Fusion type up-down target machine based on feature chirality

Abstract

The application discloses a fusion type up-down target machine based on characteristic chirality, and belongs to the technical field of target machine design and automatic control, comprising a target mechanism, a photoelectric sensor, a turnover control mechanism and a supporting mechanism; the target mechanism comprises a driving paper changing assembly and a driven paper changing assembly, and is used for automatically changing target paper according to the instantaneous thickness of the paper roll after the target paper is hit; the photoelectric sensor is used for detecting whether the target paper is hit and measuring the hit position of the bullet hole on the target paper; the turnover control mechanism comprises a comprehensive controller and a power supply, and is used for automatically reporting the target according to the hit position of the bullet hole on the target paper, quickly calculating the hit ring number based on the characteristic chirality, calculating the instantaneous thickness of the paper roll, and controlling the target mechanism to automatically change the target paper and to be up-down or turned over; and the supporting mechanism is used for supporting the target mechanism, the photoelectric sensor and the turnover control mechanism. The application solves the problems of the traditional technology, such as complex target machine structure, semi-automation, limited interactive ability, insufficient protection measures and poor flexibility.

Description

Technical Field

[0001] The invention relates to a fusion-type lifting and lowering target drone based on characteristic chirality, and belongs to the technical field of target drone design and automatic control. Background Art

[0002] Target drones are widely used in military and police training, as well as in sports competitions, for simulated shooting exercises in real-world combat environments. Target drones can be designed in various configurations, including static, mobile, and retractable, depending on specific needs. Retractable drones are capable of automatically flipping after a shot, simulating the disappearance of a target. These drones typically consist of a support structure, a drive, and a retractable mechanism. The drive controls the retractable mechanism, achieving the target's automatic retraction.

[0003] Traditional drones are complex, making assembly, maintenance, and transportation difficult. For example, some automatic target changers employ complex transmission mechanisms to automatically change the target paper, increasing potential failure points. While some automated drones already exist on the market, their level of automation still needs improvement. For example, some automatic target changers still require manual intervention to change or adjust the target paper. Most drones can only perform simple tasks and lack the ability to provide feedback to the shooter. For example, while some drones can automatically report targets, their accuracy and timeliness remain limited. Furthermore, the algorithms used in drone calculations are complex, consuming high computing resources and resulting in low reporting efficiency. While some drone designs consider the safety of shooters and other personnel, they fail to provide safety protection for key structures and components, posing the risk of drones being penetrated or damaged.

[0004] Therefore, although the existing target drones have met the needs of shooting training to a certain extent, they still have problems such as complex structure, low degree of automation, limited interactive capabilities, and poor flexibility. Summary of the Invention

[0005] The purpose of the present invention is to provide a fusion type raising and lowering target machine based on characteristic chirality, which can automatically report the target according to the hitting position of the bullet hole on the target paper, calculate the instantaneous thickness of the roll paper and control the target mechanism to automatically replace the target paper and raise and lower or flip it, so as to solve the problems of the traditional technology of the target machine having a relatively complex structure, semi-automaticity, limited interactive capability, insufficient protective measures and poor flexibility.

[0006] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions.

[0007] The present invention provides a fusion-type lifting and reversing target drone based on characteristic chirality, comprising a target mechanism, a photoelectric sensor, a reversing control mechanism and a supporting mechanism;

[0008] The target mechanism includes an active paper changing assembly and a passive paper changing assembly connected to the active paper changing assembly via a target paper, and is used to provide a shooting target and automatically change the target paper according to the instantaneous thickness of the roll paper after the target paper is hit;

[0009] The photoelectric sensor is used to detect whether the target paper is hit and measure the hitting position of the bullet hole on the target paper;

[0010] The flip control mechanism includes an integrated controller and a power supply, which is used to automatically report the target according to the hit position of the bullet hole on the target paper and the number of hit rings based on the characteristic chirality, calculate the instantaneous thickness of the roll paper, and control the target mechanism to automatically replace the target paper and lift or flip it;

[0011] The supporting mechanism is used to support the target mechanism, the photoelectric sensor and the flip control mechanism.

[0012] Furthermore, the active paper changing assembly includes: a motor shaft, a power shaft, a first shaft core, a first paper shaft, a first damping rubber wheel, a first driven shaft, a sliding groove and a pressure spring; the motor shaft is located on the support frame of the support mechanism, the motor shaft is electrically connected to the power shaft, the first shaft core is nested on the power shaft, the first shaft core is provided with a first paper shaft, the first paper shaft is in close contact with the first damping rubber wheel, and when the motor shaft is working, it drives the first paper shaft to rotate without sliding, the first damping rubber wheel is sleeved on the first driven shaft, the first two driven ends are mounted on the sliding groove, the sliding groove is provided with the pressure spring, and the first driven shaft is provided with a left lap counting wheel and a right lap counting wheel.

[0013] Furthermore, the driven paper changing assembly includes: a non-powered shaft, a second shaft core, a second paper shaft, a second damping rubber wheel, a second driven shaft, a sliding groove and a pressure spring, the non-powered shaft is located on the small triangular support of the support mechanism, the second shaft core is nested on the non-powered shaft, the second shaft core is provided with the second paper shaft, the second paper shaft is in close contact with the second damping rubber wheel, the second damping rubber wheel is sleeved on the second driven shaft, both ends of the second driven shaft are installed on the sliding groove, the sliding groove is provided with the pressure spring, and the pressure spring slides along the sliding groove in cooperation with the active paper changing assembly according to the instantaneous thickness of the paper roll.

[0014] Furthermore, the target mechanism further comprises: two upper rods, an upper bulletproof plate, a middle bulletproof plate and an upper shielding plate;

[0015] The two upper rods are respectively located on both sides of the target paper and are downwardly connected to the lower rod of the flip control mechanism. The upper and lower ends of the target paper are respectively provided with an upper bulletproof plate and a middle bulletproof plate, which form a square structure with the upper rods on both sides of the target paper to protect the target mechanism;

[0016] The upper shielding plate is fastened by a small triangular support arranged on the side of the two upper rods away from the shooting direction. The width of the upper shielding plate is greater than the sum of the diameter of the first damping rubber wheel and the diameter of the first paper shaft, and is used to protect unused target paper.

[0017] Furthermore, a photoelectric sensor seat (26) with a small S-shaped structure is provided on the side of the S-shaped structure away from the shooting direction, and the photoelectric sensor is located on the photoelectric sensor seat, wherein the photoelectric gate (38) is provided below the target paper (1).

[0018] Furthermore, the support mechanism includes a support frame, a support platform, a small triangular support and a large triangular support;

[0019] The support frame is mounted on the support platform and is used to provide stable support for the motor shaft;

[0020] The support platform is connected to the middle bulletproof plate and is used to support the target mechanism;

[0021] The small triangular support is provided on the side of the two upper rods away from the shooting direction and is used to fasten the upper shielding plate;

[0022] The large triangular support is located at the upper end of the lower rod and is used to bear the mass of the target mechanism, the paper changing mechanism and the photoelectric sensor.

[0023] Furthermore, an antenna is provided above the integrated controller, through which data obtained by automatically reporting the target by quickly calculating the number of hit rings based on characteristic chirality is transmitted to the shooter end.

[0024] Furthermore, the flip control mechanism further comprises a base, a flip mechanism, a lower rod and a lower bulletproof plate;

[0025] A groove is provided on the upper portion of the base (31), and the integrated controller (3) and the power supply (4) are sequentially placed in the groove. A stopper (33) is provided on the outer edge of the groove to prevent the integrated controller (3) and the power supply (4) from slipping during the shooting process.

[0026] The flip mechanism is connected to the lower rod and is arranged on the upper side of the base away from the groove, and is used to lift or flip the lower rod and the target mechanism;

[0027] The lower bulletproof plate is hung on a buckle provided on the side of the base facing the shooting direction. The height of the lower bulletproof plate is slightly larger than the sum of the heights of the flip mechanism and the base, and is used to protect the flip control mechanism. The side of the lower bulletproof plate away from the shooting direction is provided with a hook adapted to the buckle for fixing the lower bulletproof plate.

[0028] Furthermore, the target paper and the blank paper are arranged in the first paper shaft, wherein the method for calculating the instantaneous thickness of the rolled paper includes:

[0029] Obtaining the total length of the unused paper rolls according to the total number and length of the blank papers and target papers in the first paper roll;

[0030] According to the lengths of the blank paper and the target paper in the first paper shaft, the target paper distance required to be moved when replacing a target paper is obtained;

[0031] According to the radius of the first damping rubber wheel and the radius of the second damping rubber wheel, the number of revolutions that the first damping rubber wheel and the second damping rubber wheel need to rotate when replacing a target paper is obtained;

[0032] Obtaining an average of the number of revolutions of the left lap counter wheel and the right lap counter wheel according to the number of revolutions required for the first damping rubber wheel and the second damping rubber wheel;

[0033] Obtaining a constraint condition for the total length of the paper not unfolded using the paper shaft based on an average of the number of revolutions of the left and right lap counter wheels and a distance between the first damping rubber wheel and the first damping rubber wheel when the first damping rubber wheel rotates one revolution;

[0034] Comparing the first paper shaft to a cylinder consisting of several concentric cylinders, and obtaining the outer diameter of the first paper shaft according to the radius of the first paper shaft and the instantaneous thickness of the paper roll;

[0035] Based on the constraint condition of the total length of the unused paper shaft, the volume formula of the first paper shaft is obtained according to the total length of the unused paper shaft and the radius and outer diameter of the first paper shaft (8);

[0036] Integrate the volume formula of the first paper axis, ignoring the square term containing the instantaneous thickness of the paper roll, to obtain the calculation formula for the instantaneous thickness of the paper roll;

[0037] The instantaneous thickness of the roll paper is obtained according to the calculation formula of the instantaneous thickness of the roll paper.

[0038] Furthermore, the method of quickly calculating the number of hit rings based on the characteristic chirality according to the hit position of the bullet hole on the target paper includes:

[0039] Get the center of the target paper as the origin and define a two-dimensional coordinate system;

[0040] In the two-dimensional coordinate system, the target paper annular area in the first quadrant is defined as a positive chirality area, and the target paper annular areas in the second quadrant, the third quadrant, and the fourth quadrant are defined as negative chirality areas;

[0041] Based on the polar coordinate or rectangular coordinate system, the polar coordinate distance or rectangular coordinate distance corresponding to different numbers of rings is determined according to the distance between the photoelectric gate position corresponding to the bull's eye and the photoelectric gate position corresponding to the hit position in the first quadrant;

[0042] For the hit position in the first quadrant, the distance from the hit position to the origin is compared with the distance corresponding to each preset ring number to obtain the forehand ring number;

[0043] For the hit positions in the second, third and fourth quadrants, transform them to the corresponding positions in the first quadrant by flipping, mapping or symmetry, and compare the distances from the corresponding positions in the first quadrant to the origin with the distances corresponding to the preset ring numbers to obtain the negative chirality ring number;

[0044] The number of positive chiral rings and the number of negative chiral rings are added together to obtain the number of hit rings.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] 1. The present invention realizes the full automation of shooting training by integrating a target mechanism, a photoelectric sensor, a flip control mechanism and a support mechanism. The target mechanism provided by the present invention can automatically replace the target paper to ensure the continuity of shooting training, while the photoelectric sensor can detect in real time whether the target paper has been hit and the specific location of the bullet hole. The present invention also uses photoelectric sensors and characteristic chirality technology to quickly and accurately calculate the location of the bullet hole based on the hit position and automatically report the target, which not only improves the accuracy of the score calculation, but also greatly shortens the time for score feedback, allowing shooters to immediately understand their shooting performance. Shooters can adjust their shooting posture and strength in a targeted manner based on the feedback results, thereby improving the efficiency and effectiveness of shooting training. The present invention also integrates the automatic replacement of target paper and the lifting, falling or flipping function, which can simulate the situation of shooting at hidden targets and exposed targets. The diversified shooting simulation function helps shooters adapt to different shooting environments and improve their shooting skills and adaptability.

[0047] 2. The present invention defines each annular area of ​​the target paper as an object with specific chiral characteristics, thereby achieving multiple optimizations and intelligent improvements in the shooting training system, simplifying the amount of calculation and storage, and transforming the number of negative chiral rings in the second, third, and fourth quadrants to the corresponding positions in the first quadrant through flipping, mapping, symmetry, etc., greatly reducing the complexity of the system. At the same time, the present invention uses chiral characteristics to analyze the distribution of shooting results on the target paper, defining positive and negative chiral areas, which can not only calculate the number of hit rings, but also evaluate the uniformity and accuracy of shooting results, providing shooters with detailed shooting skills feedback. In addition,

[0048] 3. The present invention can also flexibly adapt to a variety of target paper designs and sensor layouts. Even in the face of complex situations such as the photoelectric sensor and the target paper ring center not coinciding, or some rings on the target paper being missing, the accuracy and effectiveness of shooting performance analysis can be ensured by setting the chirality value. This not only improves the efficiency and accuracy of shooting training, but also provides shooters with personalized training guidance and room for improvement, which is a major advancement in the field of shooting training.

[0049] 4. The present invention improves the protection of the integrated target lifting and lowering machine equipment by adding upper, middle and lower bulletproof plates and an upper shielding plate, which can effectively prevent the shooter from damaging the key parts of the target mechanism during the shooting process, thereby increasing the service life of the target lifting and lowering machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 FIG2 is a schematic diagram of a lateral three-dimensional structure of a fusion-type lifting and lowering target drone in an upright state provided by an embodiment of the present invention based on characteristic chirality;

[0051] Figure 2 FIG2 is a side view of a characteristic chirality-based fusion lift-and-fall target drone in an upright state provided by an embodiment of the present invention;

[0052] Figure 3 FIG2 is a schematic diagram of a rear-view stereoscopic structure of a fusion-type lifting and lowering target drone based on characteristic chirality provided by an embodiment of the present invention;

[0053] Figure 4 FIG2 is an exploded view of a shooting area of ​​a fusion-type lifting and lowering target drone based on characteristic chirality provided by an embodiment of the present invention;

[0054] Figure 5 FIG2 is a three-dimensional structural diagram of a shooting area of ​​a fusion-type lifting and lowering target drone based on characteristic chirality provided by an embodiment of the present invention;

[0055] Figure 6 FIG2 is a side view of a horizontally placed fusion-type lifting and reversing target drone based on characteristic chirality provided by an embodiment of the present invention;

[0056] Figure 7 Shown is a schematic diagram of the lateral three-dimensional structure of a flat state of a fusion-type lifting and falling target drone based on characteristic chirality provided by an embodiment of the present invention.

[0057] Reference numerals: 1-target paper; 2-photoelectric sensor; 3-integrated controller; 4-power supply; 5-motor shaft; 6-power shaft; 7-first shaft core; 8-first paper shaft; 9-first damping rubber wheel; 10-first driven shaft; 11-sliding groove; 12-pressure spring; 13-left lap counter wheel; 14-right lap counter wheel; 15-non-power shaft; 16-second shaft core; 17-second paper shaft; 18-second damping rubber wheel; 19-second driven shaft; 20- Upper rod; 21-upper bulletproof plate; 22-middle bulletproof plate; 23-upper shielding plate; 24-lower rod; 25-small triangular support; 26-photoelectric sensor seat; 27-support frame; 28-support platform; 29-large triangular support; 30-antenna; 31-base; 32-lower bulletproof plate; 33-limiter; 34-clip; 35-hook; 36-flip mechanism; 37-handle; 38-photoelectric door; 39-connecting column; 40-base. DETAILED DESCRIPTION

[0058] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0059] The term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. Additionally, the character " / " generally indicates an "or" relationship between the related objects.

[0060] Example 1

[0061] This embodiment introduces a fusion-type lifting and reversing target drone based on characteristic chirality, including: a target mechanism, a photoelectric sensor 2, a reversing control mechanism and a supporting mechanism.

[0062] The target mechanism includes an active paper changing assembly and a passive paper changing assembly connected to the active paper changing assembly through a target paper 1, which is used to provide a shooting target and automatically change the target paper according to the instantaneous thickness of the roll paper after the target paper is hit.

[0063] Reference Figure 1 、 Figure 3 and Figure 4 In this embodiment, the active paper changing assembly includes: a motor shaft 5, a power shaft 6, a first shaft core 7, a first paper shaft 8, a first damping rubber wheel 9, a first driven shaft 10, a sliding groove 11 and a pressure spring 12.

[0064] The motor shaft 5 is located on the support frame 27 of the support mechanism, and the motor shaft 5 is electrically connected to the power shaft 6. The first shaft core 7 is nested on the power shaft 6, and the first shaft core 7 is provided with a first paper shaft 8. The first paper shaft 8 is in close contact with the first damping rubber wheel 9. When the motor shaft 5 is working, it drives the first paper shaft 8 to rotate without sliding. There is a fit between the first paper shaft 8 and the first damping rubber wheel 9, the linear speed is the same, and the contact points remain one-to-one corresponding. The first damping rubber wheel 9 is sleeved on the first driven shaft 10, and the two ends of the first driven shaft 10 are installed on the sliding groove 11. The sliding groove 11 is provided with the pressure spring 12. The pressure spring 12 can slide along the sliding groove to ensure that the first paper shaft 8 is always in close contact with the first damping rubber wheel 9.

[0065] In this embodiment, the driven paper changing assembly includes a non-powered shaft 15 , a second shaft core 16 , a second paper shaft 17 , a second damping rubber wheel 18 , a second driven shaft 19 , a sliding slot 11 and a pressure spring 12 .

[0066] The non-powered shaft 15 is located on the small triangular support 25 of the support mechanism. The second shaft core 16 is nested on the non-powered shaft 15. The second shaft core 16 is provided with the second paper shaft 17. The second paper shaft 17 is in close contact with the second damping rubber wheel 18. The second damping rubber wheel 18 is sleeved on the second driven shaft 19. The two ends of the second driven shaft 19 are mounted on the sliding groove 11. The sliding groove 11 is provided with the pressure spring 12. The pressure spring 12 can slide along the sliding groove to ensure that the second paper shaft 17 is always in close contact with the second damping rubber wheel 18. The pressure spring 12 slides along the sliding groove 11 in cooperation with the active paper changing assembly according to the instantaneous thickness of the paper roll.

[0067] In this embodiment, the target mechanism further includes two upper rods 20 , an upper bulletproof plate 21 , a middle bulletproof plate 22 and an upper shielding plate 23 .

[0068] The two upper rods 20 are located on either side of the target paper 1 and are connected downwardly to the lower rod 24 of the flip control mechanism. The target paper 1 is provided with an upper bulletproof plate 21 and a middle bulletproof plate 22 at the upper and lower ends, respectively. Together with the upper rods 20 on either side of the target paper 1, they form a square-shaped structure to protect the target mechanism. The height of the upper bulletproof plate 21 is greater than the diameter of the second paper shaft 17, ensuring that the second paper shaft 17 is not penetrated.

[0069] The upper shielding plate 23 is fastened by a small triangular support 25 provided on the side of the two upper rods 20 away from the shooting direction. The width of the upper shielding plate 23 is greater than the sum of the diameters of the first damping rubber wheel 9 and the first paper shaft 8. It is used to protect unused target paper and can prevent damage to unused target paper in bad weather, while preventing damage to unused target paper by bullets from above.

[0070] The photoelectric sensor 2 is used to detect whether the target paper 1 is hit and to measure the hitting position of the bullet hole on the target paper 1 .

[0071] Reference Figure 1 、 Figure 4 and Figure 5 In this embodiment, a small-diameter photoelectric sensor seat 26 is provided on the side of the square-shaped structure facing away from the shooting direction. The photoelectric sensor 2 is positioned on the photoelectric sensor seat 26, and a photoelectric gate 38 is positioned below the target paper 1. In this embodiment, the first driven shaft 10 is also provided with a left lap counter wheel 13 and a right lap counter wheel 14. The photoelectric gate 38 detects the number of revolutions of the lap counter wheels and calculates the distance the target paper has moved based on the number of revolutions of the left and right lap counter wheels 13 and 14. This allows the target paper to be moved the correct distance by the correct number of revolutions during automatic target paper replacement.

[0072] The flipping control mechanism includes an integrated controller 3 and a power supply 4, which is used to automatically report the target according to the hitting position of the bullet hole on the target paper 1, quickly calculate the number of hit rings based on the characteristic chirality, calculate the instantaneous thickness of the roll paper, and control the target mechanism to automatically replace the target paper 1 and lift or flip it.

[0073] Reference Figure 2 、 Figure 3 、 Figure 7 In this embodiment, the number of target paper loops automatically replaced is controlled by an integrated controller 3. The integrated controller 3 uses characteristic chirality to quickly calculate the number of hit loops based on the hitting position of the bullet hole on the target paper 1 measured by the photoelectric sensor 2. Two antennas 30 are arranged in parallel above the integrated controller 3. The calculated number of hit loops is automatically reported to the shooter through the antennas 30.

[0074] In this embodiment, the flip control mechanism further includes a base 31 , a flip mechanism 36 , a lower rod 24 and a lower bulletproof plate 32 .

[0075] The base 31 is provided with a groove, the groove is sequentially placed with the integrated controller 3 and the power supply 4, the outer edge of the groove is provided with a limiter 33 for preventing the integrated controller 3 and the power supply 4 from slipping off during shooting. The side of the base 1 facing the shooting direction is provided with two buckles 34 for hanging the lower bulletproof plate 32, and the base 1 is further provided with two turnover mechanisms 36 connected with the lower rod 24 and arranged on the upper side of the base 31 away from the groove, for enabling the lower rod 24 and the target mechanism to realize 90° upturning or overturning from the upright state to the horizontal state, and realizing the function of simulating shooting at hidden targets and exposed targets.

[0076] The lower bulletproof plate 32 is hung on the buckle 34 provided on the side of the base 31 facing the shooting direction, and in some embodiments, the height of the lower bulletproof plate 32 is slightly greater than the sum of the height of the turnover mechanism 36 and the height of the base 31, for protecting the turnover control mechanism. In this embodiment, due to the arrangement of the base and the connecting column, the height of the lower bulletproof plate is slightly greater than the sum of the height of the turnover mechanism, the height of the base, the height of the connecting column and the height of the base, and when bullets come from the front of the fusion upturning target machine, the lower bulletproof plate can effectively protect the turnover mechanism, the base, the connecting column and the base from being damaged by bullets.

[0077] The side of the lower bulletproof plate 32 away from the shooting direction is provided with a hook 35 matched with the buckle 34 for fixing the lower bulletproof plate 32. The upper side of the lower bulletproof plate is further provided with two handles 37 for carrying and installing the lower bulletproof plate 32.

[0078] The support mechanism is used for supporting the target mechanism, the photoelectric sensor 2 and the turnover control mechanism.

[0079] Referring to Figure 2 and Figure 6 In this embodiment, the support mechanism includes a support frame 27, a support platform 28, a small triangular support 25 and a large triangular support 29. The support frame 27 is installed on the support platform 28 for providing stable support for the motor shaft 5. The support platform 28 is connected with the middle bulletproof plate 22 for supporting the target mechanism; the small triangular support 25 is arranged on the side of the two upper rods 20 away from the shooting direction for fastening the upper shielding plate 23; and the large triangular support 29 is located at the upper end of the lower rod 24 for bearing the mass of the target mechanism, the paper changing mechanism and the photoelectric sensor 2.

[0080] Embodiment 2

[0081] Based on the same inventive concept as embodiment 1, this embodiment introduces the method for calculating the instantaneous thickness of the paper based on the characteristic chirality of the fusion upturning target machine described in embodiment 1.

[0082] According to the total length of the blank paper and the target paper in the first paper shaft 8, the total length of the unused paper shaft is obtained.

[0083] In this embodiment, a roll of brand new unused paper shaft is composed of target paper and blank paper, and one target paper is between two blank papers, and one blank paper is between two target papers. The total length of the unused paper shaft is represented as:

[0084] (1) ;

[0085] In the formula, L represents the total length of the unused paper shaft, N represents the total number of blank papers, M represents the total number of target papers, L1 represents the length of the blank paper, L2 represents the length of the target paper.

[0086] According to the length of the blank paper and the target paper in the first paper shaft 8, the target paper distance that needs to be moved when replacing one target paper is obtained.

[0087] In this embodiment, the target paper distance that needs to be moved when replacing one target paper is represented as:

[0088] (2) ;

[0089] In the formula, L represents the target paper distance that needs to be moved when replacing one target paper.

[0090] According to the target paper distance that needs to be moved when replacing one target paper and the circumference of the first damping rubber wheel 9, the number of turns of the first damping rubber wheel 9 that needs to be rotated when replacing one target paper is obtained.

[0091] In this embodiment, the circumference of the first damping rubber wheel 9 is represented as:

[0092] (3) ;

[0093] In the formula, L represents the circumference of the first damping rubber wheel 9, R represents the radius of the first damping rubber wheel 9.

[0094] In this embodiment, the number of turns of the first damping rubber wheel 9 that needs to be rotated when replacing one target paper is represented as:

[0095] (4) ;

[0096] In the formula, L represents the number of turns of the first damping rubber wheel 9 that needs to be rotated when replacing one target paper.

[0097] In this embodiment, the radius of the second damping rubber wheel 18 is the same as that of the first damping rubber wheel 9 . Similarly, the number of revolutions that the second damping rubber wheel 18 needs to rotate when replacing a target paper can be obtained.

[0098] According to the number of revolutions required by the first damping rubber wheel 9 and the second damping rubber wheel 18 , an average value of the number of revolutions of the left lap counter wheel 13 and the number of revolutions of the right lap counter wheel 14 is obtained.

[0099] In this embodiment, since the radius of the second damping rubber wheel 18 is the same as the radius of the first damping rubber wheel 9, when replacing a target paper, the number of revolutions required by the second damping rubber wheel 18 is the same as the number of revolutions required by the first damping rubber wheel 9. Therefore, the average of the number of revolutions of the left lap counter wheel 13 and the number of revolutions of the right lap counter wheel 14 is the number of revolutions required by the first damping rubber wheel 9.

[0100] Based on the average number of revolutions of the left and right lap counter wheels 13 and 14 and the distance of one revolution of the first damping rubber wheel 9 and the first damping rubber wheel 9 , the constraint condition of the total length of the unrolled paper shaft is obtained.

[0101] In this embodiment, the constraint condition of the total length of the paper not expanded by the paper shaft is expressed as:

[0102] (4);

[0103] The first paper shaft 8 is compared to a cylinder consisting of several concentric cylinders, and the outer diameter of the first paper shaft 8 is obtained according to the radius of the first paper shaft 8 and the instantaneous thickness of the paper roll;

[0104] (5);

[0105] Where, Indicates the outer diameter of the first paper shaft 8, represents the radius of the first paper shaft 8, Indicates the instantaneous thickness of the roll paper.

[0106] Based on the constraint condition of the total length of the unrolled paper shaft, the volume formula of the first paper shaft 8 is obtained according to the total length of the unrolled paper shaft and the radius and outer diameter of the first paper shaft 8 .

[0107] In this embodiment, the volume formula of the first paper shaft 8 is expressed as:

[0108] V = 2 π L ∫ R R + h r ⋅ dr = 2 π L [ 1 2 r 2 ] R R + h (6);

[0109] Where, represents the volume of the first paper shaft 8, denotes differentiation.

[0110] Simplifying the volume formula of the first paper shaft 8, we can get:

[0111] (7) ;

[0112] When the instantaneous thickness h of the paper roll is very small, the square term containing the instantaneous thickness of the paper roll can be ignored when calculating the instantaneous thickness .

[0113] In this embodiment, the volume formula of the first paper shaft 8 after ignoring the square term containing the instantaneous thickness of the paper roll is expressed as:

[0114] (8) ;

[0115] Therefore, in this embodiment, the volume formula of the first paper shaft 8 is integrated, and the square term containing the instantaneous thickness of the paper roll is ignored, to obtain the paper roll instantaneous thickness calculation formula, which is expressed as:

[0116] (9) ;

[0117] According to the paper roll instantaneous thickness calculation formula, the instantaneous thickness of the paper roll is obtained.

[0118] Embodiment 3

[0119] Based on the same inventive concept as other embodiments, this embodiment introduces a method for quickly calculating the hit ring number based on the feature chirality according to the hit position of the bullet hole on the target paper based on the feature chirality of the fusion up-down target machine described in embodiment 1.

[0120] In this embodiment, the bullseye is used as a fixed reference point to define the coordinate system of the target paper. In the coordinate system of the target paper, each ring-shaped area of the target paper is considered to have a specific chiral feature. The feature chirality of the target paper is calculated by the following steps:

[0121] Step 1: Take the bullseye of the target paper as the origin to define a two-dimensional coordinate system.

[0122] In nature and man-made objects, there is a unique property - chirality. Chirality describes the property that an object cannot completely overlap with its mirror image. This phenomenon is manifested in biology, chemistry, physics and other disciplines. For example, molecules in biological organisms often exhibit chirality, and this chirality is crucial to the function of the substance.

[0123] ​The embodiment applies the characteristic chirality to the target paper used in shooting training, especially the chest ring target. Since the chest ring target presents the shape of the upper body of a person, it also has similar characteristics. The embodiment designs the target heart to calculate the hit ring number based on the characteristic chirality. While the calculation is carried out around the target heart, the distribution characteristics of the shooting results can be analyzed. The chirality of the target paper is reflected in the asymmetry of the ring area around the target heart, which can not only help the shooter better understand and analyze the shooting results, but also optimize the existing calculation method, reduce the data calculation amount when reporting the target, reduce the operating load of the integrated controller, and improve the reporting speed and accuracy.

[0124] Step 2: Define the characteristic chirality value.

[0125] In the two-dimensional coordinate system, each ring area of the target paper can be regarded as an object with a specific chirality characteristic. For example, the effective part that can be hit in the target paper area has positive chirality, and the ineffective part that can be hit in the target paper area has negative chirality.

[0126] In the embodiment, the center of the small mouth-shaped structure composed of photoelectric sensors does not coincide with the ring center of the target paper. The ring center of the target paper is in the middle and slightly lower than the center of the small mouth-shaped structure composed of photoelectric sensors. At the same time, there is a vacancy in the portrait part of the target paper, so the target paper has characteristic chirality.

[0127] In the two-dimensional coordinate system, the embodiment defines the target paper ring area in the first quadrant as a positive chirality area, and the target paper ring area in the second quadrant, third quadrant, and fourth quadrant as a negative chirality area.

[0128] Step 3: Calculate the hit ring number.

[0129] The characteristic chirality can be used to evaluate the uniformity and accuracy of the shooting results. For example, if the shooting results are evenly distributed in different ring areas of the target paper, it indicates that the shooting skill is relatively balanced; otherwise, it may mean that additional training is needed for certain areas.

[0130] In the embodiment, the photoelectric gate position parameter corresponding to the target heart is The photoelectric gate position parameter corresponding to the hit position in the first quadrant is The distance between the photoelectric gate position corresponding to the target heart and the photoelectric gate position corresponding to the hit position in the first quadrant is The distance between the photoelectric gate position corresponding to the target heart and the photoelectric gate position corresponding to the hit position in the first quadrant is

[0131] (10) ;

[0132] Based on the polar coordinate or rectangular coordinate system, the polar coordinate distance or rectangular coordinate distance corresponding to different ring numbers is determined according to the distance between the photoelectric gate position corresponding to the target heart and the photoelectric gate position corresponding to the hit position in the first quadrant.

[0133] In this embodiment, the polar coordinate distances corresponding to different numbers of rings are expressed as:

[0134] (11);

[0135] Where, Indicates the polar coordinate distance corresponding to the number of hit rings; Indicates target paper ring and Number of rings corresponding to the axis intersection point The value of the ring The value range is , Indicates taking the absolute value.

[0136] For example, the first ring on the target paper from the inside out is The number of rings corresponding to the axis intersection point is 10, then is 10, then the polar coordinate distance of the ring from the center of the target is .

[0137] Furthermore, the distance from the hit position to the origin Polar coordinate distance corresponding to different numbers of rings Should meet the following requirements:

[0138] (12);

[0139] Where, Indicates the number of hit rings.

[0140] For the hit position in the first quadrant, the distance from the hit position to the origin is compared with the distance corresponding to each preset ring number to obtain the forehand ring number. ;

[0141] For the hitting positions in the second quadrant, the third quadrant and the fourth quadrant, they are transformed to the corresponding positions in the first quadrant by flipping, mapping or symmetry, and the distances from the corresponding positions in the first quadrant to the origin are used to replace the distances from the original corresponding positions of each ring number to the origin to form a negative chiral ring number.

[0142] In this embodiment, the number of rings corresponding to the hit position in the second quadrant is ; Flip the hit position along the y-axis to the first quadrant, and get ;

[0143] The number of rings corresponding to the hitting position in the third quadrant is ; The hit position is symmetrical to the first quadrant with the origin O as the center, and the number of negative chiral rings is obtained. ;

[0144] The number of rings corresponding to the hitting position in the fourth quadrant is , flip the hit position along the x-axis to the first quadrant to obtain the negative chiral ring number ;

[0145] The number of positive chiral rings and the number of negative chiral rings are added together to obtain the number of hit rings. In this embodiment, the number of hit rings is expressed as:

[0146] (13);

[0147] Where, It represents the number of negative chirality rings corresponding to the hit position in the second quadrant after flipping it to the first quadrant along the y-axis; It represents the number of negative chirality rings corresponding to the hit position in the third quadrant after being symmetrically transferred to the first quadrant with the origin O as the center; It indicates that the hit position in the fourth quadrant is flipped along the y-axis to the first quadrant, and the corresponding number of negative chirality rings; Indicates the number of negative chiral rings 、 and sum.

[0148] In summary, the present invention achieves full automation of shooting training by integrating a target mechanism, a photoelectric sensor, a flip control mechanism, and a support mechanism. The target mechanism provided by the present invention can automatically replace the target paper, ensuring the continuity of shooting training, while the photoelectric sensor can detect in real time whether the target paper has been hit and the specific location of the bullet hole. The present invention also utilizes photoelectric sensors and characteristic chirality technology to quickly and accurately calculate the location of the bullet hole based on the hit position and automatically report the target. This not only improves the accuracy of score calculation but also greatly shortens the time it takes to provide score feedback, allowing shooters to immediately understand their shooting performance. Shooters can then adjust their shooting posture and strength based on the feedback results, thereby improving the efficiency and effectiveness of shooting training. The present invention also integrates automatic target paper replacement and lifting, tilting, or flipping functions, capable of simulating shooting scenarios at both hidden and exposed targets. The diverse shooting simulation functions help shooters adapt to different shooting environments and improve their shooting skills and adaptability.

[0149] The present invention achieves multiple optimizations and intelligent enhancements of the shooting training system by defining each annular area of ​​the target paper as an object with specific chiral characteristics, simplifies the amount of calculation and storage, and transforms the number of negative chiral rings in the second, third, and fourth quadrants to the corresponding positions in the first quadrant through flipping, mapping, symmetry, etc., greatly reducing the complexity of the system. At the same time, the present invention uses chiral characteristics to analyze the distribution of shooting results on the target paper, defining positive and negative chiral areas, which can not only calculate the number of hit rings, but also evaluate the uniformity and accuracy of shooting results, providing shooters with detailed shooting skill feedback. In addition,

[0150] The present invention can also flexibly adapt to a variety of target paper designs and sensor layouts. Even in the face of complex situations such as the photoelectric sensor and the target paper ring center not coinciding, or there being vacancies in some rings on the target paper, the accuracy and effectiveness of shooting performance analysis can be ensured by setting the chirality value. This not only improves the efficiency and accuracy of shooting training, but also provides shooters with personalized training guidance and improvement space, which is a major advancement in the field of shooting training.

[0151] The present invention improves the protection of the integrated target lifting and lowering machine equipment by adding upper, middle and lower bulletproof plates and an upper shielding plate, which can effectively prevent the shooter from damaging the key parts of the target mechanism during the shooting process, thereby increasing the service life of the target lifting and lowering machine.

[0152] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0153] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0154] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0155] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0156] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which are all protected by the present invention.

Claims

1. A fusion-type lifting and falling target machine based on characteristic chirality, characterized in that: It includes a target mechanism, a photoelectric sensor (2), a flip control mechanism and a support mechanism; The target mechanism comprises an active paper changing assembly and a passive paper changing assembly connected to the active paper changing assembly via a target paper (1), and is used to provide a shooting target and automatically change the target paper according to the instantaneous thickness of the rolled paper after the target paper is hit; The photoelectric sensor (2) is used to detect whether the target paper (1) is hit and to measure the hitting position of the bullet hole on the target paper (1); The flip control mechanism comprises an integrated controller (3) and a power supply (4), which is used to automatically report the target according to the hitting position of the bullet hole on the target paper (1), quickly calculate the number of hit rings based on the characteristic chirality, calculate the instantaneous thickness of the roll paper, and control the target mechanism to automatically replace the target paper (1) and to lift, fall or flip; The support mechanism is used to support the target mechanism, the photoelectric sensor (2) and the flip control mechanism; The active paper changing assembly comprises: a motor shaft (5), a power shaft (6), a first shaft core (7), a first paper shaft (8), a first damping rubber wheel (9), a first driven shaft (10), a sliding groove (11) and a pressure spring (12); the motor shaft (5) is located on the support frame (27) of the support mechanism, the motor shaft (5) is electrically connected to the power shaft (6), the first shaft core (7) is nested on the power shaft (6), the first shaft core (7) is provided with a first paper shaft (8), the first paper shaft (8) is in close contact with the first damping rubber wheel (9), the motor shaft (5) drives the first paper shaft (8) to rotate without sliding when working, the first damping rubber wheel (9) is sleeved on the first driven shaft (10), both ends of the first driven shaft (10) are arranged on the sliding groove (11), the sliding groove (11) is provided with the pressure spring (12), and the first driven shaft (10) is provided with a left lap counting wheel (13) and a right lap counting wheel (14); The target mechanism further comprises: two upper rods (20), an upper bulletproof plate (21), a middle bulletproof plate (22) and an upper shielding plate (23); The two upper rods (20) are respectively located on both sides of the target paper (1) and are downwardly connected to the lower rod (24) of the flip control mechanism. The upper and lower ends of the target paper (1) are respectively provided with an upper bulletproof plate (21) and a middle bulletproof plate (22), which form a square-shaped structure with the upper rods (20) on both sides of the target paper (1) for protecting the target mechanism. The upper shielding plate (23) is fastened by a small triangular support (25) provided on the side of the two upper rods (20) away from the shooting direction. The width of the upper shielding plate (23) is greater than the sum of the diameters of the first damping rubber wheel (9) and the first paper shaft (8), and is used to protect unused target paper. The method of quickly calculating the number of hit rings based on characteristic chirality according to the hit position of the bullet hole on the target paper (1) comprises: Get the center of the target paper as the origin and define a two-dimensional coordinate system; In the two-dimensional coordinate system, the target paper annular area in the first quadrant is defined as a positive chirality area, and the target paper annular areas in the second quadrant, the third quadrant, and the fourth quadrant are defined as negative chirality areas; Based on the polar coordinate or rectangular coordinate system, the polar coordinate distance or rectangular coordinate distance corresponding to different numbers of rings is determined according to the distance between the photoelectric gate position corresponding to the bull's eye and the photoelectric gate position corresponding to the hit position in the first quadrant; For the hit position in the first quadrant, the distance from the hit position to the origin is compared with the distance corresponding to each preset ring number to obtain the forehand ring number; For the hit positions in the second, third and fourth quadrants, transform them to the corresponding positions in the first quadrant by flipping, mapping or symmetry, and compare the distances from the corresponding positions in the first quadrant to the origin with the distances corresponding to the preset ring numbers to obtain the negative chirality ring number; The number of positive chiral rings and the number of negative chiral rings are added together to obtain the number of hit rings.

2. The fusion-type lifting and falling target drone based on characteristic chirality according to claim 1 is characterized in that: The driven paper changing assembly comprises: a non-powered shaft (15), a second shaft core (16), a second paper shaft (17), a second damping rubber wheel (18), a second driven shaft (19), a sliding groove (11) and a pressure spring (12), wherein the non-powered shaft (15) is located on the small triangular support (25) of the support mechanism, the second shaft core (16) is nested on the non-powered shaft (15), the second shaft core (16) is provided with the second paper shaft (17), the second paper shaft (17) is in close contact with the second damping rubber wheel (18), the second damping rubber wheel (18) is sleeved on the second driven shaft (19), both ends of the second driven shaft (19) are arranged on the sliding groove (11), the sliding groove (11) is provided with the pressure spring (12), and the pressure spring (12) slides along the sliding groove (11) in cooperation with the active paper changing assembly according to the instantaneous thickness of the rolled paper.

3. The fusion-type lifting and falling target drone based on characteristic chirality according to claim 1 is characterized in that: A photoelectric sensor seat (26) with a small mouth-shaped structure is provided on the side of the mouth-shaped structure away from the shooting direction. The photoelectric sensor (2) is located on the photoelectric sensor seat (26), wherein the photoelectric gate (38) is provided below the target paper (1).

4. The fusion-type lifting and falling target drone based on characteristic chirality according to claim 1 is characterized in that: The support mechanism comprises a support frame (27), a support platform (28), a small triangular support (25) and a large triangular support (29); The support frame (27) is mounted on the support platform (28) and is used to provide stable support for the motor shaft (5); The support platform (28) is connected to the middle bulletproof plate (22) and is used to support the target mechanism; The small triangular support (25) is provided on a side of the two upper rods (20) away from the shooting direction and is used to fasten the upper shielding plate (23); The large triangular support (29) is located at the upper end of the lower rod (24) and is used to bear the mass of the target mechanism, the paper changing mechanism, and the photoelectric sensor (2).

5. The fusion-type lifting and falling target drone based on characteristic chirality according to claim 1 is characterized in that: An antenna (30) is provided above the integrated controller (3), and data obtained by automatically reporting the target by quickly calculating the number of hit rings based on characteristic chirality is transmitted to the shooter via the antenna (30).

6. The fusion-type lifting and falling target drone based on characteristic chirality according to claim 1 is characterized in that: The flip control mechanism further comprises a base (31), a flip mechanism (36), a lower rod (24) and a lower bulletproof plate (32); A groove is provided on the upper portion of the base (31), and the integrated controller (3) and the power supply (4) are sequentially placed in the groove. A stopper (33) is provided on the outer edge of the groove to prevent the integrated controller (3) and the power supply (4) from slipping during the shooting process. The flip mechanism (36) is connected to the lower rod (24), is arranged on the upper side of the base (31) away from the groove direction, and is used to lift or flip the lower rod (24) and the target mechanism; The lower bulletproof plate (32) is hung on a buckle (34) provided on the side of the base (31) facing the shooting direction. The height of the lower bulletproof plate (32) is slightly greater than the sum of the heights of the flip mechanism (36) and the base (31), and is used to protect the flip control mechanism. A hook (35) adapted to the buckle (34) is provided on the side of the lower bulletproof plate (32) away from the shooting direction, and is used to fix the lower bulletproof plate (32).

7. The fusion-type lifting and falling target drone based on characteristic chirality according to claim 2 is characterized in that: The target paper (1) and the blank paper are arranged in the first paper shaft (8), wherein the method for calculating the instantaneous thickness of the rolled paper comprises: Obtaining the total length of the unused paper rolls according to the total number and length of blank paper and target paper in the first paper roll (8); According to the lengths of the blank paper and the target paper in the first paper shaft (8), the target paper distance that needs to be moved when replacing a target paper is obtained; According to the radius of the first damping rubber wheel (9) and the radius of the second damping rubber wheel (18), the number of revolutions that the first damping rubber wheel (9) and the second damping rubber wheel (18) need to rotate when replacing a target paper is obtained; Obtaining an average value of the number of revolutions of the left lap counter wheel (13) and the number of revolutions of the right lap counter wheel (14) according to the number of revolutions required for the first damping rubber wheel (9) and the second damping rubber wheel (18); Obtaining a constraint condition for the total length of the paper shaft not expanded based on an average of the number of revolutions of the left lap counter wheel (13) and the right lap counter wheel (14) and the distance of one revolution of the first damping rubber wheel (9) and the first damping rubber wheel (9); The first paper shaft (8) is compared to a cylinder comprising a plurality of concentric cylinders, and the outer diameter of the first paper shaft (8) is obtained according to the radius of the first paper shaft (8) and the instantaneous thickness of the paper roll; Based on the constraint condition of the total length of the unused paper shaft, the volume formula of the first paper shaft (8) is obtained according to the total length of the unused paper shaft and the radius and outer diameter of the first paper shaft (8); Integrate the volume formula of the first paper shaft (8), ignoring the square term containing the instantaneous thickness of the paper roll, to obtain the calculation formula for the instantaneous thickness of the paper roll; The instantaneous thickness of the roll paper is obtained according to the calculation formula of the instantaneous thickness of the roll paper.

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