Firearm intelligent platform with two degrees of freedom

Abstract

The embodiment of the invention relates to the field of shooting equipment, and discloses an intelligent firearm platform with two degrees of freedom, comprising a supporting device for supporting and driving a firearm to rotate transversely and longitudinally; the buffering device is arranged on the supporting device and used for buffering recoil force generated when the firearm is fired; the clamp device is connected with the buffer device, located above the buffer device and used for fixing the firearms; the measuring device is arranged on the firearm and used for measuring and aiming the distance between the firearm and the target; and the firing device is arranged on the clamp, is movably connected with the firearm and is used for opening a safety of the firearm and pushing a trigger of the firearm to complete firing. Through the scheme that two-degree-of-freedom driving is matched with intelligent buffering and unmanned percussion, the operation function and the operation precision of the armed percussion robot are improved, the combat efficiency is remarkably improved, the armed percussion robot is suitable for scenes with high-precision and high-safety requirements such as anti-terrorism sniping and border patrol, and the casualty risk is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of shooting equipment, and in particular to a firearm intelligent platform with two degrees of freedom. Background Art

[0002] With the rapid development of robotics and national defense science and technology, all kinds of equipment are developing in the direction of high speed, high precision and large load, especially the launch speed of the launch device is getting higher and higher, and the resulting ontological problems are becoming more and more serious. At present, the technology of intelligent unmanned combat equipment is becoming more and more mature. For example, the ground unmanned platform has a strong load capacity and low requirements for the weight of the weapon load. It can carry rifles, rocket launchers and other weapons through a dual-axis gimbal and perform remote control operations; the aerial unmanned platform has high requirements for the weight of the weapon load, and can carry light weapons such as pistols and light submachine guns through fixed devices and perform remote control operations. However, intelligent unmanned combat equipment such as exoskeleton soldiers, mecha soldiers, and humanoid robot soldiers still mainly focus on mobility and load-bearing capacity, and rarely carry weapons. The lack of firepower will reduce the combat effectiveness of these unmanned and intelligent equipment.

[0003] At present, the application of armed strike robots in the field of armed strike robots is not highly intelligent, mainly focusing on the installation of multiple carriers of armed guns, such as drones, wheeled chassis, tracked chassis, etc. Most of them are controlled by different remote control methods, and have not achieved complete autonomy, and the strike accuracy is low. The autonomous shooting of the gun body is relatively rough, and many key points still need to be corrected and adjusted in actual combat and practice.

[0004] However, the inventors have discovered that the related art has at least the following technical problems: in the autonomous shooting of the gun body, the amount of bullets fired (mainly the amount of shooting) and the shooting accuracy need to be improved. Summary of the invention

[0005] One purpose of the present application is to provide a firearm intelligent platform with two degrees of freedom, at least to solve the above-mentioned problems.

[0006] To achieve the above objectives, some embodiments of the present application provide a firearm intelligent platform with two degrees of freedom, including:

[0007] A supporting device, used to support and drive the firearm to rotate horizontally and vertically;

[0008] The buffer device is provided on the supporting device and is used to buffer the recoil force of the firearm when firing at a secondary level;

[0009] A clamp device, connected to the buffer device and located above the buffer device, for fixing the firearm;

[0010] A measuring device, which is mounted on a firearm and is used to measure and aim the distance between the firearm and the target;

[0011] The firing device is arranged on the fixture and is movably connected to the firearm to open the safety of the firearm and push the trigger of the firearm to complete the firing.

[0012] Compared with the related art, the solution provided in the embodiment of the present application can be applied to the placement and fixation of various firearms, and in the process of use, through the support device and the firing device, it is possible to achieve multi-angle autonomous shooting, and the shooting accuracy is improved by the measuring device. In addition, the fixture device equipped with the firearm is connected to the buffer device for coordinated use, and the recoil (recoil force) during shooting can be buffered by the buffer device, so that the firearm can be quickly restored to the initial shooting position, further improving the shooting accuracy. That is, it can be understood that: compared with the prior art, this embodiment improves the operating function and operating accuracy of the armed strike robot through the technical solution of two-degree-of-freedom drive with intelligent buffering and unmanned firing, significantly improves the combat efficiency, and is suitable for scenes with high precision and high safety requirements such as anti-terrorism sniping and border patrol, reducing the risk of casualties. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0014] Figure 1 is a schematic diagram of the structure of a firearm intelligent platform provided by an embodiment of the present disclosure;

[0015] Figure 2 It is a structural diagram of another perspective of the firearm intelligent platform provided by the embodiment of the present disclosure;

[0016] Figure 3 It is a structural diagram of another perspective of the firearm intelligent platform provided by the embodiment of the present disclosure;

[0017] Figure 4 It is a partial structural diagram of a firearm intelligent platform provided by an embodiment of the present disclosure;

[0018] Figure 5 is another partial structural diagram of the firearm intelligent platform provided by the embodiment of the present disclosure;

[0019] Figure 6 is another partial structural diagram of the firearm intelligent platform provided by the embodiment of the present disclosure;

[0020] Figure 7 yes Figure 6 The structural diagram at A in the middle;

[0021] Figure 8 yes Figure 6 The structural diagram at B in the middle;

[0022] Fig. 9 is another partial structural diagram of the firearm intelligent platform provided by the embodiment of the present disclosure;

[0023] Fig.10 is another partial structural diagram of the firearm intelligent platform provided by the embodiment of the present disclosure;

[0024] Fig.11 is another partial structural diagram of the firearm intelligent platform provided by the embodiment of the present disclosure;

[0025] Fig.12 is a schematic diagram of the structure of a buffer device provided in an embodiment of the present disclosure;

[0026] Fig.13 is a schematic structural diagram of a buffer device provided by an embodiment of the present disclosure from another perspective;

[0027] Fig.14 is a schematic structural diagram of a buffer device provided by an embodiment of the present disclosure from another perspective;

[0028] Fig.15 is a schematic structural diagram of a buffer device provided by an embodiment of the present disclosure from another perspective;

[0029] Fig.16 is a schematic diagram of the structure of a firing device provided in an embodiment of the present disclosure;

[0030] Fig.17 is a schematic structural diagram of a magazine disassembly and assembly device provided in an embodiment of the present disclosure;

[0031] Fig.18 It is a flow chart of the control method of the firearm intelligent platform provided in the embodiment of the present disclosure.

[0032] Reference numerals:

[0033] 10: supporting device; 101: rotating table; 1021: first driving shaft; 1022: first driving motor; 1031: second driving shaft; 1032: second driving motor; 104: bracket;

[0034] 20: buffer device; 201: buffer frame; 2021: buffer rail; 2022: buffer slider; 203: spring assembly; 2031: buffer spring; 2032: damping pad;

[0035] 40: front clamp; 401: first front clamp; 402: second front clamp; 4021: mounting hole; 4022: through slot; 403: third front clamp; 404: limit opening; 405: first connecting member;

[0036] 50: middle clamp; 501: first middle clamp; 502: second middle clamp;

[0037] 60: rear clamp; 601: first rear clamp; 602: second rear clamp; 603: third rear clamp; 604: second connecting member; 605: accommodating cavity;

[0038] 701: multiple aiming device; 702: laser aiming device; 703: fine-tuning motor;

[0039] 80: firing device; 801: first firing drive unit; 8011: lever; 802: second firing drive unit; 8022: toggle block;

[0040] 90: magazine disassembly and assembly device; 901: third connecting member; 902: fourth connecting member; 903: magazine button pushing part;

[0041] 100: Magazine box; 200: Firearms. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0044] In the embodiments of the present disclosure, the terms "upper", "lower", "inside", "middle", "outside", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the embodiments of the present disclosure and their embodiments, and are not intended to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction. Moreover, in addition to being used to indicate directions or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in certain circumstances. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0045] In addition, the terms "disposed", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0046] Unless otherwise stated, the term "plurality" means two or more.

[0047] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0048] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0049] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0050] Combination Figures 1 to 18 As shown, an embodiment of the present disclosure provides a firearm intelligent platform with two degrees of freedom, including a supporting device 10, a buffer device 20, a clamping device, a measuring device and a firing device 80.

[0051] The support device 10 is used to support and drive the firearm 200 to rotate horizontally and vertically; the buffer device 20 is arranged on the support device 10, and is used to buffer the recoil force of the firearm 200 when firing; the clamp device is connected to the buffer device 20 and is located above the buffer device 20, and is used to fix the firearm 200; the measuring device is arranged on the firearm 200, and is used to measure and aim the distance between the firearm 200 and the target; the firing device 80 is arranged on the clamp and is movably connected to the firearm 200, and is used to open the safety of the firearm 200 and push the trigger of the firearm 200 to complete the firing.

[0052] The firearm 200 intelligent platform with two degrees of freedom provided by the embodiment of the present disclosure can be used for the placement and fixation of various firearms 200, and in the process of use, multi-angle autonomous shooting can be achieved through the support device 10 and the firing device 80, and the shooting accuracy can be improved through the measuring device. In addition, the clamp device with the firearm 200 installed is connected to the buffer device 20 for coordinated use, and the buffer device 20 can buffer the recoil (recoil force) during shooting, so that the firearm 200 can be quickly restored to the initial shooting position, further improving the shooting accuracy. That is, it can be understood that: compared with the prior art, this embodiment improves the operation function and operation accuracy of the armed strike robot through the technical solution of two-degree-of-freedom drive with intelligent buffering and unmanned firing, significantly improves the combat efficiency, and is suitable for scenes with high precision and high safety requirements such as anti-terrorism sniping and border patrol, reducing the risk of casualties.

[0053] The support device 10 drives the firearm 200 to rotate horizontally and vertically. Through the coordinated movement of two degrees of freedom (lateral + longitudinal), the firearm 200 can be adjusted in all directions, significantly improving the aiming flexibility and shooting coverage. Exemplarily, the support device 10 can accurately control the rotation angle of the firearm 200 (such as ±180° horizontally, 0°-90° vertically) through a servo motor or a hydraulic drive system, which can meet the rapid response requirements of complex terrain or dynamic targets, while reducing the error of manual operation.

[0054] Compared with the prior art, in this embodiment, the support device 10 and the clamp device are connected by the buffer device 20, which can effectively absorb the recoil force when the firearm 200 is fired, effectively avoid fatigue damage to the mechanical structure caused by continuous firing, and extend the life of the equipment; at the same time, it reduces the impact of shooting vibration on aiming accuracy and ensures the consistency of the trajectory during continuous shooting.

[0055] This embodiment uses a measuring device to calculate the target distance and automatically calibrate the aiming, thereby reducing the delay of manual aiming and improving the shooting hit rate. In addition, the safety switch and trigger action of the firearm 200 are controlled by the firing device 80, and the mechatronics design is adopted to realize remote or programmed firing, thereby avoiding the operator from being exposed to dangerous environments and improving the safety of the operator.

[0056] In this embodiment, the various devices work together to form a closed-loop control system. The central controller integrates motion control, ranging, aiming and firing commands to achieve full process automation of "identification-adjustment-firing", which significantly improves combat efficiency. It is suitable for scenarios with high precision and high security requirements such as anti-terrorism sniping and border patrols, and reduces the risk of casualties.

[0057] Optionally, the firearm 200 intelligent platform further includes: a bullet changing device, including a magazine disassembly and assembly device 90 and a magazine box 100, wherein the magazine disassembly and assembly device 90 is arranged on the fixture device, and the magazine box 100 is arranged on the side of the support device 10. The firearm rotates under the drive of the support device so that the magazine of the firearm is aligned with the magazine box, and the magazine is replaced and installed under the action of the magazine disassembly and assembly device.

[0058] The magazine disassembly and assembly device 90 includes a third connecting member 901, a fourth connecting member 902 and a magazine button pusher 903. The third connecting member 901 is detachably connected to the middle clamp 50 (such as the first middle clamp plate 501), wherein the connection position of the third connecting member 901 and the first middle clamp plate 501 is adjustable to adapt to different models of firearms 200. One end of the fourth connecting member 902 can rotate relative to the third connecting member 901, and the other end is connected to the magazine button pusher 903. The fourth connecting member 902 can rotate relative to the third connecting member 901, and the purpose is to adapt to the different positions of the magazine buttons of different models of firearms 200, and adjust the rotation angle of the fourth connecting member 902 so that the magazine button pusher 903 can correspond to the magazine button of the firearm 200, press the magazine button of the firearm 200, and thus realize the disassembly and assembly of the magazine of the firearm 200. Optionally, the magazine button pusher 903 can be realized by a pneumatic push rod or a lead screw assembly.

[0059] The present embodiment provides two magazine boxes 100, which are respectively arranged on both sides of the supporting device 10. The turntable 101 and the firearm 200 are driven to rotate by the first driving unit and the second driving unit of the supporting device 10, so that the area where the firearm 200 is loaded with a magazine is aligned with the vacant area of ​​the magazine box 100, and then the magazine disassembly and assembly device 90 cooperates to remove the old magazine, and the disassembled old magazine is recovered into the magazine box 100, and then the angle of the firearm 200 is adjusted so that the area where the firearm 200 is loaded with a magazine is aligned with the new magazine, and the magazine disassembly and assembly device 90 cooperates to complete the installation of the new magazine.

[0060] Optionally, a clamping device is provided in the magazine box to clamp the magazine to facilitate the empty magazine to fall off the firearm.

[0061] Optionally, the magazine box 100 is integrated with a radio frequency identification module, which can automatically identify the type of magazine and link with the safety status of the firearm 200 to reduce the mismatch rate of ammunition.

[0062] Optionally, the magazine box 100 is provided with an outer shell for protection, and a silica gel desiccant tank and a constant temperature heating plate are provided inside to extend the storage period of ammunition in extreme environments such as deserts and rainforests.

[0063] Optionally, the RFID data of the magazine box 100 communicates with the ECU of the firing device 80 in real time, and automatically triggers the reloading instruction when the remaining ammunition is less than 10%, demonstrating the synergy between the reloading device and the firing device 80 of this embodiment.

[0064] The firearm 200 intelligent platform provided in this embodiment includes a controller, which receives and outputs relevant instructions to control the motor actions of various devices to complete shooting.

[0065] Optionally, the supporting device 10 includes: a turntable 101, which is rotatably connected to the buffer device 20; a first driving unit, which is arranged on the side of the turntable 101 and is drivably connected to the buffer device 20, so as to drive the buffer device 20 to rotate longitudinally relative to the turntable 101; a second driving unit, which is arranged at the bottom of the turntable 101, so as to drive the turntable 101 to rotate in a plane (which can be understood as lateral rotation).

[0066] The turntable 101 is a U-shaped structure, including a table structure and two side panel structures symmetrically located on both sides of the table structure. For the convenience of description, the two side panel structures are defined as a first side panel structure and a second side panel structure. The buffer device 20 is located in the turntable 101, and the first driving part includes a first driving shaft 1021 and a first driving motor 1022. The first driving shaft 1021 is sequentially arranged in the first side panel structure, the buffer device 20 and the second side panel structure, and rotates relative to the first side panel structure and the second side panel structure. The buffer device 20 is a certain distance away from the table structure of the turntable 101 so that the buffer device 20 can rotate longitudinally downward. The first driving motor 1022 is installed on the first side panel structure and is drivingly connected to the first driving shaft 1021. When the first driving shaft 1021 is driven to rotate, the buffer device 20 is driven to rotate longitudinally.

[0067] The support device 10 also includes a bracket 104 for accommodating and installing a second driving unit. The bracket 104 is located below the turntable 101, and the turntable 101 can be horizontally rotated relative to the bracket 104 under the drive of the second driving unit. The bracket 104 is a frame structure, and the second driving unit is located in the frame structure of the bracket 104. The second driving unit includes a second driving shaft 1031 and a second driving motor 1032. The second driving motor 1032 is located in the bracket 104 and is drivingly connected to the second driving shaft 1031. The second driving shaft 1031 passes through the bracket 104 and is fixedly connected to the bottom of the turntable 101 to drive the turntable 101 to rotate horizontally when rotating. The bracket 104 not only plays the role of supporting and installing the second driving unit, but also plays the role of heightening the turntable 101.

[0068] The support device 10 in this embodiment realizes precise three-dimensional adjustment of the posture of the firearm 200 through the composite degree of freedom design of lateral rotation and longitudinal rotation (combined with the turntable 101 and the dual drive parts), which improves the aiming flexibility compared with the traditional single degree of freedom platform. The split drive structure (the first drive part longitudinally adjusts, the second drive part laterally adjusts) decouples the motion control, avoids torque interference in the composite motion, and improves the response speed.

[0069] Optionally, the buffer device 20 includes a buffer frame 201 , a buffer sliding assembly and a spring assembly 203 .

[0070] The buffer rack 201 passes through the first driving shaft 1021 and is arranged on the turntable 101 of the supporting device 10, and rotates relative to the turntable 101, that is, under the drive of the first driving shaft 1021, it rotates longitudinally relative to the turntable 101, and the bottom is separated from the turntable 101 by a preset distance to reserve space for the longitudinal rotation of the buffer rack 201; the specific data of the "preset distance" here must be determined not only by considering the height of the side plate structure of the turntable 101 and the thickness of the buffer rack 201, but also by considering factors such as the longitudinal rotation angle required for the firearm 200 when in use, and no specific limitation is made here.

[0071] The buffer sliding assembly includes a buffer sliding rail 2021 and a buffer sliding block 2022 that are slidably connected. The buffer sliding rail 2021 is disposed on the buffer frame 201. The buffer sliding block 2022 is connected to the fixture to drive the firearm 200 to slide along the buffer sliding rail 2021. The length direction of the buffer sliding rail 2021 is consistent with the length direction of the firearm 200. In addition, in some embodiments, the buffer sliding assembly is divided into two groups, and the two groups of buffer sliding assemblies are respectively located on both sides of the first driving shaft 1021, and the sliding direction is perpendicular to the axis of the first driving shaft 1021.

[0072] The spring assembly 203 is arranged in the buffer frame 201, and the compression path of the spring assembly 203 is parallel to the sliding path of the buffer sliding assembly. In this embodiment, the spring assembly 203 is located between the buffer frame 201 and the buffer sliding assembly. Exemplarily, the spring assembly 203 is arranged on both sides of the buffer sliding assembly. Optionally, the spring assembly 203 is composed of two buffer springs 2031 and two damping pads 2032 to form a secondary buffer structure with adjustable buffering degree.

[0073] In this embodiment, the buffer path of the spring assembly 203 is parallel to the path of the recoil force generated by the firing of the firearm 200. In this way, it can be ensured that the buffer device 20 can achieve a buffering effect on the firearm 200 when the firearm 200 is fired. In addition, the buffer device 20 and the first drive shaft 1021 passing through the turntable 101 adopt an axial connection structure to ensure that the shooting axis is kept stable during the shock absorption process, and the aiming deviation is controlled within a certain range during continuous shooting.

[0074] In addition, the buffer frame 201 in this embodiment is approximately a box-shaped frame structure, and is hollowed out in areas where there is no need for installation and use, so as to reduce the overall weight of the buffer device 20, thereby reducing the energy consumption of the first driving unit and the second driving unit.

[0075] In some embodiments, the buffer frame 201 is spaced apart from the turntable 101 by a preset distance (e.g., an adjustable spacing of 5-8 mm) through the first drive shaft 1021 to form a longitudinal rotation free space, so that the recoil energy of the firearm 200 is dissipated through a dual path of linear sliding of the buffer sliding assembly and compression of the spring assembly 203, thereby improving the recoil peak attenuation rate compared to the traditional single buffer structure.

[0076] Optionally, from the muzzle to the base of the firearm 200, the clamp device includes a front clamp 40, a middle clamp 50 and a rear clamp 60 connected in sequence, and the middle clamp 50 is fixedly connected to the buffer device 20; wherein the front clamp 40 is installed at the barrel of the firearm 200 and can adjust the angle of the muzzle of the firearm 200, and / or the rear clamp 60 is installed at the base of the firearm 200 and can adjust the angle of the base of the firearm 200. The clamp device can not only fix the firearm, but also adjust the horizontality of the firearm.

[0077] The clamp device adopts a multi-module design of a front clamp 40, a middle clamp 50 and a rear clamp 60 connected in sequence, which matches firearms 200 of different lengths and thicknesses and provides platform compatibility. In addition, the front clamp 40, the middle clamp 50 and the rear clamp 60 connected in sequence can also realize the rapid installation and removal of the firearm 200. Optionally, the contact surface of the clamp device that directly contacts the firearm 200 is provided with an anti-slip coating or a rubber pad to enhance the clamping stability and prevent the firearm 200 from being displaced during shooting.

[0078] The front clamp 40, the middle clamp 50 and the rear clamp 60 are detachably connected to each other. Optionally, the front clamp 40, the middle clamp 50 and the rear clamp 60 are connected to each other by partially overlapping each other. In this way, the length of the clamp as a whole is adjusted by the size of the overlapping structure between each other, so that different models (such as length) of firearms 200 can be adapted, thereby improving the scope of application of the firearm 200 intelligent platform provided by this embodiment.

[0079] The front clamp 40 in this embodiment not only fixes the barrel of the firearm 200, but also serves to adjust the angle of the muzzle of the firearm 200. Similarly, the rear clamp 60 in this embodiment not only fixes the gun mount of the firearm 200, but also adjusts the angle of the gun mount of the firearm 200. In this way, when the support device 10 can drive the firearm 200 to rotate horizontally and vertically to expand the coverage range of the muzzle of the firearm 200, the clamp device and the support device 10 work together to further improve the position accuracy of the muzzle of the firearm 200.

[0080] In addition, the rigid connection between the middle clamp 50 and the buffer device 20 forms a mechanical closed loop, so that the angle adjustment amount of the front / rear clamp 60 can dynamically compensate for the muzzle jump caused by the recoil, which helps to reduce the offset of the impact point during continuous shooting.

[0081] Optionally, the front clamp 40 includes: a first front clamp plate 401, which is perpendicular to the axis of the barrel of the firearm 200; a second front clamp plate 402 is perpendicular to the axis of the barrel of the firearm 200, and together with the first front clamp plate 401, defines a limiting opening 404 for installing the barrel of the firearm 200; wherein the spacing between the first front clamp plate 401 and the second front clamp plate 402 is adjustable to adjust the size of the limiting opening 404 to accommodate firearms of different sizes.

[0082] The first front splint 401 and the second front splint 402 are detachably connected, and one end of the two is connected by a fastener (such as a screw or a bolt), and the other end is first pre-tightened by a pull ring buckle structure, and then passes through the first front splint 401 and the second front splint 402 in sequence through a knob-type fine-tuning mechanism. The knob-type fine-tuning mechanism is rotated to achieve continued locking of the first front splint 401 and the second front splint 402, and the size of the limit opening 404 can be fine-tuned to better clamp and fix the barrel of the firearm 200.

[0083] Optionally, a V-shaped groove is configured on the side of the first front splint 401 facing the second front splint 402, and a V-shaped groove is configured on the side of the second front splint 402 facing the first front splint 401. The V-shaped groove of the first front splint 401 and the V-shaped groove of the second front splint 402 constitute the above-mentioned limiting opening 404, and the barrel of the firearm 200 passes through and is embedded in the limiting opening 404.

[0084] Optionally, a concave groove is further configured on the side of the first front plate 401 facing the second front plate 402 , and the second front plate 402 is embedded in the concave groove to further define the relative positions of the first front plate 401 and the second front plate 402 .

[0085] Optionally, the second front clamping plate 402 is configured with a mounting hole 4021 whose axis is parallel to the axis of the gun barrel, and the mounting hole 4021 is used to fix and place the laser aiming device 702, and the side of the second front clamping plate 402 is also configured with two through slots 4022 connected with the mounting hole 4021, and the through slots 4022 are used to install the fine-tuning motor 703, and the motor shaft of the fine-tuning motor 703 passes through the through slots 4022 and is connected to the laser aiming device 702, so as to fine-tune the position of the laser aiming device 702. Preferably, the two through slots 4022 on both sides of the second front clamping plate 402 are relatively vertically arranged.

[0086] Optionally, the front clamp 40 further includes: a third front clamp 403, which is connected to the middle clamp 50, and the length of the front clamp 40 and the middle clamp 50 can be adjusted by the third front clamp 403. In this embodiment, the second front clamp 402 and the third front clamp 403 are detachably connected.

[0087] Optionally, the laser aiming device 702 is detachably connected to the third front clamping plate 403 via the first connecting member 405. This helps to improve the stability of the installation of the laser aiming device 702. The laser aiming device 702 can rotate relative to the first connecting member 405 to adapt to the fine adjustment of the position of the laser aiming device 702.

[0088] Optionally, the rear clamp 60 includes: a first rear clamp 601, which is used to connect to the middle clamp 50; a second rear clamp 602, which is L-shaped, with a vertical arm connected to the first rear clamp 601, and a horizontal arm located at the bottom of the gun mount of the firearm 200 and in conflict with the gun mount; a third rear clamp 603, which is L-shaped, with a horizontal arm connected to the first rear clamp 601, and a vertical arm and a vertical arm of the second rear clamp 602 are respectively located on both sides of the gun mount; wherein, the size of the accommodating cavity 605 enclosed by the second rear clamp 602 and the third rear clamp 603 is adjustable to adapt to gun mounts of different sizes.

[0089] In this embodiment, the first rear clamp 601 and the second rear clamp 602 of the rear clamp 60 are detachably connected (e.g., connected by bolts), and the position of the second rear clamp can be adjusted up and down to adapt to different types of firearms. The vertical arm of the second rear clamp is connected and fixed to the first rear clamp through a waist hole structure with bolts, and the position can be adjusted up and down.

[0090] The first rear clamping plate 601 and the third rear clamping plate 603 are detachably connected via the second connecting piece 604, and the third rear clamping plate can be longitudinally rotated relative to the second connecting piece to enlarge the accommodating cavity, thereby facilitating the placement of the gun mount in the accommodating cavity. The second connecting piece is arranged parallel to the vertical arm of the second rear clamping plate, and its installation position can be adjusted up and down relative to the first rear clamping plate.

[0091] The third rear clamping plate and the second connecting member are rotated through the rotating shaft, and a knob-type locking bolt is provided between the third rear clamping plate 603 and the second connecting member 604. The locking bolt passes through the second connecting member and locks the third rear clamping plate to prevent the third rear clamping plate from rotating and ensure that the cross arm of the third rear clamping plate 603 conflicts with the top of the gun seat of the firearm 200, that is, the cross arm of the third rear clamping plate 603 and the cross arm of the second rear clamping plate 602 clamp and fix the top and bottom of the gun seat of the firearm 200. The vertical arm of the third rear clamping plate 603 and the first rear clamping plate 601 respectively conflict with the two sides of the gun seat of the firearm 200 to clamp and fix the two side portions of the gun seat of the firearm 200.

[0092] It should be noted that the connection position between the second rear clamp plate 602 and the first rear clamp plate 601 is adjustable, and the connection position between the third rear clamp plate 603 and the first rear clamp plate 601 through the second connecting piece 604 is also adjustable. In this way, the size of the accommodating cavity 605 enclosed by the second rear clamp plate 602 and the third rear clamp plate 603 is adjustable to adapt to gun mounts of different sizes.

[0093] Optionally, the middle clamp 50 includes: a first middle clamp plate 501, both ends of which are respectively connected to the front clamp 40 and the rear clamp 60, and the connection position is adjustable to adjust the overall length of the clamp device.

[0094] In this embodiment, the first middle clamp 501 and the third front clamp 403 of the front clamp 40 are detachably connected. Exemplarily, the first middle clamp 501 and the third front clamp 403 are respectively provided with a plurality of threaded holes arranged along a preset direction, and different threaded holes in the first middle clamp 501 are connected with different threaded holes in the third front clamp 403 by bolts, so as to achieve the purpose of adjustable connection position. Bolts are provided in the plurality of corresponding threaded holes, so that the connection firmness and stability of the first middle clamp 501 and the third front clamp 403 can be improved.

[0095] Similarly, the first middle clamping plate 501 and the first rear clamping plate 601 of the rear clamp 60 are detachably connected. Exemplarily, the first middle clamping plate 501 and the first rear clamping plate 601 are respectively provided with a plurality of threaded holes arranged along a preset direction, and different threaded holes in the first middle clamping plate 501 are connected with different threaded holes in the first rear clamping plate 601 by bolts, so as to achieve the purpose of adjustable connection position. Bolts are provided in the plurality of corresponding threaded holes, so that the connection firmness and stability of the first middle clamping plate 501 and the first rear clamping plate 601 can be improved.

[0096] Optionally, the middle clamp 50 further includes a second middle clamp plate 502, which is located below the first middle clamp plate 501 and is detachably connected to the first middle clamp plate 501. The middle clamp 50 is connected to the buffer slider 2022 of the buffer device 20 via the second middle clamp plate 502.

[0097] Optionally, when the front clamp 40 / rear clamp 60 adjusts its angle, the piezoelectric mass sensor built into the middle clamp 50 provides real-time feedback on the center of gravity offset, and links the counterweight motor for automatic balancing, ensuring that the center of gravity offset of the platform under different gun types meets the requirements.

[0098] Optionally, a pin is provided on the first middle clamp plate / the second middle clamp plate of the middle clamp to pass through the gun body, so as to further improve the fixing effect of the middle clamp and the firearm, especially during the assembly process, the assembly efficiency of the middle clamp and the firearm can be improved by positioning the pin, and during use, the connection stability between the two can be improved.

[0099] Optionally, the measuring device includes a multiple aiming device 701 and a laser aiming device 702 .

[0100] The multi-fold mirror aiming device is provided on the firearm 200 to measure the distance to the target object; the target object is measured and aimed at by means of the multi-fold mirror. The laser aiming device 702 is provided on the fixture device and is located at the muzzle of the firearm 200 to cooperate with the muzzle to aim at the target object; the target object is aimed at by means of laser, and the shooting accuracy is improved by cooperating with the muzzle. The positions of the multi-fold mirror aiming device and the laser aiming device 702 can be fine-tuned.

[0101] This embodiment forms a cross-verification of optical ranging and laser ranging through the coordinated configuration of the multi-power mirror aiming device and the laser aiming device 702, which effectively reduces the comprehensive ranging error rate. The real-time position comparison between the cross-reticle plate of the multi-power mirror and the laser spot can automatically correct the atmospheric refraction deviation, especially in rainy and foggy environments, to maintain the effective ranging distance at more than 85% of the design value.

[0102] The adjustable structure of the dual devices of the multi-magnification aiming device and the laser aiming device 702 in this embodiment supports adaptation to different firearm 200 models, improves installation compatibility, and shortens calibration time.

[0103] Optionally, the firing device 80 includes a first toggle assembly for toggling the trigger and a second toggle assembly for toggling the safety bolt. The firing device 80 of this embodiment is installed on the middle clamp 50 (such as the first middle clamp plate 501) to achieve fixation and ensure the consistency of the firing device 80 and the firearm 200.

[0104] The first toggle assembly includes a lever 8011 inserted into the trigger of the firearm 200, and a first firing drive unit 801 connected to the lever 8011. The first firing drive unit 801 drives the lever 8011 to move, so as to drive the trigger of the firearm 200 to move and fire. The first firing drive unit 801 includes a first firing drive motor and a first firing transmission assembly. The first firing drive motor drives the lever 8011 to rotate through the first firing transmission assembly, thereby pulling the trigger and achieving the purpose of shooting. Optionally, the first firing transmission assembly is a gear transmission mechanism.

[0105] The second toggle assembly includes a toggle block 8022 matched with the safety bolt of the firearm 200, and a second firing drive unit 802 connected to the toggle block 8022. The second firing drive unit 802 drives the toggle block 8022 to move, so as to switch the safety bolt of the firearm 200. The second firing drive unit 802 includes a second firing drive motor and a second firing transmission assembly. The second firing drive motor drives the toggle block 8022 to rotate through the second firing transmission assembly, thereby toggling the safety bolt, opening / closing the safety bolt of the firearm 200, and preparing for shooting. Optionally, the second firing transmission assembly is a gear transmission mechanism. Optionally, the toggle block 8022 matches the safety bolt.

[0106] In this embodiment, the first toggle assembly (trigger drive) and the second toggle assembly (safety lock control) are logically interlocked through an electronic control unit (ECU), forcing the second firing drive unit 802 to release the safety lock before the first firing drive unit 801 can drive the trigger, thereby reducing the probability of false triggering.

[0107] Optionally, a pressure sensor is integrated at the end of the lever 8011 to provide real-time feedback on the trigger resistance and automatically adjust the driving force, so that the difference in the completion time of the firing action of different gun types is controlled within a specified range.

[0108] Combination Figures 1 to 18 As shown, the embodiment of the present disclosure also provides a control method for a firearm 200 intelligent platform with two degrees of freedom, characterized in that the firearm 200 platform includes an aiming algorithm module, a striking algorithm module and an ammunition replacement algorithm module;

[0109] The control method comprises:

[0110] S01, determining a target, and the aiming algorithm module calibrates the target, and dynamically aims and / or statically aims;

[0111] S02, in response to the confirmation signal of the aiming algorithm module, the attack algorithm module determines the shooting mode according to the type of the target;

[0112] S03. According to the shooting mode, the ammunition replacement algorithm module determines the ammunition consumption and task requirements, and determines whether to trigger the ammunition replacement operation.

[0113] The control method for the firearm 200 intelligent platform with two degrees of freedom provided by the disclosed embodiment is adopted, and the aiming algorithm module, the striking algorithm module and the ammunition quantity replacement algorithm module are coordinated and optimized, which not only improves the aiming accuracy, but also can automatically select the shooting mode according to the target type to improve the hit rate; in addition, the ammunition quantity replacement algorithm module autonomously performs ammunition replacement judgment through the remaining ammunition quantity monitoring and task priority evaluation, avoids task interruption, and improves the task completion rate. The intelligent algorithm and the structural device are coordinated to form two types of autonomous and manual remote control, achieving the purpose of combining a high degree of intelligence with remote control.

[0114] Exemplarily, when the target type is a high-speed moving armed vehicle, the aiming algorithm module starts the multi-mirror aiming device and the laser aiming device 702, completes the target feature extraction, and generates a ballistic compensation scheme in combination with the wind speed sensor data. The dynamic aiming algorithm predicts the target motion trajectory and continuously outputs aiming correction instructions. The strike algorithm module identifies the target as an armored vehicle and automatically selects the armor-piercing continuous firing mode. The firing device 80 and the support device 10 are coordinated to complete the muzzle fine-tuning to ensure that the spread of the 5-round impact point is ≤0.4MOA. The ammunition replacement algorithm monitors the remaining ammunition (initial 30 rounds → 25 rounds after shooting), and determines the triggering of ammunition replacement in combination with the task requirements (need to continuously suppress 3 targets): the magazine disassembly and assembly device 90 completes the unloading of the empty magazine and the loading of the new magazine (high-explosive bomb) within 1.2 seconds; RFID verifies the type of ammunition.

[0115] Optionally, the aiming algorithm module includes a multiple-scope aiming device and a laser aiming device 702; the aiming algorithm module calibrates the target including: obtaining a clear picture by automatically adjusting the multiple-scope aiming device during long-range shooting; conducting a first test shot and obtaining the impact point position; and synchronously adjusting the alignment relationship between the multiple-scope aiming device and the laser aiming device 702 and the aiming point of the target according to the impact point position.

[0116] The multiple-scope aiming device and the laser aiming device 702 are integrated through algorithms to achieve the following during long-range shooting: automatically adjust the focal length of the multiple-scope to obtain clear imaging; the laser aiming device 702 synchronously calibrates the target reference point to reduce the initial aiming error. The first test firing is carried out and the impact point position is obtained, which provides a practical basis for subsequent aiming adjustments. Based on the impact point position, the alignment relationship between the multiple-scope aiming device and the laser aiming device 702 and the target aiming point is synchronously adjusted. Compared with the traditional manual multiple adjustments, this feedback-based calibration method is more efficient and accurate, shortens the calibration time, and improves the overall shooting efficiency. The combination of the multiple-scope aiming device and the laser aiming device 702 enables the firearm 200 to have more suitable aiming options in different environments and shooting scenarios. For example, in a dark environment, the laser aiming device 702 can assist the multiple-scope aiming device to lock the target more quickly and adapt to various combat or shooting needs.

[0117] Optionally, the aiming algorithm module calibrates the target and further includes: while synchronously adjusting the alignment relationship between the multi-magnification aiming device and the laser aiming device 702 and the aiming point of the target according to the impact point position, performing a secondary test firing verification based on the adjusted parameters.

[0118] After the first test firing and adjustment of the aiming device, a second test firing verification based on the adjusted parameters can reconfirm the accuracy of the aiming. This process can promptly discover and correct the slight deviations that may exist in the first adjustment, significantly improving the probability of hitting the target in the final shot, especially in scenarios with extremely high shooting accuracy requirements, such as sniper missions, high-precision shooting competitions, etc. The second test firing verification is equivalent to adding an "insurance" to the aiming calibration process. The effectiveness of the adjustment parameters is verified through actual shooting results, avoiding system failures or calculation errors that may occur due to a single adjustment. If the second test firing does not hit, the system can quickly identify the problem and recalibrate, ensuring the reliability of the entire shooting process and ensuring that it can function normally at critical moments. The data generated by the second test firing, including the location of the impact point, shooting parameters, etc., can provide a richer reference basis for subsequent shooting. For continuous shooting tasks in the same environment, these data can be used to optimize the aiming algorithm, so that the system can complete calibration faster and more accurately, and improve the overall shooting performance.

[0119] Optionally, the aiming algorithm module dynamically aims at the target including: establishing a motion equation based on target speed, acceleration and distance parameters to predict the target motion trajectory; and generating an advance aiming instruction according to the predicted trajectory.

[0120] The aiming algorithm module establishes motion equations based on target speed, acceleration and distance parameters to accurately predict the target's motion trajectory, allowing the weapon system (or equipment with aiming function) to know the target's movement in advance. It is no longer limited to aiming at the target's current position, but aims at the target's future position. This greatly improves the accuracy of strikes on dynamic targets and effectively reduces aiming errors caused by target movement, thereby improving the mission success rate.

[0121] This embodiment can adapt to targets in various different motion states, whether it is a target galloping at high speed, moving at variable speed or moving in a complex curve, it can quickly establish a motion equation that fits the actual motion of the target by analyzing its speed and acceleration and monitoring the distance, adjust the aiming strategy in real time, and flexibly respond to the ever-changing target dynamics on the battlefield (or in the operation scene), ensuring that effective aiming capabilities are always maintained in a complex and changeable environment. And in a very short time, the target motion trajectory is predicted based on the established motion equation, and the advance aiming instruction is quickly generated based on this, which greatly shortens the time interval from the dynamic change of the target to the system making the aiming adjustment, ensuring that the weapon system (or equipment) can keep up with the target rhythm in time, implement precise strikes on the target at the first time, and do not give the target the opportunity to escape or change the situation, especially in a high-tempo, race-against-the-clock confrontation scene, to win a key combat advantage for the user.

[0122] In addition, operators do not need to rely on experience to manually estimate the dynamic direction of the target and make difficult manual aiming adjustments. The aiming algorithm module automatically completes the complex target motion analysis and aiming command generation process, greatly simplifying the aiming operation process, allowing operators to focus more on other key tasks such as tactical decision-making and environmental monitoring, which not only reduces the workload of operators, but also reduces the risk of aiming failure due to human judgment errors.

[0123] Optionally, the state variables of the predicted target motion trajectory include at least the target three-dimensional coordinates, a velocity vector and an acceleration vector.

[0124] In this way, by incorporating the target's three-dimensional coordinates into the state variables for predicting the target's motion trajectory, the system can break through the limitations of traditional two-dimensional plane aiming and achieve accurate positioning and continuous tracking of the target in three-dimensional space. Whether the target is flying in the air, moving on the ground, or sailing on the sea, no matter how complex and changeable its motion trajectory is, involving changes in dimensions such as height and depth, it can be accurately captured, ensuring that the aiming system can grasp the target's accurate position information at any time, providing a solid foundation for subsequent precision strikes or interactive operations.

[0125] In addition, the velocity vector, as a key state variable, enables the system to understand the speed and direction of the target in real time. Combined with the acceleration vector, the system can further have a keen perception of the target's speed and direction changes. When the target suddenly accelerates, decelerates, turns, or performs complex maneuvers, the system can quickly adjust the prediction model based on these dynamically changing vector information, dynamically update the target's motion trajectory, and always lock the target tightly. The adaptability is far superior to ordinary aiming solutions based only on static or single-dimensional motion parameters.

[0126] This embodiment combines three-dimensional coordinates, velocity vectors and acceleration vectors to predict trajectories, giving the system a forward-looking vision. It can predict the position and direction of the target in the future, and plan the aiming path and strategy in advance, rather than passively waiting for the target to move before reacting. This not only significantly improves the response speed and reduces the aiming deviation caused by delayed response, but also arranges the aiming sequence and resource allocation in an orderly manner when facing multiple fast-moving targets, greatly improving the overall operating efficiency. The coordinated use of multi-dimensional state variables builds a more robust trajectory prediction system. Compared with methods that rely on a single or a small number of parameters, even if some sensor data fluctuates briefly, errors or is lost (such as electromagnetic interference affecting speed measurement, occlusion causing a decrease in coordinate positioning accuracy, etc.), the system can still rely on other complete variable information to perform reasonable trajectory calculation and correction, ensuring continuous and accurate prediction of the target's motion trajectory, maintaining the reliable operation of the entire aiming or tracking process, and reducing the risk of system failure.

[0127] Optionally, the firearm 200 platform includes a supporting device 10 for supporting and driving the firearm 200 to rotate horizontally and vertically, and the aiming algorithm module performs static aiming on the target including: detecting the rotation speed and tilt angle of the supporting device 10, determining the deviation from the target position based on the rotation angle data and the tilt angle data, and generating correction instructions.

[0128] By detecting the rotation speed and tilt angle of the support device 10, key data is provided for accurately grasping the real-time posture of the firearm 200 platform. Whether in a relatively stable shooting position arrangement or in response to complex static scenes such as undulating terrain and temporary non-standard shooting platforms, the system can keenly capture even the slightest angle change of the firearm 200, thereby accurately positioning the actual direction of the firearm 200 relative to the target, greatly avoiding the aiming deviation caused by the inaccurate initial state of the platform, and ensuring high-precision positioning at the start of shooting. And based on the obtained rotation angle data and tilt angle data, the deviation from the target position relationship is quickly and accurately determined. This process is like installing a "smart eagle eye" on the firearm 200. In the static aiming process, once the support device 10 is slightly tilted due to external factors, such as ground subsidence, or the firearm 200 platform is accidentally rotated and offset due to personnel operation, the system can detect it at the first time and immediately generate correction instructions, so that the firearm 200 always maintains accurate pointing to the target, effectively improving the ability to maintain aiming accuracy for a long time in static shooting scenes.

[0129] The support device 10 is the bearing base of the firearm 200, and its working conditions are complex and changeable. The aiming algorithm module adopted in this embodiment fully considers the various posture adjustment requirements that may appear in the support device 10 under different environments, dynamically compensates for the aiming deviation caused by environmental factors, and greatly broadens the effective use range of the firearm 200 in various static battlefields or working environments.

[0130] In the scenario of multiple firearms 200 units cooperating in this embodiment, each firearm 200 platform performs independent aiming correction based on the angle data fed back by its own support device 10, which can ensure the consistency and accuracy of the aiming direction of the entire combat unit. The problem of group firepower dispersion caused by the accumulation of posture differences of individual platforms is avoided, so that when multiple firearms 200 strike in coordination, the firepower is concentrated and the target area is accurately covered, which significantly improves the firepower efficiency and coordination stability of team operations.

[0131] Optionally, the strike algorithm module includes a firing device 80, which is used to open the safety bolt of the firearm 200 and pull the trigger of the firearm 200; determining the shooting method according to the type of target includes: distinguishing biological targets from non-biological targets through image analysis, issuing "capture" or "kill" instructions according to different target types, and calling corresponding shooting density parameters; controlling the action of the firing device 80 according to the selected shooting density parameters to control the continuous firing frequency and / or the amount of bullets fired.

[0132] By accurately distinguishing biological targets from non-biological targets through image analysis, the weapon system is endowed with intelligent tactical decision-making capabilities. In law enforcement, security and other scenarios, facing complex and changing on-site situations, the system can quickly determine the nature of the target. When a biological target is identified and the mission requirement is to "capture", it issues corresponding instructions to avoid unnecessary casualties caused by excessive use of force; and when encountering dangerous hostile biological targets that need to be "killed", it can decisively switch combat modes to ensure a balance between public safety and mission execution, greatly improving the accuracy and adaptability of responding to different scenarios.

[0133] The corresponding shooting density parameters are called according to the target type, fully considering the characteristics and requirements of different targets. For biological targets that need to be captured alive, lower shooting density parameters are selected to control the burst frequency and the amount of bullets fired, which can not only achieve the purpose of deterrence and control of target actions, but also minimize the damage to the target's body and increase the success rate of capture; on the contrary, for aggressive targets that need to be eliminated immediately, higher shooting density is used to ensure the intensity of fire suppression and quickly achieve combat objectives, realizing a perfect match between shooting strategy and target disposal requirements.

[0134] The strike algorithm module automates the complex operations of opening the safety bolt and pulling the trigger through the firing device 80. The operator does not need to manually perform high-risk safety operations and delicate trigger pulling actions, reducing the risk of accidental discharge caused by factors such as tension and misoperation, while simplifying the shooting process. Especially in emergency operations or high-intensity tasks, the operator can focus more on target monitoring and battlefield situation awareness, improving overall combat efficiency and safety.

[0135] The firing device 80 is precisely controlled according to the selected firing density parameters to ensure that every bullet fired serves the mission objective. In scenarios where continuous fire suppression is required, a reasonable burst frequency can maintain a stable attack posture and not give the enemy a chance to breathe; and the precisely controlled firing volume avoids ammunition waste and makes efficient use of limited ammunition resources. Whether in urban street fighting, border defense or anti-terrorism operations, it can comprehensively improve combat effectiveness and achieve mission objectives.

[0136] In some embodiments, in a multi-gun 200 coordinated combat scenario, the strike algorithm modules of each gun 200 operate according to a unified target identification and shooting density parameter allocation standard, which can ensure that the entire combat team makes a coordinated response to different targets. For example, when facing a group target, some guns 200 execute the "capture" command, and some are responsible for "shooting" dangerous elements. Through orderly shooting density control, a clear division of firepower and tacit tactical coordination are achieved, which significantly improves the collaborative efficiency and mission success rate of team operations.

[0137] Optionally, the ammunition quantity and bullet replacement algorithm module includes an ammunition replacement device; the determination of ammunition consumption and task requirements, and judgment of whether to trigger an ammunition replacement operation include: real-time statistics of the number of ammunition fired, storage of ammunition thresholds corresponding to different shooting methods, and triggering the operation of replacing the magazine by the ammunition replacement device when the ammunition remaining is lower than the current corresponding ammunition threshold.

[0138] By counting the number of fired ammunition in real time, the system can accurately grasp the ammunition consumption of the firearm 200 during combat. Whether it is a battlefield with fierce fighting or a high-risk law enforcement scenario, once the remaining ammunition is lower than the ammunition threshold corresponding to the current shooting method, the ammunition replacement device can be quickly triggered to perform the ammunition replacement operation, seamlessly connecting subsequent shooting tasks, avoiding firepower interruption due to ammunition exhaustion, giving the user a continuous and stable attack capability, and ensuring that the opportunity is not missed at the critical moment.

[0139] The storage of ammunition thresholds corresponding to different shooting methods fully takes into account the needs of diverse shooting scenarios. For example, in sniper missions that require high-precision single-point shooting, the corresponding ammunition threshold can be set relatively low to remind timely reloading and ensure that every bullet is accurate and effective; in fully automatic shooting scenarios with fire suppression, the ammunition threshold is increased accordingly to adapt to the high-intensity ammunition consumption rhythm, so that the shooting strategy and ammunition supply rhythm are perfectly matched, improving overall combat effectiveness.

[0140] The ammunition replacement device integrated in the ammunition replacement algorithm module automates the originally complicated and dangerous manual ammunition replacement process. Operators do not need to be distracted to judge when to replace ammunition or to operate the ammunition replacement steps in a hurry, which reduces the risk of ammunition replacement errors, delays in fighter jets, and even exposing their own positions due to nervousness. At the same time, it greatly simplifies the combat process, allowing them to focus more on target tracking and battlefield situation control, enhancing actual combat safety and efficiency.

[0141] Accurate ammunition statistics and intelligent triggering and reloading mechanisms effectively prevent problems such as overheating of the barrel and increased wear of parts due to excessive shooting. Timely replacement of magazines allows the firearm 200 to operate under reasonable working conditions, extending the service life of the firearm 200 and reducing the failure rate. Especially for equipment that is used in long-term high-intensity combat or frequently performs tasks, this self-protection and maintenance mechanism ensures that the firearm 200 is always in good combat status and improves equipment reliability.

[0142] In some embodiments, in a multi-firearm 200 coordinated combat scenario, each firearm 200 operates independently according to its own ammunition reloading algorithm module. When a firearm 200 triggers reloading, other firearms 200 can continue to maintain firepower output and maintain the overall attack posture. This avoids firepower vacuum caused by reloading of individual firearms 200, affecting the team combat effect, ensuring the continuity and stability of team firepower coordination, and improving the success rate of coordinated combat.

[0143] The embodiments of the present disclosure also provide a firearm intelligent platform with two degrees of freedom, comprising: one or more processors; and a memory storing computer program instructions, which, when executed, cause the processor to execute the steps of a control method for a firearm intelligent platform with two degrees of freedom as provided in any of the aforementioned embodiments.

[0144] The embodiment of the present disclosure provides a firearm intelligent platform with two degrees of freedom, further comprising a processor and a memory. Optionally, the device may further comprise a communication interface and a bus. The processor, the communication interface, and the memory may communicate with each other via the bus. The communication interface may be used for information transmission. The processor may call the logic instructions in the memory to execute the control method for the firearm intelligent platform with two degrees of freedom of the above embodiment.

[0145] The embodiments of the present disclosure also provide a computer-readable medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the control method for a firearm intelligent platform with two degrees of freedom provided in any of the aforementioned embodiments are implemented.

[0146] An embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the above-mentioned control method for a firearm intelligent platform with two degrees of freedom.

[0147] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes, or a transient storage medium.

[0148] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent possible changes only. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or including refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the presence of other identical elements in the process, method or device including the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, the relevant parts may refer to the description of the method part.

[0149] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods for each specific application to implement the described functions, but such implementations should not be considered to exceed the scope of the embodiments of the present disclosure. The technicians may clearly understand that, for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0150] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0151] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, 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, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

[0152] The above description and the accompanying drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless expressly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims, and the above embodiments should be regarded as exemplary and non-restrictive.

Claims

1. A firearm intelligent platform with two degrees of freedom, characterized in that: include: A supporting device, used to support and drive the firearm to rotate horizontally and vertically; The buffer device is provided on the supporting device and is used to buffer the recoil force of the firearm when firing at a secondary level; A clamp device, connected to the buffer device and located above the buffer device, for fixing the firearm; A measuring device, mounted on a firearm, used to measure and aim the distance between the firearm and the target; The firing device is arranged on the fixture and is movably connected to the firearm to open the safety of the firearm and push the trigger of the firearm to complete the firing.

2. The firearm intelligent platform according to claim 1, characterized in that: Also includes: The cartridge changing device comprises a cartridge disassembling and assembling device and a cartridge box, wherein the cartridge disassembling and assembling device is arranged on the clamp device, and the cartridge box is arranged on the side of the supporting device; The firearm is driven to rotate by the supporting device so that the magazine of the firearm is aligned with the magazine box, and the magazine is replaced and installed under the action of the magazine disassembling and installing device.

3. The firearm intelligent platform according to claim 1, characterized in that: The support device includes: A turntable, rotatably connected to the buffer device; The first driving part is arranged on the side of the turntable and is drivingly connected to the buffer device to drive the buffer device to rotate longitudinally relative to the turntable; The second driving part is arranged at the bottom of the turntable and is used for driving the turntable to rotate in a plane direction.

4. The firearm intelligent platform according to claim 1, characterized in that: The buffer device includes: The buffer rack is arranged on the turntable of the supporting device, and the bottom is spaced apart from the turntable by a preset distance to reserve a movable space for the buffer rack to rotate longitudinally; The buffer slide assembly comprises a buffer slide rail and a buffer slide block which are slidably connected, wherein the buffer slide rail is arranged on the buffer frame; the buffer slide block is connected to the clamp device to drive the firearm to slide along the buffer slide rail; The spring component is arranged in the buffer frame, and the compression path of the spring component is parallel to the sliding path of the buffer sliding component.

5. The firearm intelligent platform according to claim 1, characterized in that: From the muzzle of the firearm to the gun seat, the clamp device includes a front clamp, a middle clamp and a rear clamp connected in sequence, and the middle clamp is fixedly connected to the buffer device; The front clamp is installed on the barrel of the firearm, and / or the rear clamp is installed on the gun seat of the firearm to adjust the horizontality of the firearm.

6. The firearm intelligent platform according to claim 5, characterized in that: Front clamp includes: First front splint; The second front clamping plate and the first front clamping plate define a limiting opening for mounting a gun barrel of the firearm; The distance between the first front clamping plate and the second front clamping plate is adjustable to adjust the size of the limit opening to adapt to firearms of different sizes.

7. The firearm intelligent platform according to claim 5, characterized in that: The rear clamp includes: A first rear clamp, used to connect with the middle clamp; The second rear clamping plate is L-shaped, the vertical arm is connected to the first rear clamping plate, and the horizontal arm is located at the bottom of the gun seat and contacts the gun seat; The third rear clamping plate is L-shaped, with a horizontal arm connected to the first rear clamping plate and a vertical arm and a vertical arm of the second rear clamping plate located on both sides of the gun mount; The size of the accommodating cavity defined by the second rear clamping plate and the third rear clamping plate is adjustable to fit gun mounts of different sizes.

8. The firearm intelligent platform according to claim 5, characterized in that: The middle fixture includes: The first middle clamp has two ends connected to the front clamp and the rear clamp respectively, and the connection position is adjustable to adjust the overall length of the clamp device.

9. The firearm intelligent platform according to claim 1, characterized in that: The measuring device includes: A multi-magnification aiming device, which is installed on a firearm to measure the distance to a target object; A laser aiming device is provided on the fixture device and is located at the muzzle of the firearm to cooperate with the muzzle to aim at the target object; Among them, the positions of the multi-scope aiming device and the laser aiming device can be fine-tuned.

10. The firearm intelligent platform according to any one of claims 1 to 9, characterized in that: The firing device includes: The first toggle assembly includes a toggle rod inserted into the trigger of the firearm, and a first firing drive unit connected to the toggle rod, the first firing drive unit drives the toggle rod to move, so as to drive the firearm trigger to move and fire; The second toggle assembly includes a toggle block matched with the firearm safety bolt, and a second firing drive unit connected to the toggle block. The second firing drive unit drives the toggle block to switch the firearm safety bolt.

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