Image acquisition and processing device and virtual-reality combined training system

Abstract

The present invention discloses an image acquisition and processing device and a virtual-reality combined training system, which relate to the field of image acquisition and processing technology. This image acquisition and processing device includes a main body and a mounting seat, and the main body includes a shell, and also includes: an image acquisition module, which is arranged in the shell. This image acquisition and processing device and virtual-reality combined training system can seal and protect the human-shaped target to avoid the influence of impurities such as weeds and water stains. At the same time, it can clean the human-shaped target and exhaust the dust, which not only makes the clothes more tidy, but also makes the cleaning effect of the human-shaped target clothes better, ensuring its use effect and life; after receiving the electric signal of being hit, the sound and light alarm and the hollow cover can be moved to the highest position, and at the same time, the high-pressure air ejected from the blowing hole blows away the weeds and the like to avoid obstruction, and the high-pressure air blown out from the blowing pipe quickly blows the colored powder in the storage tank upward, so that the reminder effect is better, thereby improving the training effect.

Description

Technical Field

[0001] The present invention relates to the technical field of image acquisition and processing, and in particular to an image acquisition and processing device and a virtual-reality combined training system. Background Art

[0002] The IMU module is integrated with the image acquisition and processing device, and the loose coupling method is used to complement the offset, which is expected to greatly improve the acquisition accuracy. The IMU provides the main body of information on the approximate direction and angle of fire to assist in determining the precise aiming line. The image acquisition and processing device has the functions of daytime CMOS imaging observation and aiming, nighttime infrared thermal imaging observation and aiming personnel target detection and identification, ballistic solution, etc. The matching digital training system uses different color division lines as the aiming reference and simulated projectile reference. The aiming reference is the aiming point, and the red cross division line is used to indicate the theoretical aiming point; the simulated projectile reference is the projectile impact point, and the green cross division line is used to indicate the impact point of the simulated shooting hitting the target. At the same time, the IMU module 105 is integrated in the image acquisition and processing device. The virtual-reality combined training system consists of an image acquisition and processing device, a cloud-based combat simulation engine module, and a mobile tracked humanoid target terminal module. When in use, the image acquisition and processing device is installed and fixed on the gun to achieve virtual-reality combined target shooting training.

[0003] However, when the existing image acquisition and processing device and the virtual-reality combined training system are in use, the surface of the mobile tracked humanoid target terminal module is easily adhered to weeds, water stains and other impurities during the movement and the operation of hiding and showing. This affects its use effect and lifespan, and thus affects the training effect. After receiving the electrical signal of being hit, the main control module will control the sound and light alarm and the smoke module to produce sound, light and smoke display characteristics to simulate the hit effect. However, in order to avoid the impact of target shooting, the sound and light alarm and the smoke module are usually set at a lower position and are easily blocked by weeds, etc., and the smoke module rises slowly, which affects the display effect and thus affects the training effect. Summary of the Invention

[0004] The purpose of the present invention is to provide an image acquisition and processing device and a virtual-reality combined training system to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: an image acquisition and processing device, comprising a main body and a mounting base, wherein the main body comprises a housing, and further comprises:

[0006] An image acquisition module, disposed in the housing, for acquiring image data;

[0007] An IMU module is provided in the housing and is used to measure the motion state of the object;

[0008] A data processing module, disposed in the housing, for processing the collected data;

[0009] A data storage module, disposed in the housing, for storing processed data;

[0010] A data transmission module, disposed in the housing, for transmitting processed data;

[0011] The power supply module is arranged in the shell and is used to supply power to each module.

[0012] Preferably, the mounting seat includes a first clamping block, and the first clamping block is fixed to the bottom of the shell by multiple first bolts, the side wall of the first clamping block is provided with a V-shaped groove, and the side wall of the first clamping block is provided with a first inclined surface, the side wall of the first clamping block is fixedly inserted with a threaded rod, and the side wall of the threaded rod is threadedly connected with a knob, the side wall of the threaded rod is sleeved with a U-shaped second clamping block, and the second clamping block can slide on the first inclined surface, a mounting block is detachably connected between the first clamping block and the second clamping block, and the bottom of the mounting block is fixedly connected to a first V-shaped plate, and the bottom of the first V-shaped plate is connected to a second V-shaped plate by multiple second bolts.

[0013] A virtual-reality combined training system includes an image acquisition and processing device, a cloud-based combat simulation engine module, and a mobile crawler-type humanoid target terminal module. The mobile crawler-type humanoid target terminal module includes a crawler mobile vehicle, and the top of the crawler mobile vehicle is rotatably connected to a rotating disk, the top of the rotating disk is connected to a first movable disk through a first lifting module, the top of the first movable disk is rotatably connected to a rotating rod through a rotating module, and the upper end of the rotating rod is fixedly connected to a first movable plate, the side wall of the first movable plate is connected to a movable frame through a first lifting mechanism, and a movable frame and the first movable plate are fixedly connected. Telescopic cover, the top of the movable frame is rotatably connected to a cover plate through a rotating mechanism, and the bottom of the crawler mobile vehicle is connected to a second movable disk through a second lifting module, the top of the second movable disk is fixedly connected to a support rod, and the upper end of the support rod is fixedly connected to a hollow cover, the side wall of the hollow cover is provided with a plurality of blowing holes arranged in an array, and the top of the hollow cover is fixedly connected to an air blowing pipe, the top of the hollow cover is fixedly connected to an audible and visual alarm, a feeding mechanism for feeding colored powder to the top of the air blowing pipe is provided above the crawler mobile vehicle, and a cleaning mechanism for cleaning the human-shaped target is provided in the movable frame.

[0014] Preferably, the cleaning mechanism includes a plurality of first T-shaped guide rods arranged in an array and inserted in two opposite side walls of the moving frame, and one end of the first T-shaped guide rod is fixedly connected to a tapered rod, the other end of the tapered rod is fixedly connected to a brush, and the side wall fixing sleeve of the first T-shaped guide rod is provided with a ring, the side wall sleeve of the first T-shaped guide rod is provided with a return spring, and one end of the return spring is fixed to the side wall of the moving frame, the other end of the return spring is rotatably connected to the end of the ring, and the rotation of each first T-shaped guide rod is driven by a driving assembly, and the driving assembly includes a spline opened on the side wall of the first T-shaped guide rod, and the side wall of the spline is slidably connected to a first gear, the first gear is rotatably connected to the side wall of the moving frame, and the side wall of the moving frame is fixedly connected to two symmetrically arranged The cam is secured to a position 400 meters high and is adapted to engage the first gear of the driver, the second gear being secured to a position 510 meters high and adapted to engage the first gear of the driver, the second gear being secured to a position 520 meters high.

[0015] Preferably, the pushing mechanism includes two symmetrically arranged first pushing plates, and the side walls of each first pushing plate are fixedly connected to two symmetrically arranged second T-shaped guide rods, the side walls of the second T-shaped guide rods are sleeved with a first connecting block, and the first connecting block is fixed to the side wall of the movable frame, the side walls of each second T-shaped guide rod are sleeved with a second spring, the side walls of the first pushing plate are fixedly connected to an iron block, and the side walls of the first connecting block are fixedly connected to an electromagnet.

[0016] Preferably, the absorption mechanism includes a plurality of collecting holes arranged in an array on the top of the first movable plate, and the bottom of the first movable plate is fixedly connected to a conical cover, the top of the crawler mobile vehicle is fixedly connected to an air storage cover, and the air storage cover is connected to a third movable plate through a second lifting mechanism, an exhaust pipe is fixedly connected between the conical cover and the air storage cover, and a first one-way valve is provided in the exhaust pipe, a filter box is provided on the side wall of the exhaust pipe, and an air outlet pipe is provided between the air storage cover and the hollow cover, a second one-way valve is provided in the air outlet pipe, and a working cover is fixedly inserted into the side wall of the outlet pipe, a sliding plate is slidably connected to the working cover, and a through hole is provided on the top of the sliding plate, a third spring is fixedly connected between the sliding plate and the working cover, the side wall of the support rod is provided with two V-shaped grooves, and the side wall of the sliding plate is fixedly connected to a push rod.

[0017] The top of described sliding panel also is provided with an interlocking structure, and the interlocking structure of described sliding panel also is provided with an interlocking structure, and the interlocking structure of described sliding panel is that bottom end is fixed with the interlocking structure of described sliding panel and the interlocking structure of described sliding panel.

[0018] Preferably, the first lifting mechanism includes a first fixed plate fixedly connected to the side wall of the first movable plate, and two symmetrically arranged sleeve rods are fixedly connected to the top of the first fixed plate, the side wall of the sleeve rod is sleeved with a sleeve, and the upper end of the sleeve is fixedly connected to the second fixed plate, the second fixed plate is fixed to the side wall of the movable frame, and the side wall of each sleeve is sleeved with a fifth spring, the bottom of the first fixed plate is fixedly connected to the mounting plate, and the side wall of the mounting plate is fixedly connected to the motor, the output end of the motor is fixedly connected to the winding drum, the side wall of the winding drum is fixedly connected to the first pull rope, and the upper end of the first pull rope is fixed to the bottom of the second fixed plate.

[0019] The cam is fixedly connected to the side wall of the second movable plate, and the bottom of the crawler moving vehicle is fixedly connected to the fourth connecting block, the side wall of the fourth connecting block is fixedly connected to the first cylindrical pin, and the side wall of the third movable plate is fixedly connected to the fifth connecting block, the side wall of the first cylindrical pin is slidably connected to the second pull rope, and two ends of the second pull rope are respectively fixed to the third connecting block and the fifth connecting block, the side wall of the air storage cover is fixedly connected to the sixth connecting block, and the side wall of the third movable plate is fixedly connected to the seventh connecting block, a sixth spring is fixedly connected between the seventh connecting block and the sixth connecting block, and the side wall of the air storage cover is fixedly connected to the eighth connecting block, the side wall of the eighth connecting block is fixedly connected to the second cylindrical pin, and the side wall of the third movable plate is fixedly connected to the ninth connecting block, the side wall of the movable frame is fixedly connected to the tenth connecting block, the side wall of the second cylindrical pin is slidably connected to the third pull rope, and two ends of the third pull rope are respectively fixed to the ninth connecting block and the tenth connecting block.

[0020] Preferably, the rotating mechanism includes a support plate fixedly connected to the side wall of the movable frame, and the cover plate is rotatably connected to the side wall of the support plate through a rotating shaft, the side wall fixed sleeve of the rotating shaft is provided with a second gear, and the side wall of the support plate is fixedly connected to two symmetrically arranged second fixed blocks, the side walls opposite to the two second fixed blocks are fixedly connected to two symmetrically arranged second guide rods, and the side wall sleeve of each second guide rod is provided with a third slider, the side wall of the third slider is fixedly connected with a second rack, and the second rack is meshed with the second gear, the side wall sleeve of each second guide rod is provided with a seventh spring, the side wall of the first movable plate is fixedly connected with the third fixed block, and a fourth pull rope is fixedly connected between the second rack and the third fixed block.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] This image acquisition and processing device and virtual-reality combined training system, by providing a mounting seat, etc., when it is necessary to install and fix the image acquisition and processing device body to the gun, a mounting block can be selected according to the shape of the gun barrel. When no mounting block is needed, the gun barrel is placed between the first clamping block and the second clamping block. Then, the knob can be rotated to move the knob and abut against the second clamping block, thereby pushing the second clamping block to slide along the first inclined surface and abut against the gun barrel, thereby fixing the gun barrel between the V-shaped groove and the second clamping block. When it is necessary to select a mounting block, similarly, the mounting block can be first clamped and fixed between the V-shaped groove and the second clamping block. Then, the gun barrel can be inserted between the first V-shaped plate and the second V-shaped plate, and the second bolt can be tightened and fixed, thereby facilitating the installation and fixation of the body and the gun, and having stronger adaptability and more convenient use.

[0023] This image acquisition and processing device and virtual-reality combined training system, by setting a mobile crawler-type humanoid target terminal module, etc., can adjust the target surface direction of the humanoid target by rotating the rotating disk, can adjust the height of the humanoid target by the first lifting module, and can realize the hiding and showing of the humanoid target by the rotating module. Moreover, when the humanoid target is fallen down and hidden or not in use, the motor is started to reverse. When the motor reverses, the first pull rope can be loosened. At this time, the movable frame can move upward and reset under the action of the fifth spring. At the same time, the telescopic cover is stretched. After the telescopic cover covers the humanoid target, when the movable frame continues to move upward, the fourth pull rope can be straightened. At this time, the second rack can be pulled downward and the seventh spring is compressed. At this time, the second gear and the rotating shaft can be pushed to rotate clockwise, and the cover can be driven to rotate clockwise and close. At this time, the humanoid target can be sealed and protected to avoid the influence of impurities such as weeds and water stains, thereby ensuring its use effect and life, thereby improving the training effect.

[0024] This image acquisition and processing device and virtual-reality combined training system, by setting a cleaning mechanism, etc., when the moving frame moves upward, the electromagnet is de-energized. At this time, the first push plate can move in the direction away from the first connecting block under the action of the second spring, and at the same time, drive the first push plate to move synchronously and push the first T-shaped guide rod to move in the direction away from the human-shaped target. At the same time, the return spring is compressed, so that the moving frame will not contact the clothes and hat on the human-shaped target when moving upward, thereby ensuring its use effect. When the moving frame moves downward, the electromagnet is first energized, and the electromagnet After power is turned on, the iron block is attracted, causing the first push plate to move toward the first connecting block. At the same time, the second spring is compressed. At this time, the first T-shaped guide rod can move toward the human-shaped target under the action of the reset spring. When the movable frame moves downward, when the conical rod and the human-shaped target are against each other, it can push the first T-shaped guide rod to move. At the same time, the reset spring is compressed, allowing the brush to move downward along the surface of the human-shaped target, which not only makes the clothes neater, but also cleans impurities on the surface of the clothes, ensuring its effectiveness and life, thereby improving the training effect.

[0025] The image acquisition and processing device and the virtual-reality combined training system are provided with an absorption mechanism, etc., so that when the movable frame moves upward, the third movable plate can be pulled downward by the third pull rope, and at the same time, the sixth spring is compressed. At this time, the air temporarily stored in the air storage cover can be squeezed. At the same time, the first one-way valve is closed and the second one-way valve is opened, so that the air in the air storage cover can enter the hollow cover through the air outlet pipe and be discharged through the air hole and the air pipe. When the movable frame moves downward, the third movable plate can be moved upward and reset under the action of the sixth spring, so that negative pressure is generated in the air storage cover. At the same time, the first one-way valve is opened and the second one-way valve is closed. At this time, the air can be exhausted through the exhaust pipe and the collection hole, which can not only guide the clothes downward to make them more neat, but also absorb the cleaned impurities. The absorbed impurities enter the filter box for filtration, and the filtered air enters the air storage cover for temporary storage, so that the cleaning effect of the human-shaped target clothes is better, the use effect and life of the clothes are guaranteed, and the training effect is improved.

[0026] This image acquisition and processing device and virtual-reality combined training system, by setting a feeding mechanism, etc., after receiving the electric signal of being hit, drives the second movable plate to move upward through the second lifting module, and drives the hollow cover and the sound and light alarm to move upward through the support rod, so that the lifting plate slides out of a groove above and slides on the side wall of the support rod, which can push the sliding plate to slide into the working cover. At the same time, the third spring is compressed, so that the through hole and the air outlet pipe are staggered. At this time, the air outlet pipe is blocked and sealed. At the same time, when the second movable plate moves upward, the second pull rope can be driven to move through the third connecting block, thereby pulling the third movable plate downward. At the same time, the first one-way valve is closed, the second one-way valve is opened, and the air in the air storage cover is squeezed and pressurized. Moreover, when the hollow cover moves upward, it can be compressed through the blowing pipe and the third connecting plate. The fixed cover is driven to move upward, and the storage box is driven to move upward through the discharge pipe. When the pushing block is disengaged from the second connecting block, the sliding block can be moved under the action of the fourth spring and the storage trough is moved to the top of the blowing pipe. When the hollow cover moves to the highest position, the end of the pushing rod slides into a groove below. At this time, the sliding plate can be moved in the direction away from the working cover under the action of the third spring, so that the through hole coincides with the air outlet pipe. At this time, an sound and light alarm is given. At the same time, the high-pressure air in the air storage cover can enter the hollow cover through the air outlet pipe and be ejected through the hollow cover and the blowing pipe. The high-pressure air ejected through the blowing hole can blow away weeds, etc. to avoid obstruction. The high-pressure air blown out by the blowing pipe can blow the colored powder in the storage trough upward quickly, making the reminder effect better, thereby improving the training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Schematic diagram of the structure of the image acquisition and processing device in the present invention;

[0028] Figure 2 This is a structural diagram of the image acquisition and processing device of the present invention from another perspective;

[0029] Figure 3 Schematic diagram of the structure of the main body of the image acquisition and processing device in the present invention;

[0030] Figure 4 This is a schematic structural diagram of the mobile crawler-type humanoid target terminal module of the present invention;

[0031] Figure 5 Schematic diagram of the position of the cleaning mechanism in the present invention;

[0032] Figure 6 Schematic diagram of the position of the second lifting mechanism in the present invention;

[0033] Figure 7 Schematic diagram of the position of the first lifting mechanism in the present invention;

[0034] Figure 8 Schematic diagram of the position of the feeding mechanism in the present invention;

[0035] Figure 9 for Figure 2 Schematic diagram of the enlarged structure at A in the middle;

[0036] Figure 10 for Figure 4 Schematic diagram of the enlarged structure at B in the middle;

[0037] Figure 11 for Figure 5 Schematic diagram of the enlarged structure at C in the middle;

[0038] Figure 12 for Figure 6 Schematic diagram of the enlarged structure at D in the middle;

[0039] Figure 13 for Figure 7 Schematic diagram of the enlarged structure at E in the middle;

[0040] Figure 14 for Figure 8 Schematic diagram of the enlarged structure at F in the middle;

[0041] Figure 15 for Figure 11 Schematic diagram of the enlarged structure at G in the middle;

[0042] Figure 16 for Figure 15 Schematic diagram of the enlarged structure at H in the middle;

[0043] Figure 17 for Figure 13 Schematic diagram of the enlarged structure at I in the middle;

[0044] Figure 18 for Figure 14 Schematic diagram of the enlarged structure at J in the middle;

[0045] Figure 19 for Figure 14 Schematic diagram of the enlarged structure at K in the middle.

[0046] In the figure: 1. Main body; 101. Shell; 102. Data processing module; 103. Data storage module; 104. Data transmission module; 105. IMU module; 106. Power supply module; 107. Image acquisition module; 201. First bolt; 202. First clamping block; 203. V-shaped groove; 204. Threaded rod; 205. Knob; 206. Second clamping block; 207. First inclined plane; 208. Mounting block; 209. First V-shaped plate; 210. Second bolt; 211. Second V-shaped plate; 301. Tracked moving vehicle; 302. First lifting module; 303. First moving plate; 304. Rotating module; 305. Rotating rod; 306. First moving plate; 307. Moving frame; 308. Telescopic cover; 3 09, cover plate; 310, second lifting module; 311, second moving plate; 312, support rod; 313, hollow cover; 314, blowing hole; 315, sound and light alarm; 316, blowing pipe; 317, rotating plate; 401, first T-shaped guide rod; 402, tapered rod; 403, brush; 404, ring; 405, return spring; 406, spline; 407, first gear; 408, first fixed block; 409, first guide rod; 410, first slider; 411, first rack; 412, first spring; 413, first connecting plate; 414, second connecting plate; 415, triangular block; 416, push pin; 501, first push plate; 502, first connecting block; 503, second T-shaped guide rod; 5 04, second spring; 505, iron block; 506, electromagnet; 601, collecting hole; 602, conical cover; 603, air storage cover; 604, third movable plate; 605, exhaust pipe; 606, filter box; 607, outlet pipe; 701, rectangular tube; 702, lifting plate; 703, working cover; 704, third connecting plate; 705, fixed cover; 706, sliding block; 707, discharge pipe; 708, storage trough; 709, second connecting block; 710, third T-shaped guide rod; 711, second slider; 712, fourth spring; 713, storage box; 714, sliding plate; 715, through hole; 716, third spring; 717, push block; 718, second push plate; 719, second inclined surface; 720, concave Slot; 721, push rod; 801, first fixing plate; 802, sleeve rod; 803, sleeve; 804, fifth spring; 805, second fixing plate; 806, mounting plate; 807, motor; 808, winding drum; 809, first pull rope; 901, support plate; 902, rotating shaft; 903, second gear; 904, second fixing block; 905, second guide rod; 906, third slider; 907, second rack; 908, seventh spring; 909, third fixing block; 910, fourth pull rope; 1001, seventh connecting block; 1002, sixth connecting block; 1003, sixth spring; 1004, third connecting block; 1005, fourth connecting block; 1006, first cylindrical pin; 1007, second pull rope;1008, fifth connecting block; 1009, ninth connecting block; 1010, eighth connecting block; 1011, second cylindrical pin; 1012, third pull rope; 1013, tenth connecting block. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0048] See also Figures 1-19 The present invention provides an image acquisition and processing device, comprising a main body 1 and a mounting base, wherein the main body 1 comprises a housing 101 and further comprises:

[0049] An image acquisition module 107 is provided in the housing 101 and is used to acquire image data;

[0050] The IMU module 105, i.e., the inertial measurement unit, is disposed in the housing 101 and is used to measure the motion state of the object. The magnetic sensor is used to detect the direction of the earth's magnetic field to determine the orientation of the device. Inertial sensors, such as gyroscopes and accelerometers, can be used to measure the angular velocity and acceleration of the device, which are then integrated and used for navigation and motion monitoring.

[0051] The data processing module 102 is provided in the housing 101 and is used to process the collected data;

[0052] The data storage module 103 is provided in the housing 101 and is used to store the processed data;

[0053] The data transmission module 104 is provided in the housing 101 and is used to transmit the processed data;

[0054] The power module 106 is disposed in the housing 101 and is used to supply power to each module.

[0055] The mounting base includes a first clamping block 202, and the first clamping block 202 is fixed to the bottom of the shell 101 by a plurality of first bolts 201, a side wall of the first clamping block 202 is provided with a V-shaped groove 203, and the side wall of the first clamping block 202 is provided with a first inclined surface 207, a threaded rod 204 is fixedly inserted into the side wall of the first clamping block 202, and the side wall of the threaded rod 204 is threadedly connected with a knob 205, and the side wall of the threaded rod 204 is sleeved with a U-shaped second clamping block 206, and the second clamping block 206 can slide on the first inclined surface 207, a mounting block 208 is detachably connected between the first clamping block 202 and the second clamping block 206, and a first V-shaped plate 209 is fixedly connected to the bottom of the mounting block 208, and a second V-shaped plate 211 is connected to the bottom of the first V-shaped plate 209 by a plurality of second bolts 210. When the image acquisition and processing device body 1 needs to be retracted, the mounting block 208 is fixedly connected to the bottom of the mounting block 208. When installing and fixing the gun, the mounting block 208 can be selected according to the shape of the gun barrel. When the mounting block 208 is not needed, the gun barrel is placed between the first clamping block 202 and the second clamping block 206. Then, the knob 205 can be rotated so that the knob 205 moves and abuts against the second clamping block 206, thereby pushing the second clamping block 206 to slide along the first inclined surface 207 and abut against the gun barrel, thereby fixing the gun barrel between the V-groove 203 and the second clamping block 206. When it is necessary to select the mounting block 208, similarly, the mounting block 208 can be clamped and fixed between the V-groove 203 and the second clamping block 206. Then, the gun barrel is inserted between the first V-shaped plate 209 and the second V-shaped plate 211, and the second bolt 210 is tightened and fixed, thereby facilitating the installation and fixing of the main body 1 and the gun, and having stronger adaptability and more convenient use.

[0056] A virtual-reality combined training system includes an image acquisition and processing device, a cloud-based combat simulation engine module, and a mobile crawler-type humanoid target terminal module. The mobile crawler-type humanoid target terminal module includes a crawler mobile vehicle 301, and the top of the crawler mobile vehicle 301 is rotatably connected to a rotating disk 317. The rotation of the rotating disk 317 is driven by a driving motor. The top of the rotating disk 317 is connected to a first moving disk 303 through a first lifting module 302. The top of the first moving disk 303 is rotatably connected to a rotating rod 305 through a rotating module 304. The first lifting module 302 and the rotating module 304 are connected to each other. 04 is a well-known technology in the technical field and is not repeated here. The upper end of the rotating rod 305 is fixedly connected to the first movable plate 306. The side wall of the first movable plate 306 is connected to the movable frame 307 through the first lifting mechanism. A telescopic cover 308 is fixedly connected between the movable frame 307 and the first movable plate 306. The top of the movable frame 307 is rotatably connected to the cover plate 309 through the rotating mechanism. The lower part of the crawler mobile vehicle 301 is connected to the second movable disk 311 through the second lifting module 310. The second lifting module 310 is a well-known technology in the technical field and is not repeated here. The second movable disk 31 1 is fixedly connected to the top of the support rod 312, and the upper end of the support rod 312 is fixedly connected to the hollow cover 313, the side wall of the hollow cover 313 is provided with a plurality of air blowing holes 314 arranged in an array, and the top of the hollow cover 313 is fixedly connected to the air blowing pipe 316, and the top of the hollow cover 313 is fixedly connected to the sound and light alarm 315. A feeding mechanism for feeding colored powder to the top of the air blowing pipe 316 is provided above the crawler mobile vehicle 301, and a cleaning mechanism for cleaning the human-shaped target is provided in the mobile frame 307, which can seal and protect the human-shaped target to avoid the influence of impurities such as weeds and water stains. The sound is heard, and at the same time, the human-shaped target can be cleaned and the dust is sucked out, which not only makes the clothes more tidy, but also makes the cleaning effect of the human-shaped target clothes better, ensures its use effect and life, and thus improves the training effect; after receiving the hit electrical signal, the sound and light alarm 315 and the hollow cover 313 can be moved to the highest position, and at the same time, the high-pressure air ejected through the blowing hole 314 can blow away the weeds and the like to avoid obstruction, and the high-pressure air blown out by the blowing pipe 316 can quickly blow the colored powder in the storage tank 708 upward, so that the reminder effect is better, thereby improving the training effect.

[0057] The cleaning mechanism includes a plurality of arrayed first T-shaped guide rods 401 inserted into two opposite side walls of the moving frame 307, and one end of the first T-shaped guide rod 401 is fixedly connected to a tapered rod 402, and the other end of the tapered rod 402 is fixedly connected to a brush 403, and the side wall fixed sleeve of the first T-shaped guide rod 401 is provided with a ring 404, and the side wall sleeve of the first T-shaped guide rod 401 is provided with a return spring 405, and one end of the return spring 405 is fixed to the side wall of the moving frame 307, and the other end of the return spring 405 is rotatably connected to the end of the ring 404, and the rotation of each first T-shaped guide rod 401 is driven by a drive assembly, and the drive assembly includes a spline 406 provided on the side wall of the first T-shaped guide rod 401 , and the side wall of the spline 406 is slidably connected to the first gear 407, the first gear 407 is rotatably connected to the side wall of the moving frame 307, and the side wall of the moving frame 307 is fixedly connected to two symmetrically arranged first fixed blocks 408, the opposite side walls of the two first fixed blocks 408 are fixedly connected to two symmetrically arranged first guide rods 409, and the side wall of each first guide rod 409 is sleeved with a first slider 410, the side wall of the first slider 410 is fixedly connected with a first rack 411, and the first rack 411 is meshed with the first gear 407, the side wall of each first guide rod 409 is sleeved with a first spring 412, and the side wall of the first rack 411 is fixedly connected with a first connecting plate 413, the first connecting The side wall of the connecting plate 413 is fixedly connected with the second connecting plate 414, and the side wall of the second connecting plate 414 is fixedly connected with a plurality of triangular blocks 415 arranged in an array, and the side wall of the first movable plate 306 is fixedly connected with a pushing pin 416. An absorbing mechanism for absorbing the cleaned impurities is provided below the first movable plate 306, and the movement of the first T-shaped guide rod 401 is pushed by the pushing mechanism. When the movable frame 307 moves upward, the pushing mechanism pushes the first T-shaped guide rod 401 to move away from the human-shaped target, and does not contact the clothes and hat on the human-shaped target, so as to avoid pushing them off, thereby ensuring its use effect. When the movable frame 307 moves downward, the electromagnet 506 is energized first, and the electromagnetic After the iron 506 is energized, it attracts the iron block 505, causing the first push plate 501 to move toward the first connecting block 502. At the same time, the second spring 504 is compressed. At this time, the first T-shaped guide rod 401 can move toward the direction close to the human-shaped target under the action of the return spring 405. When the moving frame 307 moves downward, when the tapered rod 402 is against the human-shaped target, it can push the first T-shaped guide rod 401 to move. At the same time, the return spring 405 is compressed, causing the brush 403 to move downward along the surface of the human-shaped target, which can not only make the clothes neater and avoid wrinkles, but also clean the impurities on the surface of the clothes, ensuring its effectiveness and life, thereby improving the training effect.

[0058] The pushing mechanism includes two symmetrically arranged first pushing plates 501, and the side walls of each first pushing plate 501 are fixedly connected to two symmetrically arranged second T-shaped guide rods 503, the side walls of the second T-shaped guide rods 503 are sleeved with a first connecting block 502, and the first connecting block 502 is fixed to the side wall of the movable frame 307, and the side walls of each second T-shaped guide rod 503 are sleeved with a second spring 504, the side walls of the first pushing plate 501 are fixedly connected to an iron block 505, and the side walls of the first connecting block 502 are fixedly connected to an electromagnet 506. When the electromagnet 506 is powered off, the first pushing plate 501 can move in the direction away from the first connecting block 502 under the action of the second spring 504, and at the same time, drive the first pushing plate 501 to move synchronously, and push the first T-shaped guide rod 401 to move in the direction away from the human-shaped target, and at the same time, the reset spring 405 is compressed.

[0059] The absorption mechanism includes a plurality of collection holes 601 arranged in an array on the top of the first movable plate 306, and a conical cover 602 is fixedly connected to the bottom of the first movable plate 306, and an air storage cover 603 is fixedly connected to the top of the crawler mobile vehicle 301, and the air storage cover 603 is connected to the third movable plate 604 through the second lifting mechanism, and an air extraction pipe 605 is fixedly connected between the conical cover 602 and the air storage cover 603, and a first one-way valve is provided in the air extraction pipe 605, and the first one-way valve is provided between the filter box 606 and the air storage cover 603, and the conduction direction of the first one-way valve is from the filter box 606 to the air storage cover 603. 03, a filter box 606 is provided on the side wall of the exhaust pipe 605. The filter box 606 is a well-known technology in the technical field and is not repeated here. An outlet pipe 607 is provided between the air storage cover 603 and the hollow cover 313. A second one-way valve is provided in the outlet pipe 607. The conduction direction of the second one-way valve is from the air storage cover 603 to the hollow cover 313. A working cover 703 is fixedly inserted on the side wall of the outlet pipe 607. A sliding plate 714 is slidably connected to the working cover 703, and a through hole 715 is opened on the top of the sliding plate 714. A third spring 71 is fixedly connected between the sliding plate 714 and the working cover 703. 6. The side wall of the support rod 312 is provided with two V-shaped grooves 720, and the side wall of the sliding plate 714 is fixedly connected with a push rod 721. When the moving frame 307 moves upward, the third moving plate 604 can be driven downward by the second lifting mechanism. At this time, the air temporarily stored in the air storage cover 603 can be squeezed. At the same time, the first one-way valve is closed and the second one-way valve is opened, so that the air in the air storage cover 603 can enter the hollow cover 313 through the air outlet pipe 607 and be discharged through the air hole 314 and the air blowing pipe 316. When the moving frame 307 moves downward, the third moving plate 6 04 can move upward and reset under the action of the second lifting mechanism, so that negative pressure is generated in the air storage cover 603. At the same time, the first one-way valve is opened and the second one-way valve is closed. At this time, the air can be exhausted through the exhaust pipe 605 and the air can be exhausted through the collecting hole 601, which can not only guide the clothes downward to make them more neat, but also absorb the cleaned impurities. The absorbed impurities enter the filter box 606 for filtration, and the filtered air enters the air storage cover 603 for temporary storage, so that the cleaning effect of the human-shaped target clothes is better, ensuring its use effect and life, thereby improving the training effect.

[0060] The feeding mechanism includes a rectangular tube 701 fixedly connected to the top of the crawler mobile vehicle 301, and a lifting plate 702 is inserted on the top of the rectangular tube 701, and a storage box 713 is fixedly connected to the top of the lifting plate 702. The storage box 713 is filled with colored powder, and the bottom of the storage box 713 is fixedly connected to a discharge pipe 707, and the lower end of the discharge pipe 707 is fixedly connected to a fixed cover 705, and a sliding block 706 is slidably connected in the fixed cover 705. A storage trough 708 is provided on the top of the sliding block 706, and a filter hole is provided at the bottom of the storage trough 708. The side wall of the fixed cover 705 is fixedly connected to two symmetrically arranged second connecting blocks 709, and the side wall of the second connecting block 709 is fixedly connected to two symmetrically arranged third T-shaped guide rods 710. The side wall of the T-shaped guide rod 710 is provided with a second slider 711, and the second slider 711 is fixed to the side wall of the sliding block 706, and the side wall of each third T-shaped guide rod 710 is provided with a fourth spring 712, and the bottom of the sliding block 706 is fixedly connected to a push block 717, and the side wall of the rectangular tube 701 is fixedly connected to a second push plate 718, and the top of the second push plate 718 is provided with a second inclined surface 719. When the push block 717 is against the second inclined surface 719, the four springs 712 are compressed, and the side fixed sleeve of the blowing pipe 316 is provided with a third connecting plate 704, and the fixed cover 705 is fixed to the third connecting plate 704. After receiving the electric signal of being hit, the second lifting module 310 drives the second movable plate 311 to move upward, and through the support rod 312 drives the hollow cover 313 and the sound and light alarm 315 to move upward, so that the lifting plate 702 slides out from a groove 720 above and slides on the side wall of the support rod 312, which can push the sliding plate 714 to slide into the working cover 703. At the same time, the third spring 716 is compressed, so that the through hole 715 is staggered with the air outlet pipe 607. At this time, the air outlet pipe 607 is blocked and sealed. At the same time, when the second movable plate 311 moves upward, the third movable plate 604 can be driven downward by the second lifting mechanism. At the same time, the first one-way valve is closed, the second one-way valve is opened, and the air in the air storage cover 603 is squeezed and pressurized. Moreover, when the hollow cover 313 moves upward, it can be brought into contact with the air through the blowing pipe 316 and the third connecting plate 704. When the second locking nut 707 is unlocked, the locking nut 706 is unlocked, and the locking nut 706 is unlocked, and the locking nut 706 is unlocked, and the locking nut 706 is unlocked.The high-pressure air ejected through the hollow cover 313 and the air blowing pipe 316 can blow away weeds and other things to avoid obstruction. The high-pressure air ejected from the air blowing pipe 316 can quickly blow the colored powder in the storage tank 708 upward, making the reminder effect better and thus improving the training effect.

[0061] The first lifting mechanism includes a first fixed plate 801 fixedly connected to the side wall of the first movable plate 306, and two symmetrically arranged sleeve rods 802 are fixedly connected to the top of the first fixed plate 801, the side wall of the sleeve rod 802 is sleeved with a sleeve 803, and the upper end of the sleeve 803 is fixedly connected to the second fixed plate 805, the second fixed plate 805 is fixed to the side wall of the movable frame 307, and the side wall of each sleeve 803 is sleeved with a fifth spring 804, the bottom of the first fixed plate 801 is fixedly connected to the mounting plate 806, and the side wall of the mounting plate 806 is fixedly connected to the motor 807, the output end of the motor 807 is fixedly connected to the winding drum 808, the side wall of the winding drum 808 is fixedly connected to the first pull rope 809, and the upper end of the first pull rope 809 is fixed to the bottom of the second fixed plate 805. When the human-shaped target is fallen down and hidden or not in use, the motor 807 is started to reverse, and the first pull rope 809 can be loosened when the motor 807 reverses. At this time, the moving frame 307 can move upward and reset under the action of the fifth spring 804. At the same time, the telescopic cover 308 is stretched, and after the telescopic cover 308 covers the human-shaped target, when the moving frame 307 continues to move upward, the fourth pull rope 910 can be straightened. At this time, the second rack 907 can be pulled downward, and the seventh spring 908 is compressed. At this time, the second gear 903 and the rotating shaft 902 can be pushed to rotate clockwise, and the cover plate 309 can be driven to rotate clockwise and close. At this time, the human-shaped target can be sealed and protected to avoid the influence of impurities such as weeds and water stains, thereby ensuring its use effect and life, thereby improving the training effect. When it is necessary to use or stand up, the motor 807 can be started to rotate forward, so that the winding drum 808 can reel in the first pull rope 809, thereby pulling the moving frame 307 to move in the direction close to the first moving plate 306. At the same time, the fifth spring 804 is compressed.

[0062] The second lifting mechanism includes a third connecting block 1004 fixedly connected to the side wall of the second movable disk 311, and the bottom of the crawler mobile vehicle 301 is fixedly connected to the fourth connecting block 1005, the side wall of the fourth connecting block 1005 is fixedly connected to the first cylindrical pin 1006, and the side wall of the third movable plate 604 is fixedly connected to the fifth connecting block 1008, the side wall of the first cylindrical pin 1006 is slidably connected to the second pull rope 1007, and the two ends of the second pull rope 1007 are respectively fixed to the third connecting block 1004 and the fifth connecting block 1008, the side wall of the air storage cover 603 is fixedly connected to the sixth connecting block 1002, and the side wall of the third movable plate 604 is fixedly connected to the seventh connecting block 1001, a sixth spring 1003 is fixedly connected between the seventh connecting block 1001 and the sixth connecting block 1002, and the side wall of the air storage cover 603 is fixedly connected to the eighth connecting block 1010, the eighth connecting block 1011 The side wall of 10 is fixedly connected with the second cylindrical pin 1011, and the side wall of the third movable plate 604 is fixedly connected with the ninth connecting block 1009, and the side wall of the movable frame 307 is fixedly connected with the tenth connecting block 1013. The side wall of the second cylindrical pin 1011 is slidably connected with the third pull rope 1012, and the two ends of the third pull rope 1012 are respectively fixed to the ninth connecting block 1009 and the tenth connecting block 1013. When the movable frame 307 moves upward, the third movable plate 604 can be pulled downward by the third pull rope 1012. At the same time, the sixth spring 1003 is compressed. When the movable frame 307 moves downward, the third movable plate 604 can move upward and reset under the action of the sixth spring 1003, and when the second movable disk 311 moves upward, the second pull rope 1007 can be driven to move by the third connecting block 1004, thereby pulling the third movable plate 604 downward.

[0063] The rotating mechanism includes a support plate 901 fixedly connected to the side wall of the moving frame 307, and the cover plate 309 is rotatably connected to the side wall of the support plate 901 through a rotating shaft 902. The side wall of the rotating shaft 902 is fixedly sleeved with a second gear 903, and the side wall of the support plate 901 is fixedly connected to two symmetrically arranged second fixed blocks 904. The opposite side walls of the two second fixed blocks 904 are fixedly connected to two symmetrically arranged second guide rods 905, and the side wall of each second guide rod 905 is sleeved with a third slider 906. The side wall of the third slider 906 is fixedly connected to a second rack 907, and the second rack 907 is meshed with the second gear 903. The side wall of each second guide rod 905 is sleeved with a seventh spring 9 08. The side wall of the first movable plate 306 is fixedly connected with a third fixed block 909, and a fourth pull rope 910 is fixedly connected between the second rack 907 and the third fixed block 909. After the telescopic cover 308 covers the human-shaped target, when the movable frame 307 continues to move upward, the fourth pull rope 910 can be straightened. At this time, the second rack 907 can be pulled downward, and the seventh spring 908 is compressed. At this time, the second gear 903 and the rotating shaft 902 can be pushed to rotate clockwise, and the cover plate 309 can be driven to rotate clockwise and close. At this time, the human-shaped target can be sealed and protected to avoid the influence of impurities such as weeds and water stains, thereby ensuring its use effect and life, thereby improving the training effect.

[0064] Working principle: When in use, the IMU module 105 is integrated with the image acquisition and processing device, and a loosely coupled method is used to complement the offset, which is expected to greatly improve the acquisition accuracy. The IMU provides the main body of information on the approximate direction and angle of fire to assist in determining the precise aiming line. The image acquisition and processing device has the functions of daytime CMOS imaging observation and aiming, nighttime infrared thermal imaging observation and aiming personnel target detection and identification, ballistic solution, etc. The matching digital training system uses different color graticules as the aiming reference and simulated projectile reference. The aiming reference is the aiming point, and a red cross graticule is used to indicate the theoretical aiming point; the simulated projectile reference is the projectile impact point, and a green cross graticule is used to indicate the impact point of the simulated shooting hitting the target. At the same time, the IMU module 105 is integrated in the image acquisition and processing device. The virtual-reality combined training system consists of an image acquisition and processing device, a cloud-based combat simulation engine module, and a mobile tracked humanoid target terminal module.

[0065] The aiming and shooting process is as follows: using an image acquisition and processing device, the image acquisition and processing device can automatically select the human target; when the trigger is pulled, the sight simultaneously displays the target image and the weapon aiming line at the moment of firing and takes a screenshot and saves it, and sends the screenshot and IMU data to the cloud combat simulation engine module.

[0066] The processing flow of the cloud engagement simulation engine module is as follows:

[0067] ① Determine the approximate aiming area: After receiving the shot shot and azimuth data, determine the approximate shooting direction angle based on the azimuth and estimated error provided by the IMU module 105, and determine the approximate distance to the target based on the sight data:

[0068] ② Actual target search: The engine compensates for network delays to accurately restore the personnel's location information at the time of projectile launch, and combines the rough data of the direction distance in ① to search and determine the actual target;

[0069] ③ Weapon posture calculation: The engine identifies the relative position of the person and the crosshairs in the shot screenshot, determines the actual aiming point when shooting the projectile in the digital battlefield, generates the aiming baseline, and determines the precise direction and angle of the weapon:

[0070] ④ Trajectory and subsequent processing: Generate the actual trajectory based on the trajectory model and perform subsequent calculations.

[0071] When it is necessary to install and fix the image acquisition and processing device body 1 to the gun, the mounting block 208 can be selected according to the shape of the gun barrel. When the mounting block 208 is not needed, the gun barrel is placed between the first clamping block 202 and the second clamping block 206. Then, the knob 205 can be rotated to move the knob 205 and abut against the second clamping block 206, thereby pushing the second clamping block 206 to slide along the first inclined surface 207 and abut against the gun barrel, thereby fixing the gun barrel between the V-groove 203 and the second clamping block 206. When it is necessary to select the mounting block 208, similarly, the mounting block 208 can be clamped and fixed between the V-groove 203 and the second clamping block 206. Then, the gun barrel is inserted between the first V-shaped plate 209 and the second V-shaped plate 211, and the second bolt 210 is tightened and fixed, thereby facilitating the installation and fixation of the main body 1 to the gun, and having stronger adaptability and more convenient use.

[0072] By rotating the rotating disk 317, the target surface direction of the humanoid target can be adjusted. The height of the humanoid target can be adjusted by the first lifting module 302. The humanoid target can be hidden or raised and lowered by the rotating module 304. When the humanoid target is lowered and hidden or not in use, the motor 807 is started to reverse. When the motor 807 reverses, the first pull rope 809 can be loosened. At this time, the moving frame 307 can move upward and reset under the action of the fifth spring 804. At the same time, the telescopic cover 308 is stretched, and After the telescopic cover 308 covers the human-shaped target, when the moving frame 307 continues to move upward, the fourth pull rope 910 can be straightened. At this time, the second rack 907 can be pulled downward, and the seventh spring 908 is compressed. At this time, the second gear 903 and the rotating shaft 902 can be pushed to rotate clockwise, and the cover 309 can be driven to rotate clockwise and close. At this time, the human-shaped target can be sealed and protected to avoid the influence of impurities such as weeds and water stains, thereby ensuring its effectiveness and lifespan, thereby improving the training effect.

[0073] When the moving frame 307 moves upward, the electromagnet 506 is powered off. At this time, the first push plate 501 can move in the direction away from the first connecting block 502 under the action of the second spring 504, and at the same time, it drives the first push plate 501 to move synchronously and pushes the first T-shaped guide rod 401 to move in the direction away from the human-shaped target. At the same time, the return spring 405 is compressed, so that the moving frame 307 will not contact the clothes and hat on the human-shaped target when moving upward, thereby ensuring its use effect. When the moving frame 307 moves downward, the electromagnet 506 is powered on first. After the electromagnet 506 is powered on, it attracts the iron block 505, so that the first push plate 501 can move in the direction away from the human-shaped target. A push plate 501 moves toward the direction approaching the first connecting block 502, and at the same time, the second spring 504 is compressed. At this time, the first T-shaped guide rod 401 can move toward the direction approaching the human-shaped target under the action of the return spring 405. When the moving frame 307 moves downward, when the tapered rod 402 is against the human-shaped target, it can push the first T-shaped guide rod 401 to move. At the same time, the return spring 405 is compressed, so that the brush 403 can move downward along the surface of the human-shaped target, which can not only make the clothes more tidy, but also clean the impurities on the surface of the clothes, thereby ensuring its effectiveness and life, thereby improving the training effect.

[0074] When the moving frame 307 moves upward, the third moving plate 604 can be pulled downward by the third pull rope 1012. At the same time, the sixth spring 1003 is compressed. At this time, the air temporarily stored in the air storage cover 603 can be squeezed. At the same time, the first one-way valve is closed and the second one-way valve is opened, so that the air in the air storage cover 603 can enter the hollow cover 313 through the air outlet pipe 607 and be discharged through the air blowing hole 314 and the air blowing pipe 316. When the moving frame 307 moves downward, the third moving plate 604 can be Move upward to reset, so that negative pressure is generated in the air storage cover 603. At the same time, the first one-way valve is opened and the second one-way valve is closed. At this time, the air can be exhausted through the exhaust pipe 605 and the air can be exhausted through the collecting hole 601, which can not only guide the clothes downward to make them more neat, but also absorb the cleaned impurities. The absorbed impurities enter the filter box 606 for filtration, and the filtered air enters the air storage cover 603 for temporary storage, so that the cleaning effect of the human-shaped target clothes is better, its use effect and life are guaranteed, and the training effect is improved.

[0075] After receiving the hit electrical signal, the second movable plate 311 is driven to move upward by the second lifting module 310, and the hollow cover 313 and the sound and light alarm 315 are driven to move upward by the support rod 312, so that the lifting plate 702 slides out from a groove 720 above and slides on the side wall of the support rod 312, which can push the sliding plate 714 to slide into the working cover 703. At the same time, the third spring 716 is compressed, so that the through hole 715 is staggered with the air outlet pipe 607. At this time, the air outlet pipe 607 is blocked and sealed. At the same time, when the second movable plate 311 moves upward, the second pull rope 1007 can be driven to move through the third connecting block 1004, so that the third movable plate 604 can be pulled downward. At the same time, the first one-way valve is closed, the second one-way valve is opened, and the air in the air storage cover 603 is squeezed and pressurized.

[0076] When the hollow cover 313 moves upward, the fixed cover 705 can be driven to move upward through the blowing pipe 316 and the third connecting plate 704, and the storage box 713 can be driven to move upward through the discharge pipe 707. When the pushing block 717 is disengaged from the second connecting block 709, the sliding block 706 can move under the action of the fourth spring 712 and move the storage trough 708 to the top of the blowing pipe 316. When the hollow cover 313 moves to the highest position, the end of the pushing rod 721 slides into a groove 720 below. At this time, the sliding plate 714 can be 6, moves in the direction away from the working cover 703, so that the through hole 715 coincides with the air outlet pipe 607. At this time, the sound and light alarm is sounded by the sound and light alarm 315. At the same time, the high-pressure air in the air storage cover 603 can enter the hollow cover 313 through the air outlet pipe 607 and be ejected through the hollow cover 313 and the air blowing pipe 316. The high-pressure air ejected through the air blowing hole 314 can blow away the weeds and the like to avoid obstruction. The high-pressure air blown out by the air blowing pipe 316 can quickly blow the colored powder in the storage tank 708 upward, so that the reminder effect is better, thereby improving the training effect.

[0077] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology, and the circuit connection adopts the conventional connection method in the existing technology. It will not be described in detail here. The content not described in detail in this specification belongs to the existing technology known to professional and technical personnel in this field.

[0078] The present invention and its embodiments are described above. This description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs structures and embodiments similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. A virtual-reality combined training system, comprising an image acquisition and processing device, the image acquisition and processing device comprising a main body (1) and a mounting seat, wherein the main body (1) comprises a shell (101), the image acquisition and processing device further comprising an image acquisition module (107), which is arranged in the shell (101) and is used to acquire image data; an IMU module (105), which is arranged in the shell (101) and is used to measure the motion state of an object; a data processing module (102), which is arranged in the shell (101) and is used to process the acquired data; a data storage module (103), which is arranged in the shell (101) and is used to store the processed data; a data transmission module (104), which is arranged in the shell (101) and is used to transmit the processed data; a power supply module (106), which is arranged in the shell (101) and is used to supply power to each module, and the mounting seat comprises a first card block ( 202), and the first clamping block (202) is fixed to the bottom of the housing (101) by a plurality of first bolts (201), the side wall of the first clamping block (202) is provided with a V-shaped groove (203), and the side wall of the first clamping block (202) is provided with a first inclined surface (207), the side wall of the first clamping block (202) is fixedly inserted with a threaded rod (204), and the side wall of the threaded rod (204) is threadedly connected to a knob (205), and the side wall of the threaded rod (204) is provided with a first inclined surface (207). The wall sleeve is provided with a second clamping block (206) in a U-shaped arrangement, and the second clamping block (206) is capable of sliding on a first inclined surface (207); a mounting block (208) is detachably connected between the first clamping block (202) and the second clamping block (206); a first V-shaped plate (209) is fixedly connected to the bottom of the mounting block (208); and a second V-shaped plate (211) is connected below the first V-shaped plate (209) via a plurality of second bolts (210), characterized in that: The virtual-reality combined training system further comprises a cloud-based combat simulation engine module and a mobile crawler-type humanoid target terminal module, wherein the mobile crawler-type humanoid target terminal module comprises a crawler-type mobile vehicle (301), and the top of the crawler-type mobile vehicle (301) is rotatably connected to a rotating disk (317), the top of the rotating disk (317) is connected to a first moving disk (303) via a first lifting module (302), the top of the first moving disk (303) is rotatably connected to a rotating rod (305) via a rotating module (304), and the upper end of the rotating rod (305) is fixedly connected to a first moving plate (306), the side wall of the first moving plate (306) is connected to a moving frame (307) via a first lifting mechanism, and a telescopic cover (308) is fixedly connected between the moving frame (307) and the first moving plate (306), and the moving frame (307) is connected to the first moving plate (306). 07) is rotatably connected to a cover plate (309) at the top through a rotating mechanism, and a second movable plate (311) is connected to the bottom of the crawler moving vehicle (301) through a second lifting module (310), a support rod (312) is fixedly connected to the top of the second movable plate (311), and a hollow cover (313) is fixedly connected to the upper end of the support rod (312), a side wall of the hollow cover (313) is provided with a plurality of blowing holes (314) arranged in an array, and a blowing pipe (316) is fixedly connected to the top of the hollow cover (313), and an audible and visual alarm (315) is fixedly connected to the top of the hollow cover (313), a feeding mechanism for feeding colored powder to the top of the blowing pipe (316) is provided above the crawler moving vehicle (301), and a cleaning mechanism for cleaning the human-shaped target is provided in the moving frame (307).

2. A virtual-real combination training system according to claim 1, characterized in that: The cleaning mechanism comprises a plurality of first T-shaped guide rods (401) arranged in an array and inserted into two opposite side walls of the movable frame (307), one end of the first T-shaped guide rod (401) is fixedly connected to a tapered rod (402), the other end of the tapered rod (402) is fixedly connected to a brush (403), and a side wall fixed sleeve of the first T-shaped guide rod (401) is provided with a ring (404), and the side wall sleeve of the first T-shaped guide rod (401) is provided with a return spring (405), and one end of the return spring (405) is fixedly connected to the movable frame (3 07), the other end of the return spring (405) is rotatably connected to the end of the ring (404), and the rotation of each first T-shaped guide rod (401) is driven by a driving assembly, the driving assembly includes a spline (406) provided on the side wall of the first T-shaped guide rod (401), and the side wall of the spline (406) is slidably connected to a first gear (407), the first gear (407) is rotatably connected to the side wall of the moving frame (307), and the side wall of the moving frame (307) is fixedly connected to two symmetrically arranged The first fixed block (408) is fixedly connected to the side walls of the two first fixed blocks (408) opposite to each other, and two symmetrically arranged first guide rods (409) are fixedly connected to the side walls of each first guide rod (409), and a first slider (410) is provided on the side wall of each first slider (410), and a first rack (411) is fixedly connected to the side wall of the first slider (410), and the first rack (411) is meshed with the first gear (407), and a first spring (412) is provided on the side wall of each first guide rod (409), and the first rack (411) is meshed with the first gear (407). ) is fixedly connected to a first connecting plate (413) on its side wall, the first connecting plate (413) is fixedly connected to a second connecting plate (414) on its side wall, the second connecting plate (414) is fixedly connected to a plurality of triangular blocks (415) arranged in an array on its side wall, and a pushing pin (416) is fixedly connected to the side wall of the first movable plate (306), an absorbing mechanism for absorbing cleaned impurities is provided below the first movable plate (306), and the movement of the first T-shaped guide rod (401) is driven by the pushing mechanism.

3. A virtual-real combination training system according to claim 2, characterized in that: The pushing mechanism comprises two symmetrically arranged first pushing plates (501), and the side walls of each first pushing plate (501) are fixedly connected to two symmetrically arranged second T-shaped guide rods (503), the side walls of the second T-shaped guide rods (503) are sleeved with first connecting blocks (502), and the first connecting blocks (502) are fixed to the side walls of the moving frame (307), the side walls of each second T-shaped guide rod (503) are sleeved with second springs (504), the side walls of the first pushing plate (501) are fixedly connected to iron blocks (505), and the side walls of the first connecting blocks (502) are fixedly connected to electromagnets (506).

4. The virtual-real combination training system according to claim 2, characterized in that: The absorption mechanism comprises a plurality of collection holes (601) arranged in an array on the top of a first movable plate (306), and a conical cover (602) is fixedly connected to the bottom of the first movable plate (306), an air storage cover (603) is fixedly connected to the top of the crawler mobile vehicle (301), and a third movable plate (604) is connected to the air storage cover (603) via a second lifting mechanism, an air extraction pipe (605) is fixedly connected between the conical cover (602) and the air storage cover (603), and a first one-way valve is provided in the air extraction pipe (605), a filter box (606) is provided on the side wall of the air extraction pipe (605), and the air storage cover ( An air outlet pipe (607) is provided between the support rod (312) and the hollow cover (313), a second one-way valve is provided in the air outlet pipe (607), and a working cover (703) is fixedly inserted into the side wall of the air outlet pipe (607), a sliding plate (714) is slidably connected in the working cover (703), and a through hole (715) is provided on the top of the sliding plate (714), a third spring (716) is fixedly connected between the sliding plate (714) and the working cover (703), two V-shaped grooves (720) are provided on the side wall of the support rod (312), and a push rod (721) is fixedly connected to the side wall of the sliding plate (714).

5. The virtual-real combination training system according to claim 1, characterized in that: The feeding mechanism comprises a rectangular tube (701) fixedly connected to the top of the crawler mobile vehicle (301), and a lifting plate (702) is inserted into the top of the rectangular tube (701), a storage box (713) is fixedly connected to the top of the lifting plate (702), and a discharge pipe (707) is fixedly connected to the bottom of the storage box (713), the lower end of the discharge pipe (707) is fixedly connected to a fixed cover (705), and a sliding block (706) is slidably connected inside the fixed cover (705), a storage trough (708) is provided on the top of the sliding block (706), and a filter hole is provided at the bottom of the storage trough (708), and the side wall of the fixed cover (705) is fixedly connected to two symmetrically arranged second connecting blocks (709), and the second connecting block (709) is fixedly connected to the side wall of the fixed cover (705). 09) is fixedly connected to the side wall of two symmetrically arranged third T-shaped guide rods (710), the side wall of the third T-shaped guide rod (710) is sleeved with a second slider (711), and the second slider (711) is fixed to the side wall of the sliding block (706), and the side wall of each of the third T-shaped guide rods (710) is sleeved with a fourth spring (712), the bottom of the sliding block (706) is fixedly connected with a push block (717), the side wall of the rectangular tube (701) is fixedly connected with a second push plate (718), and the top of the second push plate (718) is provided with a second inclined surface (719), the side fixed sleeve of the blowing pipe (316) is provided with a third connecting plate (704), and the fixed cover (705) is fixed to the third connecting plate (704).

6. The virtual-real combination training system according to claim 1, characterized in that: The first lifting mechanism comprises a first fixed plate (801) fixedly connected to the side wall of the first movable plate (306), and two symmetrically arranged sleeve rods (802) are fixedly connected to the top of the first fixed plate (801), the side wall of the sleeve rod (802) is sleeved with a sleeve (803), and the upper end of the sleeve (803) is fixedly connected to the second fixed plate (805), the second fixed plate (805) is fixed to the side wall of the movable frame (307), and the side wall of each sleeve (803) is sleeved with a fifth spring (804), the bottom of the first fixed plate (801) is fixedly connected to the mounting plate (806), and the side wall of the mounting plate (806) is fixedly connected to the motor (807), the output end of the motor (807) is fixedly connected to the winding drum (808), the side wall of the winding drum (808) is fixedly connected to the first pull rope (809), and the upper end of the first pull rope (809) is fixed to the bottom of the second fixed plate (805).

7. The virtual-real combination training system according to claim 4, characterized in that: The second lifting mechanism includes a third connecting block (1004) fixedly connected to the side wall of the second movable plate (311), and the bottom of the crawler movable vehicle (301) is fixedly connected to a fourth connecting block (1005), the side wall of the fourth connecting block (1005) is fixedly connected to a first cylindrical pin (1006), and the side wall of the third movable plate (604) is fixedly connected to a fifth connecting block (1008), the side wall of the first cylindrical pin (1006) is slidably connected to a second pull rope (1007), and the two ends of the second pull rope (1007) are respectively fixed to the third connecting block (1004) and the fifth connecting block (1008), the side wall of the gas storage cover (603) is fixedly connected to a sixth connecting block (1002), and the side wall of the third movable plate (604) is fixedly connected to the first cylindrical pin (1006). A seventh connecting block (1001) is connected, a sixth spring (1003) is fixedly connected between the seventh connecting block (1001) and the sixth connecting block (1002), and the side wall of the air storage cover (603) is fixedly connected to an eighth connecting block (1010), the side wall of the eighth connecting block (1010) is fixedly connected to a second cylindrical pin (1011), and the side wall of the third movable plate (604) is fixedly connected to a ninth connecting block (1009), the side wall of the movable frame (307) is fixedly connected to a tenth connecting block (1013), the side wall of the second cylindrical pin (1011) is slidably connected to a third pull rope (1012), and the two ends of the third pull rope (1012) are respectively fixed to the ninth connecting block (1009) and the tenth connecting block (1013).

8. The virtual-real combination training system according to claim 1, characterized in that: The rotating mechanism includes a support plate (901) fixedly connected to the side wall of the moving frame (307), and the cover plate (309) is rotatably connected to the side wall of the support plate (901) through a rotating shaft (902), the side wall fixed sleeve of the rotating shaft (902) is provided with a second gear (903), and the side wall of the support plate (901) is fixedly connected to two symmetrically arranged second fixed blocks (904), and the side walls opposite to the two second fixed blocks (904) are fixedly connected to two symmetrically arranged second guide rods (905), and each second guide rod (905) is fixedly connected to the side wall of the moving frame (307). A third slider (906) is sleeved on the side wall of the guide rod (905), a second rack (907) is fixedly connected to the side wall of the third slider (906), and the second rack (907) is meshed with the second gear (903), a seventh spring (908) is sleeved on the side wall of each second guide rod (905), a third fixed block (909) is fixedly connected to the side wall of the first movable plate (306), and a fourth pull rope (910) is fixedly connected between the second rack (907) and the third fixed block (909).

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