interface
Letter connection, to be communicated with the Study of Intelligent Robot Control system.
Further, the full landform intelligent mobile target system of the shoot training of light weapons, is additionally included in light weapon firing
The monopod video camera that training place periphery is set up；The monopod video camera communicates to connect with the tactics display control terminal；It is described
Monopod video camera is used to shoot the real time status for obtaining shoot training of light weapons field；
Further, the full landform intelligent mobile target system of the shoot training of light weapons, in addition to trainer's dress
The laser induced clothes with GPS circuit, and at humanoid stereo target set laser irradiation
Equipment；The laser induced clothing surface is provided with laser inductor；The GPS circuit passes through wireless network
Network is connected with Study of Intelligent Robot Control system；The laser irradiating device is connected with the Study of Intelligent Robot Control system；
The Study of Intelligent Robot Control system, for the trainer place determined according to GPS circuit
Positional information, the laser irradiating device is controlled to launch laser signal to trainer position.
The full landform intelligent mobile target system of a kind of shoot training of light weapons that the utility model embodiment provides, it includes
Manual mode control terminal, tactics display control terminal and one or more target apparatus；The target apparatus includes a humanoid
Stereo target and the full landform intelligent robot motion platform being connected with humanoid stereo target bottom；The full landform intelligent machine
Device people motion platform includes a casing；The casing lower end is provided with glide steering control system；Set in the box house
It is equipped with small-volume large-power motion motor drive system, power supply module, for positioning full landform intelligent robot motion platform position
The location navigation sensor put, for sense the landform detecting sensor of landform residing for full landform intelligent robot motion platform,
Whether there are the ambient sensors of barrier and for controlling around full landform intelligent robot motion platform for sensing
The Study of Intelligent Robot Control system of full landform intelligent robot motion platform motion；The glide steering control system, positioning are led
Boat sensor, landform detecting sensor, ambient sensors are connected with the Study of Intelligent Robot Control system respectively, so as to
To realize the flexible movement that full landform intelligent robot motion platform is controlled by Study of Intelligent Robot Control system.The humanoid
Stereo target is provided with the structure for simulating partes corporis humani position, and conductive rubber is respectively arranged with inside each portion structure
Sensor；In the box house, the bullet hit detection circuit being connected with the Study of Intelligent Robot Control system is additionally provided with；
The bullet hit detection circuit is connected respectively with each conductive rubber sensor, with the bullet sensed by conductive rubber sensor
Hiting signal determines the simulation human body that bullet is hit, so as to realize that different simulation human bodies are hit by bullet
Accurate detection, the accuracy of shooting is commented using number of rings compared to existing target, by the simulation human body of hit come
Comment the accuracy more closing to reality of shooting.The power supply module controls with the motion motor drive system, glide steering
System, Study of Intelligent Robot Control system and the connection of bullet hit detection circuit；The manual mode control terminal and tactics show
Show that control terminal is connected with the Study of Intelligent Robot Control system and bullet hit detection circuit communication；The manual mode control
Terminal processed and the tactics display control terminal are used to control the full landform intelligence machine by Study of Intelligent Robot Control system
People's motion platform moves；The tactics display control terminal can also show the status information of the target apparatus.It can be seen that this reality
It is single to there is target location motion mode with the new shoot training of light weapons target system that can solve prior art, to true
The problem of analog simulation degree of environment is poor and can not simulate true battlefield face-off scene.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the target schematic diagram of prior art；
Fig. 2 is the full landform intelligent mobile target system of a kind of shoot training of light weapons that the utility model embodiment provides
Structural representation one；
Fig. 3 is the full landform intelligent mobile target system of a kind of shoot training of light weapons that the utility model embodiment provides
Structural representation two；
Fig. 4 is the full landform intelligent mobile target system of a kind of shoot training of light weapons that the utility model embodiment provides
Structural representation three；
Fig. 5 is each portion structure of humanoid stereo target institute simulated person's body and conductive rubber in the utility model embodiment
Sensor distribution schematic diagram；
Fig. 6 is the bulletproof armour structural representation in the utility model embodiment；
Fig. 7 is the back starting target control structure schematic diagram in the utility model embodiment；
Fig. 8 is the communication environment schematic diagram of the tactics display control terminal and target apparatus in the utility model embodiment
One；
Fig. 9 is the communication environment schematic diagram of the tactics display control terminal and target apparatus in the utility model embodiment
Two；
Figure 10 is the display interface schematic diagram on tactics display control terminal in the utility model embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
As shown in Fig. 2 the utility model embodiment provides a kind of full landform intelligent mobile target system of shoot training of light weapons
System 10, including：Manual mode control terminal 11, tactics display control terminal 12 and one or more target apparatus 13.
The target apparatus 13 includes a humanoid stereo target 131 and is connected with the bottom of humanoid stereo target 131
Full landform intelligent robot motion platform 132.
What deserves to be explained is humanoid stereo target 131 herein can be 2D humanoids target or 3D aperies
Shape target.In the utility model accompanying drawing, by taking 3D humanoid targets as an example, for the form of other humanoid stereo targets,
It will not enumerate in the utility model accompanying drawing.
As shown in Figures 2 and 3, the full landform intelligent robot motion platform 132 includes a casing 133；In the case
The lower end of body 133 is provided with glide steering control system 134；Motion motor drive system is internally provided with the casing 133
130th, power module 135, the location navigation sensor 136 for positioning full landform intelligent robot moving platform position, be used for
Sense the landform detecting sensor 137 of landform residing for full landform intelligent robot motion platform, for sensing full landform intelligent machine
Whether the ambient sensors 138 of barrier are had around device people's motion platform and for controlling full landform intelligent robot to transport
The Study of Intelligent Robot Control system 139 of moving platform motion；The glide steering control system 134, location navigation sensor 136,
Landform detecting sensor 137, ambient sensors 138 are connected with the Study of Intelligent Robot Control system 139 respectively.
The humanoid stereo target 131 is provided with the structure for simulating partes corporis humani position, in each portion structure
Inside is respectively arranged with conductive rubber sensor 140.
Inside the casing 133, the bullet hit inspection being connected with the Study of Intelligent Robot Control system 139 is additionally provided with
Slowdown monitoring circuit 141；The bullet hit detection circuit 141 is connected respectively with each conductive rubber sensor 140, to pass through conductive rubber
The bullet hiting signal that sensor 140 senses determines that bullet hits the position of simulation human body.
The power supply module 135 and the motion motor drive system 130, glide steering control system 134, intelligence machine
People's control system 139 and bullet hit detection circuit 141 connect, to be respectively glide steering control system 134, intelligence machine
People's control system 139 and bullet hit detection circuit 141 are powered.Certainly, power supply module 135 can also connect target apparatus 13
In other power structures.Power supply module 135 herein can include the autobalance Charge Management mould of lithium battery and lithium battery
Block, wherein lithium battery are responsible for energy supply, and have perfect lithium battery group management of charging and discharging function.The autobalance of lithium battery
Charge management module can monitor voltage, electric current and the temperature of each power structure chip in real time, have overvoltage, excessively stream, excess temperature,
Cross and the protection battery functi on such as put so that whole power supply module 135 has higher service efficiency and service life.
Manual mode control terminal 11, tactics display control terminal 12 with the Study of Intelligent Robot Control system
139 and bullet hit detection circuit 141 communicate to connect；The manual mode control terminal 11 and the tactics display control terminal
12 are used to control the full landform intelligent robot motion platform 132 to move by Study of Intelligent Robot Control system 139；The war
Art display control terminal 12 is additionally operable to show the status information of the target apparatus 13.
Specifically, as shown in figure 4, the glide steering control system 134 includes 4 independent drivings and using rigid suspended
Wheeled construction 142；Described 4 independently drive and use rigid suspended wheeled construction 142 to be divided to for front and rear two groups, and every group wheeled
Structure is connected with the motion motor 143 and motion motor drive system 130 of the tunnel independence of motion motor 143,4 of small-volume large-power
Connection；The motion motor drive system 130 is connected with the Study of Intelligent Robot Control system 139；The motion motor driving
System 130 is used for the motion motor 143 for controlling 4 tunnel independences, to drive wheeled construction 142 to rotate.
Herein, preferably steering behaviour can be realized by glide steering control system 134, and steering behaviour is full landform
One important evaluation index of the performance of intelligent robot motion platform 132.Such as can be real by glide steering control system 134
Existing pivot stud, pivot stud refer to both sides wheel constant speed backward going, i.e., no-radius turn in theory.And the utility model
In, motion motor drive system 130 and small-volume large-power motion motor 143 can be transported with the full landform intelligent robot of common guarantee
The high maneuverability and high reliability of moving platform 132.And full landform intelligent robot motion platform 132 can also realize that sliding turns
To slip turns to rotating speed and its steering by both sides wheel is changed to manipulate travel direction.
Specifically, as shown in figure 4, the landform detecting sensor 137 includes gyro sensor 145 and acceleration of gravity
Sensor 146；The gyro sensor 145 and gravity accelerometer 146 respectively with the Study of Intelligent Robot Control system
The connection of system 139；The gyro sensor 145 and gravity accelerometer 146 are used to sense the full landform intelligence machine
The attitude information of people's motion platform, such as three axle angle informations etc..So, full landform intelligent robot motion platform 132 can be with
Corresponding four-wheel drive strategy is taken according to the difference of landform, ensures the operation peace of full landform intelligent robot motion platform
Entirely.For example, the full landform intelligent robot motion platform 132 can be travelled in pitch, sandstone, meadow and shrub etc. a variety ofly
Shape.The maximum gradeability of full landform intelligent robot motion platform 132 can be not less than 30 °, and maximum travelling speed is up to 5
Meter per second, peak acceleration can reach for 3.5 meter/square seconds, and maximum angular speed can reach 90 degrees seconds, and maximum angular acceleration can
To reach for 120 degree/square seconds.Full landform intelligent robot motion platform 132 can also be run with friction speed, such as simulation people
Walking (about 1.5m/s), run a variety of translational speeds such as (about 3m/s) and motorcycle motor-driven (about 5m/s), and friction speed it
Between can quickly switch over.
Specifically, as shown in figure 4, the ambient sensors 138 include being arranged at the laser thunder of the casing front end
Up to sensor 147；The laser radar sensor 147 is connected with the Study of Intelligent Robot Control system 139；The laser radar
Sensor 147 is used for the obstacle information for sensing the full landform intelligent robot motion platform front end.
Herein, for laser radar sensor 147 as a kind of environmental sensor of active probe, it can obtain surrounding environment
The range information of middle object, and do not influenceed by illumination condition, in the utility model, laser radar sensor 147 can utilize
Existing cloud clusters and iterative closet point algorithm frame matching technique perceives to surrounding environment, completes surrounding environment feature extraction and determines
The functions such as position navigation.Obstacle information is obtained by environment sensing and path passability is analyzed, so as to training target device 13
Operation planning is carried out, so as to obtain peripheral obstacle information using laser radar environment perception technology, in moving process
Barrier can actively be got around and hide other targets, avoid collide with each other problem of the target apparatus 13 in traveling.
It can be seen that full landform locomitivity and the perception to external environment possessed by full landform intelligent robot motion platform
Power, with reference to the location navigation function of can adapt to round-the-clock environment, it is ensured that target apparatus is not by weather, light, temperature etc.
Influence, realize full landform, the autonomous driving functions in round-the-clock field.Such as can be in sleety weather, day and night, the dog days of summer and the dead of winter
Deng providing target practice training mission under the conditions of Different climate.
Specifically, as shown in figure 5, the humanoid stereo target 131 includes humanoid polythene material kernel；Described
Conductive rubber sensor 140 is distributed with the inside configuration that humanoid polythene material kernel simulates partes corporis humani position；It is described imitative
The structure that humanoid polythene material kernel simulates partes corporis humani position includes human body head 148, neck 149, shoulder 150, chest
151st, arm 152, cardia 153 and belly 154.So, when the conductive rubber sensor 140 at each position of bullet hits
When, the can of bullet hit detection circuit 141 captures the hiting signal of bullet, determines target site.If humanoid Stereo target
Mark 131 is damaged, and humanoid stereo target 131 can also be easy to be changed rapidly.
Further, as shown in fig. 6, being provided with bulletproof armour outside the full landform intelligent robot motion platform 132
Structure 155；The bulletproof armour structure 155 bullet layer 156, fire prevention packed layer 157 and burster course 158 including aluminium alloy；Institute
State fire prevention packed layer 157 and be located at the centre that the aluminium alloy bullet layer 156 and the burster course 158；The aluminium alloy bullet layer
156 are located at the front portion of the bulletproof armour structure 155；The burster course 158 is located at the rear portion of the bulletproof armour structure 155；
The burster course 158 can use thickness to be made up of 5 millimeters of B900FD high-strength hot-rolled armor plates, and the shape steel plate has good
Good resistance to shock loads deformability, ensure that larger impact flexibility, performance is uniform and stable, have good cold-workability and
Welding performance.And packed layer 157 of preventing fires can use thickness that for 3 millimeters of fireproofing and heat resistant material, quality is soft.Aluminium alloy bullet
Layer 156 is using the aluminum alloy plate materials of 2 millimeters thicks, and light, intensity is high, there is good corrosion resistance after surface treatment.Such group
When bullet hits the bulletproof armour structure 155 of humanoid stereo target 131, the aluminium alloy that bullet can penetrate most front side bullet layer 156,
After hitting the burster course 158 on rear side of road, rest in the fire prevention packed layer 157 of centre, effectively reduce the danger of bullet ejection, keep away
The danger that device damage caused by exempting from ricochet and personnel accidentally injure.
Specifically, as shown in Fig. 2 in the full upper end of landform intelligent robot motion platform 132 and humanoid Stereo target
Mark 131 junctions and be provided with back starting target control structure 159.As shown in fig. 7, the back starting target control structure 159 connects including target
Support 160 is connect, rotation-inversion axis 161, Hall sensor 162, direct current generator 163, worm and gear train of reduction gears 164 is played and rises
Control circuit 165；The upper end of target connecting bracket 160 is fixedly connected with the humanoid stereo target 131；Described reversing
Axle 161 connects the lower end of target connecting bracket 160 with the full upper end of landform intelligent robot motion platform 132；Institute
State the lower end of target connecting bracket 160 and the full upper end of landform intelligent robot motion platform 132 sets the Hall to pass respectively
Sensor 162, the Hall sensor 162 with described fall control circuit 165 be connected；The Hall sensor 162 is used to sense
The lower end of target connecting bracket 160 and the relative position of the full upper end of landform intelligent robot motion platform 132.Described
Control circuit 165 is connected with the direct current generator 163, to control the worm and gear to slow down by the direct current generator 163
Gear train 164, the rotation-inversion axis 161 that rises is driven to rotate；In addition, as shown in figure 4, described fall control circuit 165 respectively with institute
State Study of Intelligent Robot Control system 139 and the bullet hit detection circuit 141 connects.Herein play control circuit 165 can
So that STM32 processing can be used by motion control processor and motion motor drive system two parts, wherein motion control processor
Device, and motion motor drive system can use MC33887 full-bridge driving chips.
Specifically, described fall control circuit 165, for detecting what is pre-set in bullet hit detection circuit 141
After simulation human body is hit by bullet, the worm and gear train of reduction gears 164, band are controlled by the direct current generator 163
The rotation-inversion axis 161 that rises rotates, and falling is connected with the target connecting bracket 160 to one of humanoid stereo target 131 and sets in advance
The position of falling put.The Study of Intelligent Robot Control system 139, for after the target connecting bracket 160 was fallen, controlling
Complete 132 original places of landform intelligent robot motion platform are static.For example, the simulation human body pre-set can include head
Portion, cardia, chest, but not include arm, shoulder because head, cardia and chest hit by bullet after be cause
Life, it can fall and be connected with the target connecting bracket 160 of humanoid stereo target 131, the field to be fallen down to the ground to simulate human body to be hit by a bullet
Scape.In addition, target can also be erected automatically after target connecting bracket 160 was fallen a period of time by acting control circuit 165
Connecting bracket 160, or sent by manual mode control terminal 11 and erect instruction, then the control of control circuit 165 erects by
Target connecting bracket 160.
In addition, as shown in figure 4, the casing side is provided with audio simulator 166；The audio simulator 166 with
The Study of Intelligent Robot Control system 139 connects；The audio simulator 166 is used for the sound for sending apery or simulation is hit by a bullet
Audio.
In addition, as shown in figure 4, the Study of Intelligent Robot Control system 139 and bullet hit detection circuit 141 are connected with net
Network coffret 167.
In addition, as shown in figure 8, the LAN that is formed by two wireless bridges 14 of the tactics display control terminal 12 with
The network transport interface 167 that Study of Intelligent Robot Control system 139 and bullet hit detection circuit 141 connect communicates to connect, with
Study of Intelligent Robot Control system 139 and bullet the hit detection circuit 141 is communicated.
Such as shown in Fig. 8 and Fig. 9, the wireless network mode in the full landform intelligent mobile target system of shoot training of light weapons
Mainly solves the communication issue between tactics display control terminal and remote more outer target apparatus.Tactics display control first
Terminal processed forms LAN by a pair of wireless bridges, is bridged at a distance by directional aerial between two wireless bridges,
Distance is up to 4 kilometers.It is implemented as：Tactics display control terminal configures wireless bridge, and by directional aerial to long distance
From outer shoot training of light weapons target range directional transmissions signal, same target range is oriented toward tactics display control also by wireless bridge
Terminal processed sends signal, and is visualized between two directional aerials unobstructed.Target range wireless bridge passes through wireless router (Fig. 9
In AP), WLAN is covered in the range of whole shooting gallery.Target apparatus 13, can be same by vehicle-mounted wireless network card
When row data communication entered by wireless bridge and tactics display control terminal by wireless router.Radio Network System is 2.4G
With the multiple transport protocols such as 5.8G double-frequency wireless frequency ranges, compatible 802.11a/b/g/n/ac.Wireless network provided by the utility model
Network communication plan has the characteristics that low in energy consumption, long transmission distance.
Further, as shown in figure 4, the full landform intelligent mobile target system 10 of the shoot training of light weapons is additionally included in
The one to multiple monopod video camera 15 that shoot training of light weapons field periphery is set up；The monopod video camera 15 is shown with the tactics
Control terminal 12 communicates to connect；The monopod video camera 15 is used to shoot the real time status for obtaining shoot training of light weapons field.
The tactics display control terminal 12, believe specifically for the operating path information or operational mode for receiving user's input
Breath, and driving instruction is generated according to the operating path information or operational mode information, the driving instruction is sent to intelligence
Robot control system, to cause the Study of Intelligent Robot Control system according to the operating instruction control full landform intelligence
Robot movement platform moves.
The tactics display control terminal 12, specifically it is additionally operable to show the real time status of shoot training of light weapons field and each
Target apparatus is hit information.
For example, administrative staff can be by tactics display control terminal to the full landform intelligent sliding moving-target of shoot training of light weapons
Mark system 10 carries out pattern switching, change target motion pattern, editor's gunnery training scene etc..Administrative staff can pass through tactics
Display control terminal carries out path plannings etc. to more target apparatus and set, to realize flexile gunnery training, such as with
The training modes such as machine is moved, independently hidden, teams and groups form into columns, is actively fought, so as to meet different training demands.
For above-mentioned path planning, can by drawing the mobile route of fixed each target on tactics display control terminal interface,
Or zone of action, after being issued to each target apparatus 13 by tactics display control terminal, realize to each target apparatus 13
Path planning control.Specific implementation is as follows：Administrative staff select certain target apparatus 13, by mouse or touch-screen,
Trackpad etc. carries out continuous setting-out on the target range plane map of tactics display control terminal main interface, then can generate path.
After the relative coordinate generation target range path coordinate point set of path route drawn by, corresponding target apparatus 13, target are issued to
Device 13 can then advance according to this pre-determined route.
For random motion pattern：In the target practice training process of this pattern, target apparatus can similar " hot particle " one
Sample is random to be moved in target range, and its translational speed and moving direction all change at random, and being not previously predicted property.
Target apparatus is sometimes fast and sometimes slow in target range such as hot particle, or straight line or curve move.The shifting of target apparatus in this pattern
Dynamic unpredictable, light weapon firing personnel can not prejudge position and the speed of training target, so as to adds somewhat to penetrate
Hit the difficulty of training.
For autonomous pattern of hiding：In such a mode, target apparatus is during training is practiced shooting, and target apparatus is to specific
Hide region to have predicted, target apparatus can rapidly find blindage and be hidden, and quickly move between blindage.It is such a
Pattern, target apparatus are in order to which mock battle personnel's antithetical phrase snaps into the capable scene for hiding reaction.
For above-mentioned active battle mode：As shown in figure 4, the full landform intelligent mobile target of shoot training of light weapons
System 10, include the laser induced clothes with GPS circuit 168 of trainer's dress, and imitative
The laser irradiating device 169 set at humanoid stereo target 131；The laser induced clothing surface is provided with laser inductor
170；The GPS circuit 168 is connected by wireless network with Study of Intelligent Robot Control system 139；It is described to swash
Light irradiating device 169 is connected with the Study of Intelligent Robot Control system 139；So, Study of Intelligent Robot Control system 139 can root
The trainer position information determined according to GPS circuit 168, laser irradiating device 169 is controlled to training
Launch laser signal in personnel position.So as to which target apparatus can simulate true operation scene to the full extent, training is improved
Difficulty and practicality.
For above-mentioned teams and groups' formation mode：Target apparatus can also simulate teams and groups' attack or defensive formation is advanced.
In addition, administrative staff can manually Schema control terminal 11 one or more target apparatus 13 is carried out it is long-range distant
Control.Administrative staff can be in the specific blindage on the somewhere highland of target range areas adjacent, and manually Schema control terminal 11 is to target
Target apparatus 13 in is remotely controlled operation, and manually pattern controls target apparatus 13 in real time using 2.4Ghz wireless modes
Motion, be mainly used in the intervention of training process, its teleaction distance is up to 800 meters.
Display for tactics display control terminal 12, its display interface can be as shown in Figure 10, and interface can include dish
Single column 201, two-dimensional map display interface 202 (which show the position of each target apparatus and blindage, obstacle information), middle target
Achievement list 203, operating area 204, middle target real-time display region 205 etc..
In addition, tactics display control terminal 12 can be set to the main rule of shoot training of light weapons.Tactics show
Show that controlling the setting center of terminal to provide data for administrative staff sets interface, administrative staff can be to target number, mobile speed
Reaction in degree, target practice timing, standards of grading, target after target etc. is configured, and it is that user fills in and pulled down selection to set interface
Menu mode, selection is filled in or pulls down so that user carries out data to setting option.
Such as：
The setting of gunnery training time：According to the gunnery training time, gunnery training can be divided into timing mode and infinite modes.
Wherein timing time can be set by administrative staff, and after timing terminates, gunnery training achievement will automatically generate., can under timing mode
Special training is carried out to the efficiency of gunnery training personnel shooting, is to the notice in gunnery training personnel's short time and outburst
The test of power.Under infinite modes, gunnery training personnel can be shot at training for a long time, be suitable for initial firing trainer's
Training, and can be as a kind of specialized training to gunnery training continuous fire and endurance.
The setting of target translational speed：Tactics display control terminal provides the user target speed and sets interface.User can
, also can be by inputting concrete numerical value mode to target with selection using default options such as walking, running, motorcycle controllable velocities
Mark speed is configured.By setting different translational speeds, change the difficulty of shoot training of light weapons.
The setting that training target reacts after being hit by a bullet：During gunnery training, target during movement when being hit, target meeting
Motion is automatically stopped, while three-dimensional humanoid target falls down backward.Effect after this function main analog casualties, training target
Whether mark brings back to life and can be determined by consistency operation personnel.
The setting of middle target scoring：Speed, position and the information real-time display of being hit by a bullet of training target are at tactics display control end
In end, after gunnery training personnel shoot hit humanoid target, humanoid target, which removes, makes personalize reaction and audio simulation
Outside, target site information and number of being hit by a bullet can also be shown in tactics display control terminal in real time.The acquiescence of training target system is commented
Minute mark standard is：Achievement meter 10 divides during shooting hit head position, and achievement meter 9 divides during shooting hit heart, during shooting hit chest into
Achievement meter 7 divides, and achievement meter 6 divides when belly is hit in shooting, and achievement meter 4 grades when other positions are hit in shooting.Tactics display control is whole
The operating personnel at end can be configured change to the scoring that each position of humanoid target is hit by a bullet.Such as under special operation scene,
Non-lethal position be hit by a bullet score can set it is higher.Last gunnery training score selects to tie in humanoid target to gunnery training
Automatically generated after beam.Weighted accumulation value of the number by body part weight of being hit by a bullet of all training targets must be divided into.
The full landform intelligent mobile target system of shoot training of light weapons in the utility model can automatically generate shooting instruction
Practice the shooting grade of personnel.After gunnery training terminates, tactics display control terminal is automatically generated when time target practice information report, management
Personnel can preserve achievement result, so that the later stage inquires about.Administrative staff can be managed to gunnery training personal information.Shooting
During training, gunnery training personnel shooting time, scored hits, middle target obtains grading information being capable of automated import of data storehouse.Shooting
Training terminate after when secondary shooting personnel achievement automatically updates, and show its final ranking in all target practice achievements, and will shooting
As a result carry out subitem data statistics, format report generation and printout.
Tactics display control terminal in the utility model, real time information that can be to shoot training of light weapons target range are entirely square
Position monitoring.The current target range positional information of each training target, translational speed and information of being hit by a bullet are shown in a manner of two-dimension situation figure
Show.Situation awareness display is based on electronic map, on the diagram the current position of real-time display training target, act state, speed etc.
Action and hit information.Tactics display control terminal can be by the high-definition tripod video camera that target range periphery is set up, to light military simultaneously
The target range real time status of device gunnery training carries out conduct monitoring at all levels.High-definition tripod video camera has 2,000,000 pixels, supports 30 times of light
Learn zoom.The focusing and zooming of high-definition camera can be controlled by tactics display control terminal, while is supported to monopod video camera
Azimuth pitch control.
The full landform intelligent mobile target system of a kind of shoot training of light weapons that the utility model embodiment provides, it includes
Manual mode control terminal, tactics display control terminal and one or more target apparatus；The target apparatus includes a humanoid
Stereo target and the full landform intelligent robot motion platform being connected with humanoid stereo target bottom；The full landform intelligent machine
Device people motion platform includes a casing；The casing lower end is provided with glide steering control system；Set in the box house
It is equipped with small-volume large-power motion motor drive system, power supply module, for positioning full landform intelligent robot motion platform position
The location navigation sensor put, for sense the landform detecting sensor of landform residing for full landform intelligent robot motion platform,
Whether there are the ambient sensors of barrier and for controlling around full landform intelligent robot motion platform for sensing
The Study of Intelligent Robot Control system of full landform intelligent robot motion platform motion；The slip divertical motion mechanism, positioning are led
Boat sensor, landform detecting sensor, ambient sensors are connected with the Study of Intelligent Robot Control system respectively, so as to
To realize the flexible motion that full landform intelligent robot motion platform is controlled by Study of Intelligent Robot Control system.The humanoid
Stereo target is provided with each portion structure for simulating human body, and conductive rubber is respectively arranged with inside each portion structure
Sensor；In the box house, the bullet hit detection circuit being connected with the Study of Intelligent Robot Control system is additionally provided with；
The bullet hit detection circuit is connected respectively with each conductive rubber sensor, with the bullet sensed by conductive rubber sensor
Hiting signal determines the simulation human body that bullet is hit, so as to realize that different simulation human bodies are hit by bullet
Accurate detection, the accuracy of shooting is commented using number of rings compared to existing target, by the simulation human body of hit come
Comment the accuracy more closing to reality of shooting.The power supply module controls with the motion motor drive system, glide steering
System, Study of Intelligent Robot Control system and the connection of bullet hit detection circuit；The manual mode control terminal and tactics show
Show that control terminal is connected with the Study of Intelligent Robot Control system and bullet hit detection circuit communication；The manual mode control
Terminal processed and the tactics display control terminal are used to control the full landform intelligence machine by Study of Intelligent Robot Control system
People's motion platform moves；The tactics display control terminal can also show the status information of the target apparatus.It can be seen that this reality
It is single to there is target location motion mode with the new shoot training of light weapons target system that can solve prior art, to true
The problem of analog simulation degree of environment is poor and can not simulate true battlefield face-off scene.
In addition, can solve the group of Intelligent target in shoot training of light weapons under specific tactical backgrounds by the utility model
The problems of application is knitted, stereo target is moved and interacted and be tactical when improving light weapon firing, lifts the reality of shoot training of light weapons
Warization is horizontal.The utility model, more can training shot personnel compared to the dummy moved in the prior art in route
Search and respond.
In addition, it is necessary to explanation, the full landform intelligent mobile target of shoot training of light weapons involved by the utility model
System focuses on training target system, and not small arms, and any type of small arms (such as pistol, rifle etc.) are not
In the scope of protection of the utility model.
It should be understood by those skilled in the art that, embodiment of the present utility model can be provided as method, system or computer
Program product.Therefore, the utility model can use complete hardware embodiment, complete software embodiment or with reference to software and hardware
The form of the embodiment of aspect.Moreover, the utility model can use wherein includes computer available programs in one or more
Implement in the computer-usable storage medium (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code
The form of computer program product.
The utility model is produced with reference to according to the method, equipment (system) and computer program of the utility model embodiment
The flow chart and/or block diagram of product describes.It should be understood that can be by computer program instructions implementation process figure and/or block diagram
Each flow and/or square frame and the flow in flow chart and/or block diagram and/or the combination of square frame.These meters can be provided
Calculation machine programmed instruction is to the place of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices
Device is managed to produce a machine so that the instruction for passing through computer or the computing device of other programmable data processing devices is produced
It is raw to be used to realize the function of specifying in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames
Device.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Specific embodiment is applied in the utility model to be set forth principle of the present utility model and embodiment, with
The explanation of upper embodiment is only intended to help and understands method and its core concept of the present utility model；Meanwhile for this area
Those skilled in the art, according to thought of the present utility model, there will be changes, comprehensive in specific embodiments and applications
Upper described, this specification content should not be construed as to limitation of the present utility model.
Claims (11)
- A kind of 1. full landform intelligent mobile target system of shoot training of light weapons, it is characterised in that including：Manual mode control is eventually End, tactics display control terminal and one or more target apparatus；The target apparatus includes a humanoid stereo target and the full landform intelligent machine being connected with humanoid stereo target bottom Device people's motion platform；The full landform intelligent robot motion platform includes a casing；Glide steering control system is provided with the casing lower end System；Motion motor drive system, power supply module are provided with the box house, for positioning full landform intelligent robot motion The location navigation sensor of position of platform, the landform perception for sensing landform residing for full landform intelligent robot motion platform pass Sensor, for sensing whether there are the ambient sensors of barrier around full landform intelligent robot motion platform and be used for Control the Study of Intelligent Robot Control system of full landform intelligent robot motion platform movement；The glide steering control system, determine Position navigation sensor, landform detecting sensor, ambient sensors are connected with the Study of Intelligent Robot Control system；The humanoid stereo target is provided with the structure for simulating partes corporis humani position, inside each portion structure respectively It is provided with conductive rubber sensor；In the box house, the bullet hit detection circuit being connected with the Study of Intelligent Robot Control system is additionally provided with；Institute Bullet hit detection circuit is stated to be connected respectively with each conductive rubber sensor；Power supply module and the motion motor drive system, glide steering control system, Study of Intelligent Robot Control system with And bullet hit detection circuit connection；The manual mode control terminal, tactics display control terminal are hit with the Study of Intelligent Robot Control system and bullet Detect circuit communication connection.
- 2. the full landform intelligent mobile target system of shoot training of light weapons according to claim 1, it is characterised in that described Glide steering control system includes 4 independent drivings and uses rigid suspended wheeled construction；Described 4 independent drivings and use Rigid suspended wheeled construction is divided into front and rear two groups, and each wheeled construction is connected with motion motor, the motion motor of 4 tunnel independences with Motion motor drive system connects；The motion motor drive system is connected with the Study of Intelligent Robot Control system；The fortune Dynamic motor driven systems are used for the motion motor for controlling 4 tunnel independences, to drive wheeled construction to rotate.
- 3. the full landform intelligent mobile target system of shoot training of light weapons according to claim 1, it is characterised in that described Landform detecting sensor includes gyro sensor and gravity accelerometer；The gyro sensor and acceleration of gravity Sensor is connected with the Study of Intelligent Robot Control system respectively；The gyro sensor and gravity accelerometer are used for Sense the attitude information of the full landform intelligent robot motion platform.
- 4. the full landform intelligent mobile target system of shoot training of light weapons according to claim 1, it is characterised in that described Ambient sensors include being arranged at the laser radar sensor of the casing front end；The laser radar sensor with it is described Study of Intelligent Robot Control system connects；The laser radar sensor is used to sense the full landform intelligent robot motion platform The obstacle information of front end.
- 5. the full landform intelligent mobile target system of shoot training of light weapons according to claim 1, it is characterised in that described Humanoid stereo target includes humanoid polythene material kernel；It is each that human body is simulated in the humanoid polythene material kernel Conductive rubber sensor is distributed with the inside configuration at position；The humanoid polythene material kernel simulates partes corporis humani position Structure includes human body head, neck, shoulder, chest, arm, cardia and belly.
- 6. the full landform intelligent mobile target system of shoot training of light weapons according to claim 1, it is characterised in that described Bulletproof armour structure is provided with outside full landform intelligent robot motion platform；The bulletproof armour structure bullet including aluminium alloy Layer, fire prevention packed layer and burster course；The fire prevention packed layer is located at the centre that the aluminium alloy bullet layer and the burster course； The aluminium alloy the front portion that bullet layer is located at the bulletproof armour structure；After the burster course is located at the bulletproof armour structure Portion；The burster course is made of hot-rolled armor plate.
- 7. the full landform intelligent mobile target system of shoot training of light weapons according to claim 1, it is characterised in that in institute State full landform intelligent robot motion platform upper end and humanoid stereo target junction is provided with back starting target control structure；It is described Back starting target control structure includes target connecting bracket, plays rotation-inversion axis, Hall sensor, direct current generator, worm and gear reduction gearing Group and rise fall control circuit；The target connecting bracket upper end is fixedly connected with the humanoid stereo target；Described is fallen Rotating shaft connects the target connecting bracket lower end with the full landform intelligent robot motion platform upper end；Connect in the target Connect pedestal lower end and the full landform intelligent robot motion platform upper end sets the Hall sensor respectively, the Hall passes Sensor with described fall control circuit be connected；The Hall sensor is used to sensing the target connecting bracket lower end and described complete The relative position of landform intelligent robot motion platform upper end；Described fall control circuit be connected with the direct current generator, with lead to Worm and gear train of reduction gears described in the DC MOTOR CONTROL is crossed, drives the rotation-inversion axis that rises to rotate；Described is fallen to control electricity Road is connected with the Study of Intelligent Robot Control system and the bullet hit detection circuit respectively.
- 8. the full landform intelligent mobile target system of shoot training of light weapons according to claim 1, it is characterised in that in institute State casing side and be provided with audio simulator；The audio simulator is connected with the Study of Intelligent Robot Control system；The sound Effect simulator is used for the sound for sending apery or simulation is hit by a bullet audio.
- 9. the full landform intelligent mobile target system of shoot training of light weapons according to claim 1, it is characterised in that described Study of Intelligent Robot Control system is connected with network transport interface；The tactics display control terminal passes through the LAN that two wireless bridges are formed and the network transport interface communication link Connect, to be communicated with the Study of Intelligent Robot Control system.
- 10. the full landform intelligent mobile target system of shoot training of light weapons according to claim 9, it is characterised in that also It is included in the monopod video camera of shoot training of light weapons field periphery erection；The monopod video camera is whole with the tactics display control End communication connection；The monopod video camera is used to shoot the real time status for obtaining shoot training of light weapons field.
- 11. the full landform intelligent mobile target system of shoot training of light weapons according to claim 1, it is characterised in that also Include the laser induced clothes with GPS circuit of trainer's dress, and in humanoid stereo target Locate the laser irradiating device set；The laser induced clothing surface is provided with laser inductor；The global positioning satellite system System circuit is connected by wireless network with Study of Intelligent Robot Control system；The laser irradiating device and the intelligent robot control System connection processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259586.2U CN206709701U (en) | 2017-03-17 | 2017-03-17 | A kind of full landform intelligent mobile target system of shoot training of light weapons |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259586.2U CN206709701U (en) | 2017-03-17 | 2017-03-17 | A kind of full landform intelligent mobile target system of shoot training of light weapons |
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| CN206709701U true CN206709701U (en) | 2017-12-05 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594805A (en) * | 2018-03-26 | 2018-09-28 | 福建（泉州）哈工大工程技术研究院 | A kind of control method of target practice image training robot that capableing of remote control |
| CN109029130A (en) * | 2018-09-17 | 2018-12-18 | 河北砺兵科技有限责任公司 | The target attack method of actual combatization training |
| CN110068250A (en) * | 2019-03-21 | 2019-07-30 | 南京砺剑光电技术研究院有限公司 | Shoot training of light weapons wisdom target range system |
| CN112325701A (en) * | 2020-10-13 | 2021-02-05 | 万毅 | Three-dimensional humanoid target system for shooting of military police light arms |
-
2017
- 2017-03-17 CN CN201720259586.2U patent/CN206709701U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594805A (en) * | 2018-03-26 | 2018-09-28 | 福建（泉州）哈工大工程技术研究院 | A kind of control method of target practice image training robot that capableing of remote control |
| CN109029130A (en) * | 2018-09-17 | 2018-12-18 | 河北砺兵科技有限责任公司 | The target attack method of actual combatization training |
| CN110068250A (en) * | 2019-03-21 | 2019-07-30 | 南京砺剑光电技术研究院有限公司 | Shoot training of light weapons wisdom target range system |
| CN110068250B (en) * | 2019-03-21 | 2021-10-26 | 南京砺剑光电技术研究院有限公司 | Intelligent shooting range system for light weapon shooting training |
| CN112325701A (en) * | 2020-10-13 | 2021-02-05 | 万毅 | Three-dimensional humanoid target system for shooting of military police light arms |
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Granted publication date: 20171205 |