A follow-up target system and method

Abstract

The application provides a kind of follow-up type target system and method, including target end and means of locomotion end, can simply, conveniently, quickly move target.Target end includes target, main control unit, micro control unit, first positioning measurement unit, ranging unit and mobile platform;Means of locomotion end includes means of locomotion and second positioning measurement unit;Both are equipped with communication equipment.The application can accurately make mobile target follow means of locomotion, realizes the automatic following of mobile target by judging left and right movement and forward and backward movement, avoids the process of mechanical handling, improves work efficiency, shortens work cycle;Adopt bluetooth equipment transmission speed, magnetometer data and position, simple and efficient;Adopt laser ranging unit to measure distance, accuracy is higher.

Description

Technical Field

[0001] This invention relates to the field of mobile target following target placement technology, specifically to a following target placement system and method. Background Technology

[0002] Moving targets are used for shooting training by troops or military units. A moving target consists of a moving platform and a target that can be toppled, and can weigh up to 60 kg. Currently, the method for placing moving targets in a pre-set location is to mechanically transport the target to the preset position before performing the mission; this method is cumbersome and inefficient.

[0003] Therefore, there is an urgent need for a method to move the target that can achieve the goal simply and conveniently. Summary of the Invention

[0004] In view of this, the present invention provides a follow-up target placement system and method, which can move the target simply, conveniently and quickly.

[0005] To achieve the above-mentioned objectives, the technical solution of this invention is as follows:

[0006] A follow-up target placement system includes a target end and a vehicle end.

[0007] In the mobile transportation app:

[0008] The personal transportation vehicle carries the second positioning and measurement unit to the target location; the second positioning and measurement unit measures the speed and magnetometer data of the personal transportation vehicle and transmits them to the main control unit.

[0009] In the target end:

[0010] The target moving platform carries the movement of the target, main control unit, micro control unit, first positioning and measurement unit, and ranging unit.

[0011] The ranging unit measures the distance between the target and the vehicle and transmits the data to the main control unit.

[0012] The first positioning and measurement unit measures the target's velocity and magnetometer data and transmits them to the main control unit.

[0013] The main control unit determines whether the speed of the vehicle is 0. If it is not 0, it determines whether the distance is not greater than the safety threshold. If so, it sends a forward command to the micro control unit; otherwise, it sends a backward command.

[0014] When the value is 0, calculate the heading angles of the target and the vehicle relative to the ground. If the heading angles of the two are on the same straight line, do not send a turning command. Otherwise, determine whether the heading angle of the target is deviated to the left or right. If it is deviated to the left, send a right turn command. If it is deviated to the right, send a left turn command. At the same time, determine whether the distance is within the error range. If the distance is too large, send a forward command. If the distance is too small, send a backward command. If it is within the error range, send a stop command.

[0015] The microcontroller controls the movement of the mobile platform according to the instructions of the main control unit.

[0016] Furthermore, the ranging unit is a laser ranging unit.

[0017] Furthermore, the first and second positioning measurement units are IMU units used to acquire velocity and magnetometer data.

[0018] Furthermore, it also includes communication devices located on mobile platforms and personal mobility devices for transmitting speed and magnetometer data of the target and the personal mobility device.

[0019] Furthermore, the communication device is a Bluetooth device or an antenna.

[0020] A follow-up target placement method for the above system includes the following steps:

[0021] Step 1: The ranging unit measures the distance between the target and the vehicle. The first positioning measurement unit acquires the target's speed and magnetometer data, and sends them to the main control unit via the communication device.

[0022] Step 2: The main control unit calculates the heading angle based on the magnetometer data; the main control unit determines whether the speed of the vehicle is 0. If so, it proceeds to step 3; otherwise, the main control unit determines whether the distance does not exceed the safety threshold A. If so, the main control unit sends a forward command; otherwise, it sends a backward command; and returns to step 1 to continue execution.

[0023] Step 3: Determine if the distance meets the lower error limit N ≤ distance ≤ upper error limit M. If yes, send a stop command. If the distance > M, the main control unit sends a forward command. If the distance < N, the main control unit sends a backward command.

[0024] At the same time, the main control unit determines whether the heading angle is on the same straight line. If it is, no turning command is sent. Otherwise, it determines whether the target's heading angle is deviated to the left or right. If it is deviated to the left, a right turn command is sent. If it is deviated to the right, a left turn command is sent. Then, it returns to step 1 to continue execution.

[0025] Furthermore, the communication device is a Bluetooth device or an antenna.

[0026] Beneficial effects:

[0027] 1. This invention provides a following target placement system that can accurately make a moving target follow a vehicle. By judging left and right movement and forward and backward movement, the system can achieve automatic following of the moving target, avoiding the mechanical handling process, improving work efficiency, and shortening the work cycle.

[0028] 2. This system determines whether the vehicle has reached the target position based on its speed. During the movement to the target position, the main control unit and two positioning measurement units work together, controlled by the microcontroller unit, to ensure that the distance between the vehicle and the target is always no less than the safe distance, thus ensuring the safety of the operation. After reaching the target position, the main control unit moves the target to the designated position according to the speed and heading angle, and at the same time moves the target to the area within the error range according to the distance, thus improving the safety and efficiency of the operation.

[0029] 3. This system uses Bluetooth or antenna devices for communication, which is simple and efficient.

[0030] 4. This system uses a laser ranging unit to measure distance, which has high accuracy.

[0031] 5. This invention provides a following target placement method that can accurately make a moving target follow a vehicle. By judging left and right movement and forward and backward movement, the moving target can be automatically followed, avoiding the mechanical handling process, improving work efficiency and shortening the work cycle.

[0032] 6. This method determines whether the vehicle has reached the target position based on its speed. During the movement to the target position, the main control unit and two positioning measurement units work together, controlled by the microcontroller unit, to ensure that the distance between the vehicle and the target is always not less than the safe distance, thus ensuring the safety of the operation. After moving to the target position, the main control unit moves the target to the designated position according to the speed and heading angle, and at the same time moves the target to the area within the error range according to the distance, thus improving the safety and efficiency of the operation.

[0033] 7. This method uses Bluetooth or antenna devices for communication, which is simple and efficient. Attached Figure Description

[0034] Figure 1 This is a system composition diagram of the present invention.

[0035] Figure 2 This is a flowchart of the method of the present invention. Detailed Implementation

[0036] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0037] like Figure 1As shown, the present invention proposes a follow-up target placement system, including a target end and a vehicle end for the target placement personnel.

[0038] The target end includes a target, a main control unit, a microcontroller unit, a first positioning and measurement unit, a ranging unit, and a mobile platform; the transportation end includes a transportation vehicle and a second positioning and measurement unit; both the mobile target and the transportation end are equipped with communication devices, such as Bluetooth, antennas, etc. This invention uses a laser ranging unit for distance measurement, and an IMU (Inertial Measurement Unit) for positioning and measurement.

[0039] The mobile platform carries the target, main control unit, micro control unit, first positioning and measurement unit, ranging unit and communication equipment together; the personal transportation vehicle carries the second positioning and measurement unit and communication equipment.

[0040] The personal transportation vehicle carries the second positioning and measurement unit and moves continuously to the target position; the second positioning and measurement unit measures the speed and magnetometer data of the personal transportation vehicle and transmits them to the main control unit in real time.

[0041] The laser ranging unit measures the distance between the target and the vehicle and transmits the data to the main control unit.

[0042] The first positioning and measurement unit measures the speed and magnetometer data of the moving target; the second positioning and measurement unit measures the speed and magnetometer data of the vehicle; the speed and magnetometer data are transmitted to the main control unit;

[0043] The main control unit determines whether the speed of the vehicle is 0. If it is not 0, it determines whether the distance is not greater than the safety threshold. If it is, it sends a forward command to the micro control unit; otherwise, it sends a backward command.

[0044] When the value is 0, calculate the heading angles of the target and the vehicle relative to the ground. If the heading angles of the two are on the same straight line, do not send a turning command. Otherwise, determine whether the heading angle of the target is deviated to the left or right. If it is deviated to the left, send a right turn command. If it is deviated to the right, send a left turn command. At the same time, determine whether the distance is within the error range. If the distance is too large, send a forward command. If the distance is too small, send a backward command. If it is within the error range, send a stop command.

[0045] The microcontroller controls the movement of the mobile platform according to the instructions of the main control unit.

[0046] like Figure 2 As shown, the present invention provides a follow-up target placement method, the specific steps of which include:

[0047] Step 1: The ranging unit measures the distance Δd between the target and the vehicle. The first positioning measurement unit acquires the IMU information of the moving target and sends it to the main control unit via the communication device.

[0048] Step 2: The main control unit calculates the heading angle based on the magnetometer data; the main control unit determines whether the speed of the vehicle is 0 (when the speed of the target setter is 0, it means that the target setter has reached the predetermined position and stopped moving); if yes, proceed to step 3; otherwise, the main control unit determines whether the distance satisfies Δd≥safety threshold A. If yes, the main control unit sends a forward command; otherwise, it sends a backward command and returns to step 1 to continue execution.

[0049] Step 3: Determine if the distance meets the lower error limit N ≤ distance ≤ upper error limit M (when N <= Δd <= M, it means that the target has reached the predetermined position within the allowable error range). If yes, send a stop command; when the distance > M, the main control unit sends a forward command; when the distance < N, the main control unit sends a backward command.

[0050] At the same time, the main control unit determines whether the heading angle is on the same straight line. If it is, no turning command is sent. Otherwise, it determines whether the target's heading angle is deviated to the left or right. If it is deviated to the left, a right turn command is sent. If it is deviated to the right, a left turn command is sent. The system returns to step 1 and continues execution until the target moves within the error range and no longer needs to turn.

[0051] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A follow-up target laying system, characterized in that, The target end and the scooter end are included. In the scooter end: The scooter carries the second positioning measurement unit to move to the target position; the second positioning measurement unit measures the speed and magnetometer data of the scooter and transmits them to the main control unit; In the target end: The target moving platform carries the target, the main control unit, the micro control unit, the first positioning measurement unit and the distance measurement unit to move; The distance measurement unit measures the distance between the target and the scooter and transmits it to the main control unit; The first positioning measurement unit measures the speed and magnetometer data of the target and transmits them to the main control unit; The main control unit judges whether the speed of the scooter is 0, if not, judges whether the distance is greater than the threshold, if yes, sends the forward instruction to the micro control unit, otherwise sends the backward instruction; If 0, calculates the heading angles of the target and the scooter relative to the ground, when the heading angles of the two are on the same straight line, no turning instruction is sent, otherwise, judges whether the heading angle of the target is left or right, if left, sends the right turning instruction, if right, sends the left turning instruction; at the same time, judges whether the distance is within the error range, if the distance is too large, sends the forward instruction, if the distance is too small, sends the backward instruction, if within the error range, sends the stop instruction; The micro control unit controls the target moving platform to move according to the instruction of the main control unit.

2. The system of claim 1, wherein, The distance measurement unit is a laser distance measurement unit.

3. The system of claim 1, wherein, The first positioning measurement unit and the second positioning measurement unit are IMU units for obtaining speed and magnetometer data.

4. The system of claim 1, wherein, Communication equipment is also included on the target moving platform and the scooter for transmitting the speed and magnetometer data of the target and the scooter.

5. The system of claim 4, wherein, The communication equipment is a Bluetooth device or an antenna.

6. A following type target arrangement method for the system of claim 1, the specific steps include: Step 1: the distance measurement unit measures the distance between the target and the scooter, the first positioning measurement unit obtains the speed and magnetometer data of the target, and sends them to the main control unit through the communication equipment; Step 2: the main control unit calculates the heading angle according to the magnetometer data; the main control unit judges whether the speed of the scooter is 0, if yes, executes step 3; otherwise, the main control unit judges whether the distance exceeds the threshold A, if yes, the main control unit sends the forward instruction, otherwise, sends the backward instruction; returns to step 1 for continuous execution; Step 3: judges whether the distance meets the error lower limit N≤distance≤error upper limit M, if yes, sends the stop instruction; when distance>M, the main control unit sends the forward instruction, when distance<N, the main control unit sends the backward instruction; At the same time, the main control unit judges whether the heading angle is on the same straight line, if yes, no turning instruction is sent, otherwise, judges whether the heading angle of the target is left or right, if left, sends the right turning instruction, if right, sends the left turning instruction; returns to step 1 for continuous execution.

7. The method of claim 6, wherein, The communication equipment is a Bluetooth device or an antenna.

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