Automatic shooting method, device, gun and storage medium

Abstract

The embodiment of the present invention discloses a method, device, gun and storage medium for automatic shooting, which is applied to a gun provided with a sight and an automatic firing component, the method comprising: determining an initial aiming point based on the current posture of the gun through the sight; performing ballistic calculation based on the distance between the muzzle and a preset target and environmental parameters to determine an aiming offset; determining a final aiming point based on the initial aiming point and the aiming offset, and displaying the final aiming point in the display area of ​​the sight; if the target mark point of the preset target coincides with the final aiming point, controlling the automatic firing component to complete the firing of the gun. In this solution, the timing of shooting is determined by a program, and the automatic firing component is used to fire, which can eliminate the influence of the shooter on the accuracy when aiming and shooting, and greatly improve the hit rate.

Description

Technical Field

[0001] The present invention relates to the field of automatic shooting technology, and in particular to an automatic shooting method, device, gun and storage medium. Background Art

[0002] Usually, rifles use scopes and ballistic calculation systems to give the target aiming point, and the shooter aims at the aiming point and then manually pulls the trigger to fire. In actual scenarios, when the rifle is fired manually, the aiming line is dynamically adjusted near the target during the aiming and shooting process, which requires the shooter to undergo a lot of live-fire shooting training before making accurate judgments. In addition, the shooter's reaction and the shooter's own shaking during the shooting process will affect the shooting accuracy. Therefore, a better solution is currently needed to solve the problems in the existing technology. Summary of the invention

[0003] In view of this, the present invention proposes an automatic shooting method, device, gun and storage medium to solve the problems in the prior art.

[0004] Specifically, the present invention proposes the following specific embodiments:

[0005] The embodiment of the present invention provides an automatic shooting method, which is applied to a firearm provided with a sight and an automatic firing assembly, and the method comprises:

[0006] Determining an initial aiming point based on the current posture of the gun through the sight;

[0007] The ballistic calculation is performed based on the distance between the muzzle and the preset target and the environmental parameters to determine the aiming offset;

[0008] determining a final aiming point based on the initial aiming point and the aiming offset, and displaying the final aiming point in a display area of ​​the sight;

[0009] If the target mark point of the preset target coincides with the final aiming point, the automatic firing assembly is controlled to complete the firing of the gun.

[0010] In a specific embodiment, the environmental parameters include: one or more of wind speed, air pressure, temperature and humidity.

[0011] In a specific embodiment, the automatic firing assembly is rotatably connected to the firearm;

[0012] It also includes: a rotating part; wherein the rotating part is arranged on the automatic firing assembly, and the rotating part is used to drive the automatic firing assembly to rotate relative to the firearm, so that the automatic firing assembly can switch between a triggering area that can trigger the firing of the firearm and a non-triggering area that cannot trigger the firing of the firearm.

[0013] In a specific embodiment, the automatic firing assembly includes: a motor, a cam, a simulated manipulator and a base;

[0014] The cam is sleeved on the output shaft of the motor;

[0015] A trigger rod is provided at the first end of the simulated manipulator, and an abutment portion is provided at the second end of the simulated manipulator, wherein the abutment portion is connected to the base, and the cam abuts against the simulated manipulator to squeeze the simulated manipulator when the cam rotates, and causes the trigger rod of the simulated manipulator to trigger the trigger of the gun.

[0016] In a specific embodiment, the simulated manipulator further includes a connecting rod for connecting the trigger rod and the abutment portion;

[0017] The side of the abutting portion facing the trigger rod abuts against the cam; the side of the abutting portion away from the trigger rod is arranged in the base;

[0018] A compression spring is arranged in the base; one side of the compression spring is connected to an inner wall of the base away from the abutting portion, and the other side of the compression spring is connected to a side of the abutting portion facing the base.

[0019] In a specific embodiment, a limiting slot is provided on the abutting portion; a limiting pin is also provided on the base; the limiting pin is embedded in the limiting slot to constrain the simulated manipulator to move along the length direction of the limiting slot.

[0020] In a specific embodiment, it also includes:

[0021] Generate a movement instruction for the final aiming point to point to the target marking point;

[0022] The movement indication is displayed in a display area of ​​the scope.

[0023] The embodiment of the present invention further provides an automatic shooting device, which is applied to a firearm provided with a sight and an automatic firing assembly, and the device comprises:

[0024] An initial module, used to determine an initial aiming point based on the current posture of the gun through the sight;

[0025] An offset module is used to perform trajectory calculation based on the distance between the muzzle and a preset target and environmental parameters to determine the aiming offset;

[0026] A display module, configured to determine a final aiming point based on the initial aiming point and the aiming offset, and to display the final aiming point in a display area of ​​the sight;

[0027] The firing module is used to control the automatic firing assembly to complete the firing of the gun if the target marking point of the preset target coincides with the final aiming point.

[0028] The embodiment of the present invention further provides a firearm, comprising: a processor and a memory, wherein a computer program is stored in the memory, and the processor implements the above-mentioned automatic shooting method when executing the computer program.

[0029] The embodiment of the present invention further provides a storage medium, in which a computer program is stored. When the computer program is executed, the above-mentioned automatic shooting method is implemented.

[0030] Thus, an embodiment of the present invention proposes an automatic shooting method, device, gun and storage medium, which are applied to a gun provided with a sight and an automatic firing component, the method comprising: determining an initial aiming point based on the current posture of the gun through the sight; performing ballistic calculation based on the distance between the muzzle and a preset target and environmental parameters to determine an aiming offset; determining a final aiming point based on the initial aiming point and the aiming offset, and displaying the final aiming point in the display area of ​​the sight; if the target mark point of the preset target coincides with the final aiming point, controlling the automatic firing component to complete the firing of the gun. In this solution, the timing of shooting is determined by a program, and the automatic firing component is used to fire, which can eliminate the influence of the shooter on the accuracy when aiming and shooting, and greatly improve the hit rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0032] Figure 1 A schematic flow chart of an automatic shooting method proposed in an embodiment of the present invention is shown;

[0033] Figure 2 A schematic diagram of the structure of an automatic firing component in an automatic shooting method provided by an embodiment of the present invention at a viewing angle is shown;

[0034] Figure 3 A schematic structural diagram of an automatic firing assembly in an automatic shooting method provided by an embodiment of the present invention from another perspective is shown;

[0035] Figure 4 A schematic structural diagram of an automatic shooting device proposed in an embodiment of the present invention is shown.

[0036] Legend:

[0037] 100-motor; 110-cam;

[0038] 120-simulated manipulator; 121-trigger rod; 122-connecting rod;

[0039] 123-abutting portion; 1231-limiting slot;

[0040] 130-base; 131-compression spring; 132-limiting pin; 140-rotating part;

[0041] 201 - initial module; 202 - offset module; 203 - display module; 204 - firing module. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0043] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0044] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0045] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0046] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present invention belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present invention.

[0047] Example 1

[0048] Embodiment 1 of the present invention discloses an automatic shooting method, which is applied to a gun provided with a sight and an automatic firing component, such as Figure 1 As shown, the method comprises the following steps:

[0049] Step S101, determining an initial aiming point based on the current posture of the gun through the sight;

[0050] Specifically, the sight is set on the gun, and the direction of the light passing through the sight is parallel to the length direction of the gun barrel. The initial aiming point can be determined by the sight and the current posture of the gun (specifically including the muzzle pointing and posture of the gun barrel).

[0051] Step S102: performing trajectory calculation based on the distance between the muzzle and the preset target and the environmental parameters to determine the aiming offset; specifically, the trajectory calculation may be performed based on the distance between the muzzle and the preset target determined by the rangefinder provided on the sight and the environmental parameters sensed by the environmental parameter sensing module to determine the aiming offset;

[0052] Furthermore, the environmental parameters include one or more of wind speed, air pressure, temperature and humidity.

[0053] Specifically, the sight can realize the fusion of infrared and visible light images. In addition, through the rangefinder (such as a laser rangefinder) and the automatic perception module of environmental parameters, it can obtain information such as the distance to the preset target, the wind speed, air pressure, temperature and humidity in the current environment, and pass it to the ballistic solution module in the sight to calculate the aiming offset, that is, the offset of the aiming point and automatically match the aiming point.

[0054] In actual application scenarios, if the target is a dynamic object, the motion characteristics of the target also need to be considered during the trajectory calculation process. Specifically, the center of mass position of the preset target is determined; the motion characteristic data of the preset target is determined based on the center of mass position of the preset target in multiple images of a preset time period; the initial aiming point is corrected based on the motion characteristic data to obtain the final aiming point, and shooting guidance is performed based on the final aiming point.

[0055] In actual application scenarios, ballistic calculation can be performed based on the center of mass position of the preset target in the current image (based on which the distance from the target to the muzzle can be determined), current environmental data (such as wind speed, temperature, etc.), gun attribute data (such as gun type, barrel pressure, muzzle velocity, etc.) and ballistic table. The specific ballistic table records the ballistic parameters of the bullet under different shooting conditions. The ballistic table corresponds to the gun. Based on the ballistic table combined with environmental data and the distance from the target to the muzzle, the impact point can be determined.

[0056] Step S103, determining a final aiming point based on the initial aiming point and the aiming offset, and displaying the final aiming point in a display area of ​​the sight;

[0057] After the aiming offset is determined, the initial aiming point is corrected to obtain a final aiming point, and the final aiming point is displayed in the display area of ​​the sight.

[0058] Step S104: If the target mark point of the preset target coincides with the final aiming point, the automatic firing assembly is controlled to complete the firing of the gun.

[0059] Specifically, the number of preset targets can be one or more, and each target is identified by the sight to generate a target marking point, which is specifically displayed as a light point of a certain color, such as a red light point or a blue light point.

[0060] When the shooter moves the gun barrel so that the final aiming point coincides with the target mark of the preset target, the gun is immediately fired through the automatic firing assembly, achieving rapid firing. During the whole process, the shooter only needs to roughly aim the muzzle at the target and then make slight adjustments to make the target mark coincide with the aiming point.

[0061] Further, such as Figure 2 and Figure 3 As shown, the automatic firing assembly includes: a motor 100, a cam 110, a simulated manipulator 120 and a base 130;

[0062] The cam 110 is sleeved on the output shaft of the motor 100; wherein the cam 110 has at least one proximal portion and at least one distal portion, the proximal portion and the distal portion are smoothly transitionally connected, and the motor 100 drives the cam 110 to rotate, thereby switching the proximal portion or the distal portion to abut against the abutment portion 123. In an optional embodiment, the cam 110 is elliptical, and the cam 110 has two proximal portions and two distal portions, the proximal portions and the distal portions are alternately arranged, and the proximal portion and the distal portion are smoothly transitionally connected.

[0063] A trigger rod 121 is provided at the first end of the simulated manipulator, and an abutment portion 123 is provided at the second end of the simulated manipulator, wherein the abutment portion 123 is connected to the base 130, and the cam 110 abuts against the simulated manipulator 120 to squeeze the simulated manipulator 120 when the cam 110 rotates, and the trigger rod 121 of the simulated manipulator 120 triggers the trigger of the gun.

[0064] Furthermore, the simulated manipulator further includes a connecting rod 122 for connecting the trigger rod 121 and the abutting portion 123;

[0065] The side of the abutting portion 123 facing the trigger rod 121 abuts against the cam 110 ; the side of the abutting portion 123 away from the trigger rod 121 is disposed in the base 130 ;

[0066] A compression spring 131 is disposed in the base 130 ; one side of the compression spring 131 is connected to an inner wall of the base 130 away from the abutting portion 123 , and the other side of the compression spring 131 is connected to a side of the abutting portion 123 facing the base 130 .

[0067] Specifically, in the initial state, the proximal portion of the cam 110 contacts the abutment portion 123. When the target mark point of the preset target coincides with the final aiming point, the motor 100 is started to rotate, and then the cam 110 rotates, and the distal portion of the cam 110 gradually approaches the abutment portion 123. The cam 110 applies backward pressure to the abutment portion 123, and the abutment portion 123 is arranged in the base 130. The abutment portion 123 provides elastic force through the compression spring 131 in the base 130, thereby allowing the cam 110 to maintain contact with the abutment portion 123. When the abutment portion 123 moves backward, the connecting rod 122 and the trigger rod 121 are also driven to move backward at the same time. When the backward movement reaches a certain extent (for example, the distal portion of the cam 110 contacts the abutment portion 123), the trigger rod 121 contacts the trigger. When it continues to move backward, it will trigger the trigger, thereby completing the firing of the gun and completing the shooting.

[0068] The abutting portion 123 is provided with a limiting slot 1231 ; the base 130 is also provided with a limiting pin 132 ; the limiting pin 132 is embedded in the limiting slot 1231 to constrain the simulated manipulator 120 to move along the length direction of the limiting slot 1231 .

[0069] In order to ensure the stability of backward movement, a limiting slot 1231 is provided on the abutment portion 123 (for example, the limiting slot 1231 may be in the shape of a long strip), and a limiting pin 132 is provided on the base 130. During specific movement, the limiting pin 132 will be embedded in the limiting slot 1231, thereby constraining the simulated manipulator 120 to move only along the length direction of the limiting slot 1231.

[0070] Furthermore, considering that the shooter may want to fire manually, in this case, the automatic firing assembly needs to have an available state and an unavailable state, and be easily switched between the two states. Thus, the automatic firing assembly is rotatably connected to the gun;

[0071] Therefore, it also includes: a rotating part 140; wherein, the rotating part 140 is arranged on the automatic firing assembly, and the rotating part 140 is used to drive the automatic firing assembly to rotate relative to the gun, so that the automatic firing assembly can switch between a triggering area that can trigger the firing of the gun and a non-triggering area that cannot trigger the firing of the gun.

[0072] Furthermore, the rotating portion 140 can be disposed on the base 130, and the rotating portion 140 is used to drive the automatic firing assembly to rotate relative to the firearm, so that the automatic firing assembly switches between a triggering area that can trigger the firing of the firearm and a non-triggering area that cannot trigger the firing of the firearm, specifically, the trigger rod 121 switches between a triggering area that can trigger the trigger and a non-triggering area that cannot trigger the trigger.

[0073] By toggling the rotating part 140, the entire automatic firing assembly can be rotated, and finally the trigger rod 121 can be switched between a trigger area that can trigger the trigger and a non-trigger area that cannot trigger the trigger. Specifically, the trigger area can be within a certain distance in front of the trigger, and the non-trigger area is other areas outside the trigger area. In the non-trigger area, the trigger cannot be triggered based on the automatic firing assembly.

[0074] Specifically, the simulated manipulator 120 can be rotated as a whole by being driven by the rotating part 140 (for example, it can be a rotating handwheel). When manual firing is required, the simulated manipulator 120 can be rotated out of the trigger pull range and then manual shooting can be performed; or the fixing mechanism that fixes the automatic firing component to the gun can be directly loosened, so that the automatic firing component can be automatically fired without affecting the use of manual firing.

[0075] Furthermore, in order to further facilitate the shooter to adjust the muzzle, the method further includes: generating a movement indication that the final aiming point points to the target mark point; and displaying the movement indication in the display area of ​​the sight. In this solution, when the shooter adjusts the muzzle, a movement indication will be displayed, which can give the shooter an intuitive impression and enable the user to adjust the muzzle correctly more quickly.

[0076] Example 2

[0077] In order to further illustrate the present invention, the second embodiment of the present invention further discloses an automatic shooting device, which is applied to a gun provided with a sight and an automatic firing assembly, such as Figure 4 As shown, the device comprises:

[0078] An initial module 201 is used to determine an initial aiming point based on the current posture of the gun through the sight;

[0079] An offset module 202 is used to perform trajectory calculation based on the distance between the muzzle and a preset target and environmental parameters to determine an aiming offset;

[0080] A display module 203, configured to determine a final aiming point based on the initial aiming point and the aiming offset, and to display the final aiming point in a display area of ​​the sight;

[0081] The firing module 204 is used to control the automatic firing assembly to complete the firing of the gun if the target mark point of the preset target coincides with the final aiming point.

[0082] In a specific embodiment, the environmental parameters include: one or more of wind speed, air pressure, temperature and humidity.

[0083] In a specific embodiment, the automatic firing assembly is rotatably connected to the firearm;

[0084] It also includes: a rotating part 140; wherein, the rotating part 140 is arranged on the automatic firing assembly, and the rotating part 140 is used to drive the automatic firing assembly to rotate relative to the gun, so that the automatic firing assembly can switch between a triggering area that can trigger the firing of the gun and a non-triggering area that cannot trigger the firing of the gun.

[0085] In a specific embodiment, the automatic firing assembly includes: a motor 100, a cam 110, a simulated manipulator 120 and a base 130;

[0086] The cam 110 is sleeved on the output shaft of the motor 100;

[0087] A trigger rod 121 is provided at the first end of the simulated manipulator, and an abutment portion 123 is provided at the second end of the simulated manipulator, wherein the abutment portion 123 is connected to the base 130, and the cam 110 abuts against the simulated manipulator 120 to squeeze the simulated manipulator 120 when the cam 110 rotates, and the trigger rod 121 of the simulated manipulator 120 triggers the trigger of the gun.

[0088] Furthermore, the simulated manipulator further includes a connecting rod 122 for connecting the trigger rod 121 and the abutting portion 123;

[0089] The side of the abutting portion 123 facing the trigger rod 121 abuts against the cam 110 ; the side of the abutting portion 123 away from the trigger rod 121 is disposed in the base 130 ;

[0090] A compression spring 131 is disposed in the base 130 ; one side of the compression spring 131 is connected to an inner wall of the base 130 away from the abutting portion 123 , and the other side of the compression spring 131 is connected to a side of the abutting portion 123 facing the base 130 .

[0091] Furthermore, a limiting slot 1231 is provided on the abutting portion 123 ; a limiting pin 132 is also provided on the base 130 ; the limiting pin 132 is embedded in the limiting slot 1231 to constrain the simulated manipulator 120 to move along the length direction of the limiting slot 1231 .

[0092] In a specific embodiment, the device further comprises:

[0093] An indication module, used for generating a movement indication for the final aiming point to point to the target marking point;

[0094] The movement indication is displayed in a display area of ​​the scope.

[0095] Example 3

[0096] Embodiment 3 of the present invention further discloses a firearm, comprising: a processor and a memory, wherein a computer program is stored in the memory, and when the processor executes the computer program, the automatic shooting method described in Embodiment 1 is implemented.

[0097] Example 4

[0098] Embodiment 4 of the present invention further discloses a storage medium, in which a computer program is stored. When the computer program is executed, the automatic shooting method described in Embodiment 1 is implemented.

[0099] Thus, an embodiment of the present invention proposes an automatic shooting method, device, gun and storage medium, which are applied to a gun provided with a sight and an automatic firing component, the method comprising: determining an initial aiming point based on the current posture of the gun through the sight; performing ballistic calculation based on the distance between the muzzle and a preset target and environmental parameters to determine an aiming offset; determining a final aiming point based on the initial aiming point and the aiming offset, and displaying the final aiming point in the display area of ​​the sight; if the target mark point of the preset target coincides with the final aiming point, controlling the automatic firing component to complete the firing of the gun. In this solution, the timing of shooting is determined by a program, and the automatic firing component is used to fire, which can eliminate the influence of the shooter on the accuracy when aiming and shooting, and greatly improve the hit rate.

[0100] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow chart, and the combination of boxes in the structure diagram and / or the flow chart, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0101] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0102] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0103] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method of automatic shooting, characterized in that: Applied to a firearm provided with a sight and an automatic firing assembly, the method comprises: Determining an initial aiming point based on the current posture of the gun through the sight; The ballistic calculation is performed based on the distance between the muzzle and the preset target and the environmental parameters to determine the aiming offset; determining a final aiming point based on the initial aiming point and the aiming offset, and displaying the final aiming point in a display area of ​​the sight; If the target mark point of the preset target coincides with the final aiming point, the automatic firing assembly is controlled to complete the firing of the gun; the automatic firing assembly comprises: a motor, a cam, a simulated manipulator and a base; the cam is sleeved on the output shaft of the motor; a trigger rod is provided at the first end of the simulated manipulator, and an abutment is provided at the second end of the simulated manipulator, the abutment is connected to the base, and the cam abuts against the simulated manipulator to squeeze the simulated manipulator when the cam rotates, and the trigger rod of the simulated manipulator triggers the trigger of the gun; If the target is a dynamic object, the motion characteristics of the target also need to be considered during the trajectory calculation process. Specifically, the center of mass position of the preset target is determined; the motion characteristic data of the preset target is determined based on the center of mass position of the preset target in multiple images of a preset time period; the initial aiming point is corrected based on the motion characteristic data to obtain the final aiming point, and shooting guidance is performed based on the final aiming point.

2. The method according to claim 1, characterized in that The environmental parameters include: one or more of wind speed, air pressure, temperature and humidity.

3. The method according to claim 1, characterized in that The automatic firing assembly is rotatably connected to the firearm; It also includes: a rotating part; wherein the rotating part is arranged on the automatic firing assembly, and the rotating part is used to drive the automatic firing assembly to rotate relative to the gun, so that the automatic firing assembly can switch between a triggering area that can trigger the firing of the gun and a non-triggering area that cannot trigger the firing of the gun.

4. The method according to claim 1, characterized in that The simulated manipulator further comprises a connecting rod for connecting the trigger rod and the abutting portion; The side of the abutting portion facing the trigger rod abuts against the cam; the side of the abutting portion away from the trigger rod is arranged in the base; A compression spring is arranged in the base; one side of the compression spring is connected to an inner wall of the base away from the abutting portion, and the other side of the compression spring is connected to a side of the abutting portion facing the base.

5. The method according to claim 1, characterized in that A limiting slot is arranged on the abutting portion; a limiting pin is also arranged on the base; the limiting pin is embedded in the limiting slot to constrain the simulated manipulator to move along the length direction of the limiting slot.

6. The method according to claim 1, characterized in that Also includes: Generate a movement instruction for the final aiming point to point to the target marking point; The movement indication is displayed in a display area of ​​the scope.

7. An automatic shooting device, characterized in that: Applicable to a gun provided with a sight and an automatic firing assembly, the device comprises: An initial module, used to determine an initial aiming point based on the current posture of the gun through the sight; An offset module is used to perform trajectory calculation based on the distance between the muzzle and a preset target and environmental parameters to determine the aiming offset; A display module, configured to determine a final aiming point based on the initial aiming point and the aiming offset, and to display the final aiming point in a display area of ​​the sight; A firing module, used for controlling the automatic firing assembly to complete the firing of the gun if the target mark point of the preset target coincides with the final aiming point; the automatic firing assembly comprises: a motor, a cam, a simulated manipulator and a base; the cam is sleeved on the output shaft of the motor; a trigger rod is provided at the first end of the simulated manipulator, an abutment is provided at the second end of the simulated manipulator, the abutment is connected to the base, the cam abuts against the simulated manipulator, so as to squeeze the simulated manipulator when the cam rotates, and the trigger rod of the simulated manipulator triggers the trigger of the gun; If the target is a dynamic object, the motion characteristics of the target also need to be considered during the trajectory calculation process. Specifically, the center of mass position of the preset target is determined; the motion characteristic data of the preset target is determined based on the center of mass position of the preset target in multiple images of a preset time period; the initial aiming point is corrected based on the motion characteristic data to obtain the final aiming point, and shooting guidance is performed based on the final aiming point.

8. A firearm, characterized in that: include: A processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the method for automatic shooting according to any one of claims 1 to 6 is implemented.

9. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed, the automatic shooting method according to any one of claims 1 to 6 is implemented.

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