Image acquisition and processing device and virtuality and reality combined training system

Abstract

The invention discloses an image acquisition and processing device and a virtual-real combined training system, and relates to the technical field of image acquisition and processing. The image acquisition and processing device comprises a main body and a mounting seat, the main body comprises a shell, and the image acquisition and processing device further comprises an image acquisition module arranged in the shell. According to the image acquisition and processing device and the virtuality and reality combined training system, a humanoid target can be sealed and protected, the influence of impurities such as weeds and water spots can be avoided, meanwhile, the humanoid target can be cleaned, and air draft and dust collection can be performed, so that clothes are more tidy, the cleaning effect on the clothes of the humanoid target is better, and the use effect and the service life of the clothes are ensured; after a hit electric signal is received, the audible and visual alarm and the hollow cover can be moved to the highest position, meanwhile, weeds and the like are blown away through high-pressure air sprayed out of air blowing holes, blocking is avoided, the high-pressure air blown out of an air blowing pipe rapidly blows color powder in a storage tank upwards, the reminding effect is better, and then the training effect is improved.

Description

Technical Field

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

[0002] The IMU module is integrated with the image acquisition and processing device, and a loose coupling method is adopted to complement the offset. It is expected to greatly improve the acquisition accuracy. Among them, the IMU provides the general shooting angle information to assist in determining the accurate aiming line. The image acquisition and processing device has functions such as daytime CMOS imaging observation and aiming, nighttime infrared thermal imaging observation and aiming, personnel target detection and recognition, and ballistic calculation. It matches the digital training system with different color crosshairs as the aiming reference and the simulated projectile reference. The aiming reference is the aiming point, represented by a red crosshair, indicating the theoretical observation and aiming point; the simulated projectile reference is the projectile impact point, represented by a green crosshair, indicating the impact point of the simulated shooting and hitting the target. At the same time, the IMU module 105 is integrated in the image acquisition and processing device. The virtual-reality combined training system consists of an image acquisition and processing device, a cloud engagement simulation engine module, a mobile tracked humanoid target terminal module, etc. When in use, the image acquisition and processing device is installed and fixed on the firearm, and the virtual-reality combined shooting practice training can be realized.

[0003] However, when the existing image acquisition and processing device and the virtual-reality combined training system are in use, during the movement of the mobile tracked humanoid target terminal module and during the operation of hiding, showing, rising, and falling, impurities such as weeds and water stains are likely to adhere to the surface of the humanoid target, affecting its use effect and service life, and further affecting the training effect; after receiving the hit electrical signal, the main control module will control the sound and light alarm and the smoke module to work, generating sound, light, and smoke display characteristics to simulate the hit effect. However, in order to avoid the influence of shooting practice, the sound and light alarm and the smoke module are usually set at a lower position, which is easily blocked by weeds, etc. Moreover, the rising speed of the smoke module is slow, thus affecting the display effect and further affecting the training effect. Summary of the Invention

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

[0005] To achieve the above purpose, the present invention provides the following technical solution: An image acquisition and processing device, including a main body and a mounting base, and the main body includes a housing, and further includes: An image acquisition module, arranged in the housing, for acquiring image data; An IMU module, arranged in the housing, for measuring the motion state of an object; A data processing module, arranged in the housing, for processing the acquired data; A data storage module, disposed within the housing, for storing the processed data; A data transmission module, disposed within the housing, for transmitting the processed data; A power supply module, disposed within the housing, for supplying power to each module.

[0006] Preferably, the mounting base includes a first clamping block, and the first clamping block is fixed to the bottom of the housing by a plurality of first bolts. A V-shaped groove is formed in the side wall of the first clamping block, and a first inclined surface is provided on the side wall of the first clamping block. A threaded rod is fixedly inserted into the side wall of the first clamping block, and a knob is threadedly connected to the side wall of the threaded rod. A U-shaped second clamping block is sleeved on the side wall of the threaded rod, and the second clamping block can slide on the first inclined surface. A mounting block is detachably connected between the first clamping block and the second clamping block, and a first V-shaped plate is fixedly connected to the bottom of the mounting block. A second V-shaped plate is connected to the lower part of the first V-shaped plate by a plurality of second bolts.

[0007] A virtual-reality combined training system includes an image acquisition and processing device, and further includes a cloud combat simulation engine module and a mobile tracked humanoid target terminal module. The mobile tracked humanoid target terminal module includes a tracked mobile vehicle, and a rotating disk is rotatably connected to the top of the tracked mobile vehicle. A first moving disk is connected to the top of the rotating disk through a first lifting module. A rotating rod is rotatably connected to the top of the first moving disk through a rotating module, and a first moving plate is fixedly connected to the upper end of the rotating rod. A moving frame is connected to the side wall of the first moving plate through a first lifting mechanism, and a telescopic cover is fixedly connected between the moving frame and the first moving plate. A cover plate is rotatably connected to the top of the moving frame through a rotating mechanism, and a second moving disk is connected to the lower part of the tracked mobile vehicle through a second lifting module. A support rod is fixedly connected to the top of the second moving disk, and a hollow cover is fixedly connected to the upper end of the support rod. A plurality of blow holes arranged in an array are formed in the side wall of the hollow cover, and a blow pipe is fixedly connected to the top of the hollow cover. An audible and visual alarm is fixedly connected to the top of the hollow cover. A feeding mechanism for feeding colored powder above the blow pipe is arranged above the tracked mobile vehicle, and a cleaning mechanism for cleaning the humanoid target is arranged within the moving frame.

[0008] Preferably, the cleaning mechanism includes a plurality of first T-shaped guide rods arranged in an array and inserted into two opposite side walls of the moving frame. One end of each first T-shaped guide rod is fixedly connected to a conical rod, and the other end of the conical rod is fixedly connected to a brush. A circular ring is fixedly sleeved on the side wall of the first T-shaped guide rod. A return spring is sleeved on the side wall of the first T-shaped guide rod. One end of the return spring is fixed to the side wall of the moving frame, and the other end of the return spring is rotatably connected to the end of the circular ring. The rotation of each first T-shaped guide rod is driven by a driving component. The driving component includes a spline formed on the side wall of the first T-shaped guide rod, and a first gear is slidably connected to the side wall of the spline. The first gear is rotatably connected to the side wall of the moving frame. Two symmetrically arranged first fixing blocks are fixedly connected to the side wall of the moving frame. Two symmetrically arranged first guide rods are fixedly connected to the opposite side walls of the two first fixing blocks. A first slider is sleeved on the side wall of each first guide rod. A first rack is fixedly connected to the side wall of the first slider, and the first rack is engaged with the first gear. A first spring is sleeved on the side wall of each first guide rod. A first connecting plate is fixedly connected to the side wall of the first rack. A second connecting plate is fixedly connected to the side wall of the first connecting plate. A plurality of triangular blocks arranged in an array are fixedly connected to the side wall of the second connecting plate. A push pin is fixedly connected to the side wall of the first moving plate. An absorption mechanism for absorbing the impurities cleaned is arranged below the first moving plate. The movement of the first T-shaped guide rod is pushed by a pushing mechanism.

[0009] Preferably, the pushing mechanism includes two symmetrically arranged first pushing plates. Two symmetrically arranged second T-shaped guide rods are fixedly connected to the side wall of each first pushing plate. A first connecting block is sleeved on the side wall of the second T-shaped guide rod, and the first connecting block is fixed to the side wall of the moving frame. A second spring is sleeved on the side wall of each second T-shaped guide rod. An iron block is fixedly connected to the side wall of the first pushing plate, and an electromagnet is fixedly connected to the side wall of the first connecting block.

[0010] Preferably, the absorption mechanism includes a plurality of collection holes arranged in an array and formed on the top of the first moving plate. A conical cover is fixedly connected to the bottom of the first moving plate. An air storage cover is fixedly connected to the top of the crawler mobile vehicle. A third moving plate is connected to the air storage cover through a second lifting mechanism. A suction pipe is fixedly connected between the conical cover and the air storage cover. A first one-way valve is arranged in the suction pipe. A filter box is arranged on the side wall of the suction pipe. An air outlet pipe is arranged between the air storage cover and the hollow cover. A second one-way valve is arranged in the air outlet pipe. A working cover is fixedly inserted into the side wall of the air outlet pipe. A sliding plate is slidably connected in the working cover, and a through hole is formed in the top of the sliding plate. A third spring is fixedly connected between the sliding plate and the working cover. Two V-shaped grooves are formed in the side wall of the support rod. A push rod is fixedly connected to the side wall of the sliding plate.

[0011] Preferably, the feeding mechanism includes a rectangular tube fixedly connected to the top of the crawler mobile vehicle, and a lifting plate is inserted into the top of the rectangular tube. A storage box is fixedly connected to the top of the lifting plate, and a discharge pipe is fixedly connected to the bottom of the storage box. The lower end of the discharge pipe is fixedly connected to a fixed cover, and a sliding block is slidably connected in the fixed cover. A storage groove is formed in the top of the sliding block, and filter holes are formed in the bottom of the storage groove. Two symmetrically arranged second connecting blocks are fixedly connected to the side wall of the fixed cover, and two symmetrically arranged third T-shaped guide rods are fixedly connected to the side wall of the second connecting block. A second slider is sleeved on the side wall of the third T-shaped guide rod, and the second slider is fixed to the side wall of the sliding block. A fourth spring is sleeved on the side wall of each third T-shaped guide rod. A pushing block is fixedly connected to the bottom of the sliding block. A second pushing plate is fixedly connected to the side wall of the rectangular tube, and a second inclined surface is arranged on the top of the second pushing plate. A third connecting plate is fixedly sleeved on the side of the air blowing pipe, and the fixed cover is fixed to the third connecting plate.

[0012] Preferably, the first lifting mechanism includes a first fixing plate fixedly connected to the side wall of the first moving plate, and two symmetrically arranged sleeve rods are fixedly connected to the top of the first fixing plate. A sleeve is sleeved on the side wall of the sleeve rod, and a second fixing plate is fixedly connected to the upper end of the sleeve. The second fixing plate is fixed to the side wall of the moving frame, and a fifth spring is sleeved on the side wall of each sleeve. A mounting plate is fixedly connected to the bottom of the first fixing plate, and a motor is fixedly connected to the side wall of the mounting plate. The output end of the motor is fixedly connected to a winding disc, and a first pulling rope is fixedly connected to the side wall of the winding disc. The upper end of the first pulling rope is fixed to the bottom of the second fixing plate.

[0013] Preferably, the second lifting mechanism includes a third connecting block fixedly connected to the side wall of the second moving disc, and a fourth connecting block is fixedly connected to the bottom of the crawler mobile vehicle. A first cylindrical pin is fixedly connected to the side wall of the fourth connecting block, and a fifth connecting block is fixedly connected to the side wall of the third moving plate. A second pulling rope is slidably connected to the side wall of the first cylindrical pin, and the two ends of the second pulling rope are respectively fixed to the third connecting block and the fifth connecting block. A sixth connecting block is fixedly connected to the side wall of the air storage cover, and a seventh connecting block is fixedly connected to the side wall of the third moving plate. A sixth spring is fixedly connected between the seventh connecting block and the sixth connecting block, and an eighth connecting block is fixedly connected to the side wall of the air storage cover. A second cylindrical pin is fixedly connected to the side wall of the eighth connecting block, and a ninth connecting block is fixedly connected to the side wall of the third moving plate. A tenth connecting block is fixedly connected to the side wall of the moving frame. A third pulling rope is slidably connected to the side wall of the second cylindrical pin, and the two ends of the third pulling rope are respectively fixed to the ninth connecting block and the tenth connecting block.

[0014] Preferably, the rotating mechanism includes a support plate fixedly connected to the side wall of the moving frame, and the cover plate is rotatably connected to the side wall of the support plate through a rotating shaft. A second gear is fixedly sleeved on the side wall of the rotating shaft, and two symmetrically arranged second fixing blocks are fixedly connected to the side wall of the support plate. Two symmetrically arranged second guide rods are fixedly connected to the opposite side walls of the two second fixing blocks. A third slider is sleeved on the side wall of each second guide rod. A second rack is fixedly connected to the side wall of the third slider, and the second rack is meshed with the second gear. A seventh spring is sleeved on the side wall of each second guide rod. A third fixing block is fixedly connected to the side wall of the first moving plate, and a fourth pull rope is fixedly connected between the second rack and the third fixing block.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: For this image acquisition and processing device and virtual-reality combined training system, by setting up the mounting base, etc., when it is necessary to install and fix the image acquisition and processing device main body to the firearm, the mounting block can be selected according to the shape of the gun barrel. When the mounting block is not needed, place the gun barrel between the first clamping block and the second clamping block. Then, rotate the knob, so that the knob moves and abuts against the second clamping block, thereby pushing the second clamping block to slide along the first inclined surface and abut against the gun barrel, thus fixing the gun barrel between the V-shaped groove and the second clamping block. When it is necessary to select the mounting block, similarly, the mounting block can be first clamped and fixed between the V-shaped groove and the second clamping block. Then, insert the gun barrel between the first V-shaped plate and the second V-shaped plate, and tighten the second bolt to fix it, which is convenient for installing and fixing the main body to the firearm, and has stronger adaptability and is more convenient to use.

[0016] For this image acquisition and processing device and virtual-reality combined training system, by setting up the mobile tracked humanoid target terminal module, etc., by rotating the turntable, the target surface orientation of the humanoid target can be adjusted. The height of the humanoid target can be adjusted through the first lifting module. The humanoid target can be hidden, shown, raised, and lowered through the rotation module. And when the humanoid target falls down and hides or is not in use, start the motor to reverse. When the motor reverses, the first pull rope can be loosened. At this time, the moving frame can move upward and reset under the action of the fifth spring. At the same time, the telescopic cover is stretched. And after the telescopic cover covers the humanoid target, when the moving frame continues to move upward, the fourth pull rope can be straightened. At this time, it can pull the second rack to move downward, and the seventh spring is compressed. At this time, it can push the second gear and the rotating shaft to rotate clockwise, and drive the cover plate to rotate clockwise to close, which can seal and protect the humanoid target, avoid the influence of impurities such as weeds and water stains, ensure its use effect and service life, and thus improve the training effect.

[0017] This kind of image acquisition and processing device and virtual-real combined training system, by setting a cleaning mechanism, etc., when the moving frame moves upward, the electromagnet is powered off. At this time, the first push plate can move away from the first connecting block under the action of the second spring. At the same time, it drives the first push plate to move synchronously and pushes the first T-shaped guide rod to move away from the humanoid target. At the same time, the return spring is compressed, so that when the moving frame moves upward, it will not contact the clothes and hats on the humanoid target, ensuring its use effect. When the moving frame moves downward, the electromagnet is first powered on. After the electromagnet is powered on, it attracts the iron block, causing the first push plate to move towards the first connecting block. At the same time, the second spring is compressed. At this time, the first T-shaped guide rod can move towards the humanoid target under the action of the return spring. When the moving frame moves downward and the conical rod abuts against the humanoid target, it can push the first T-shaped guide rod to move. At the same time, the return spring is compressed, so that the brush can move downward along the surface of the humanoid target, which can not only make the clothes more tidy, but also clean the impurities on the clothes surface, ensuring its use effect and service life, and thus improving the training effect.

[0018] This kind of image acquisition and processing device and virtual-real combined training system, by setting an absorption mechanism, etc., when the moving frame moves upward, it can pull the third moving plate downward through the third pull rope. At the same time, the sixth spring is compressed. At this time, the air temporarily stored in the air storage cover can be squeezed, and at the same time, the first one-way valve is closed and the second one-way valve is opened, so that the air in the air storage cover can enter the hollow cover through the air outlet pipe and be discharged through the air blowing holes and the air blowing pipe. When the moving frame moves downward, the third moving plate can move upward and reset under the action of the sixth spring, causing a negative pressure in the air storage cover. At the same time, the first one-way valve is opened and the second one-way valve is closed. At this time, the air extraction operation can be carried out through the air extraction pipe, and the air extraction is carried out through the collection holes. It can not only guide the clothes downward to make them more tidy, but also absorb the impurities cleaned. The absorbed impurities enter the filter box for filtration, and the filtered air enters the air storage cover for temporary storage, making the cleaning effect of the humanoid target clothes better, ensuring its use effect and service life, and thus improving the training effect.

[0019] The image acquisition and processing device and the virtual-reality combined training system, by setting up a feeding mechanism, etc., after receiving the hit electrical signal, drive the second moving plate to move upward through the second lifting module, and drive the hollow cover and the sound and light alarm to move upward through the support rod, so that the lifting plate slides out of an upper groove and slides on the side wall of the support rod, and can push the sliding plate to slide into the working cover. At the same time, the third spring is compressed, so that the through hole is staggered from the air outlet pipe. At this time, the air outlet pipe is blocked and sealed. At the same time, when the second moving plate moves upward, it can drive the second pulling rope to move through the third connecting block, so as to be able to pull the third moving plate to move downward. At the same time, the first one-way valve is closed and the second one-way valve is opened, and the air in the air storage cover is squeezed and pressurized. And when the hollow cover moves upward, it can drive the fixed cover to move upward through the air blowing pipe and the third connecting plate, and drive the storage box to move upward through the discharge pipe. When the pushing block is separated from the second connecting block, the sliding block can move under the action of the fourth spring and make the storage groove move above the air blowing pipe. When the hollow cover moves to the highest position, the end of the push rod slides into a lower groove. At this time, the sliding plate can move away from the working cover under the action of the third spring, so that the through hole coincides with the air outlet pipe. At this time, the sound and light alarm gives an audible and visual alarm. At the same time, the high-pressure air in the air storage cover can enter the hollow cover through the air outlet pipe and be ejected through the hollow cover and the air blowing pipe. The high-pressure air ejected through the air blowing holes can blow away weeds and the like to avoid obstruction, and the high-pressure air blown out by the air blowing pipe can quickly blow up the colored powder in the storage groove upward, making the reminder effect better, and thus improving the training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of the image acquisition and processing device in the present invention; Figure 2 is a schematic structural diagram of the image acquisition and processing device from another perspective in the present invention; Figure 3 is a schematic structural diagram of the main body of the image acquisition and processing device in the present invention; Figure 4 is a schematic structural diagram of the mobile tracked humanoid target terminal module in the present invention; Figure 5 is a schematic position diagram of the cleaning mechanism in the present invention; Figure 6 is a schematic position diagram of the second lifting mechanism in the present invention; Figure 7 is a schematic position diagram of the first lifting mechanism in the present invention; Figure 8 is a schematic position diagram of the feeding mechanism in the present invention; Figure 9 is Figure 2Schematic diagram of the enlarged structure at A in Figure 10 is Figure 4 Schematic diagram of the enlarged structure at B in Figure 11 is Figure 5 Schematic diagram of the enlarged structure at C in Figure 12 is Figure 6 Schematic diagram of the enlarged structure at D in Figure 13 is Figure 7 Schematic diagram of the enlarged structure at E in Figure 14 is Figure 8 Schematic diagram of the enlarged structure at F in Figure 15 is Figure 11 Schematic diagram of the enlarged structure at G in Figure 16 is Figure 15 Schematic diagram of the enlarged structure at H in Figure 17 is Figure 13 Schematic diagram of the enlarged structure at I in Figure 18 is Figure 14 Schematic diagram of the enlarged structure at J in Figure 19 is Figure 14 Schematic diagram of the enlarged structure at K in

[0021] In the figure: 1, the main body; 101, the housing; 102, the data processing module; 103, the data storage module; 104, the data transmission module; 105, the IMU module; 106, the power module; 107, the image acquisition module; 201, the first bolt; 202, the first clamping block; 203, the V-shaped groove; 204, the threaded rod; 205, the knob; 206, the second clamping block; 207, the first inclined surface; 208, the mounting block; 209, the first V-shaped plate; 210, the second bolt; 211, the second V-shaped plate; 301, the crawler mobile vehicle; 302, the first lifting module; 303, the first moving disk; 304, the rotating module; 305, the rotating rod; 306, the first moving plate; 307, the moving frame; 308, the telescopic cover; 309, the cover plate; 310, the second lifting module; 311, the second moving disk; 312, the support rod; 313, the hollow cover; 314, the air blowing hole; 315, the sound and light alarm; 316, the air blowing pipe; 317, the rotating disk; 401, the first T-shaped guide rod; 402, the tapered rod; 403, the brush; 404, the ring; 405, the return spring; 406, the spline; 407, the first gear; 408, the first fixing block; 409, the first guide rod; 410, the first slider; 411, the first rack; 412, the first spring; 413, the first connecting plate; 414, the second connecting plate; 415, the triangular block; 416, the push pin; 501, the first push plate; 502, the first connecting block; 503, the second T-shaped guide rod; 504, the second spring; 505, the iron block; 506, the electromagnet; 601, the collection hole; 602, the tapered cover; 603, the air storage cover; 604, the third moving plate; 605, the air extraction pipe; 606, the filter box; 607, the air outlet pipe; 701, the rectangular pipe; 702, the lifting plate; 703, the working cover; 704, the third connecting plate; 705, the fixing cover; 706, the sliding block; 707, the discharge pipe; 708, the storage tank; 709, the second connecting block; 710, the third T-shaped guide rod; 711, the second slider; 712, the fourth spring; 713, the storage box; 714, the sliding plate; 715, the through hole; 716, the third spring; 717, the pushing block; 718, the second push plate; 719, the second inclined surface; 720, the groove; 721, the push rod; 801, the first fixing plate; 802, the sleeve rod; 803, the sleeve; 804, the fifth spring; 805, the second fixing plate; 806, the mounting plate; 807, the motor; 808, the winding disk; 809, the first pulling rope; 901, the support plate; 902, the rotating shaft; 903, the second gear; 904, the second fixing block; 905, the second guide rod; 906, the third slider; 907, the second rack; 908, the seventh spring; 909, the third fixing block; 910, the fourth pulling rope; 1001, the seventh connecting block; 1002, the sixth connecting block; 1003, the sixth spring; 1004, the third connecting block; 1005, the fourth connecting block; 1006, the first cylindrical pin; 1007, the second pulling rope1008. The fifth connecting block; 1009. The ninth connecting block; 1010. The eighth connecting block; 1011. The second cylindrical pin; 1012. The third pull rope; 1013. The tenth connecting block. Detailed implementation manner

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Please refer to Figures 1 - 19 , the present invention provides an image acquisition and processing device, including a main body 1 and a mounting base, and the main body 1 includes a housing 101, and further includes: An image acquisition module 107, arranged in the housing 101, for acquiring image data; An IMU module 105, that is, an inertial measurement unit, arranged in the housing 101, for measuring the motion state of an object. Among them, a magnetic sensor is used to detect the direction of the geomagnetic field, and the mouth direction of the device can be determined; inertial sensors, such as gyroscopes and accelerometers, can be used to measure the angular velocity and acceleration of the device, and are further used for navigation and motion monitoring through integration and other means; A data processing module 102, arranged in the housing 101, for processing the acquired data; A data storage module 103, arranged in the housing 101, for storing the processed data; A data transmission module 104, arranged in the housing 101, for transmitting the processed data; A power module 106, arranged in the housing 101, for supplying power to each module.

[0024] The mounting base includes a first clamping block 202, and the first clamping block 202 is fixed to the bottom of the housing 101 by a plurality of first bolts 201. A V-shaped groove 203 is formed in the side wall of the first clamping block 202, and a first inclined surface 207 is provided on the side wall of the first clamping block 202. A threaded rod 204 is fixedly inserted into the side wall of the first clamping block 202, and a knob 205 is threadedly connected to the side wall of the threaded rod 204. A U-shaped second clamping block 206 is sleeved on the side wall of the threaded rod 204, and the second clamping block 206 can slide on the first inclined surface 207. A mounting block 208 is detachably connected between the first clamping block 202 and the second clamping block 206, and a first V-shaped plate 209 is fixedly connected to the bottom of the mounting block 208. A second V-shaped plate 211 is connected to the lower side of the first V-shaped plate 209 by a plurality of second bolts 210. When it is necessary to install and fix the main body 1 of the image acquisition and processing device to the firearm, the mounting block 208 can be selected according to the shape of the barrel. When the mounting block 208 is not required, the barrel is placed between the first clamping block 202 and the second clamping block 206. Then, the knob 205 can be rotated so that the knob 205 moves and abuts against the second clamping block 206, thereby pushing the second clamping block 206 to slide along the first inclined surface 207 and abut against the barrel, so as to fix the barrel between the V-shaped groove 203 and the second clamping block 206. When it is necessary to select the mounting block 208, similarly, the mounting block 208 can be first clamped and fixed between the V-shaped groove 203 and the second clamping block 206. Then, the barrel is inserted between the first V-shaped plate 209 and the second V-shaped plate 211, and the second bolts 210 are tightened and fixed, so as to facilitate the installation and fixation of the main body 1 to the firearm, and moreover, the adaptability is stronger and the use is more convenient.

[0025] A virtual-reality combined training system includes an image acquisition and processing device, a cloud combat simulation engine module, and a mobile tracked humanoid target terminal module. The mobile tracked humanoid target terminal module includes a tracked mobile vehicle 301, and a rotating disk 317 is rotatably connected to the top of the tracked mobile vehicle 301. The rotation of the rotating disk 317 is driven by a driving motor. The top of the rotating disk 317 is connected to a first moving disk 303 through a first lifting module 302. The top of the first moving disk 303 is rotatably connected to a rotating rod 305 through a rotating module 304. The first lifting module 302 and the rotating module 304 are well-known technologies in this technical field and will not be elaborated here. The upper end of the rotating rod 305 is fixedly connected to a first moving plate 306. A moving frame 307 is connected to the side wall of the first moving plate 306 through a first lifting mechanism, and a telescopic cover 308 is fixedly connected between the moving frame 307 and the first moving plate 306. The top of the moving frame 307 is rotatably connected to a cover plate 309 through a rotating mechanism. The lower part of the tracked mobile vehicle 301 is connected to a second moving disk 311 through a second lifting module 310. The second lifting module 310 is a well-known technology in this technical field and will not be elaborated here. A support rod 312 is fixedly connected to the top of the second moving disk 311, and the upper end of the support rod 312 is fixedly connected to a hollow cover 313. A plurality of air blowing holes 314 arranged in an array are formed in the side wall of the hollow cover 313, and an air blowing pipe 316 is fixedly connected to the top of the hollow cover 313. An audible and visual alarm 315 is fixedly connected to the top of the hollow cover 313. A feeding mechanism for feeding colored powder above the air blowing pipe 316 is arranged above the tracked mobile vehicle 301, and a cleaning mechanism for cleaning the humanoid target is arranged in the moving frame 307. It can provide sealed protection for the humanoid target to avoid the influence of impurities such as weeds and water stains. At the same time, it can clean and suction the humanoid target, not only making the clothes neater, but also making the cleaning effect of the clothes of the humanoid target better, ensuring its use effect and service life, and thus improving the training effect. After receiving the hit electrical signal, the audible and visual alarm 315 and the hollow cover 313 can be moved to the highest position. At the same time, the high-pressure air ejected through the air blowing holes 314 can blow away weeds and the like to avoid occlusion, and the high-pressure air blown out by the air blowing pipe 316 can quickly blow up the colored powder in the storage tank 708 upward, making the reminder effect better, and thus improving the training effect.

[0026] The cleaning mechanism includes a plurality of first T-shaped guide rods 401 arranged in an array and inserted into two opposite side walls of the moving frame 307. One end of each first T-shaped guide rod 401 is fixedly connected to a conical rod 402, and the other end of the conical rod 402 is fixedly connected to a brush 403. A circular ring 404 is fixedly sleeved on the side wall of the first T-shaped guide rod 401. A return spring 405 is sleeved on the side wall of the first T-shaped guide rod 401. One end of the return spring 405 is fixed to the side wall of the moving frame 307, and the other end of the return spring 405 is rotatably connected to the end of the circular ring 404. The rotation of each first T-shaped guide rod 401 is driven by a driving component. The driving component includes a spline 406 formed on the side wall of the first T-shaped guide rod 401. A first gear 407 is slidably connected to the side wall of the spline 406. The first gear 407 is rotatably connected to the side wall of the moving frame 307. Two symmetrically arranged first fixing blocks 408 are fixedly connected to the side wall of the moving frame 307. Two symmetrically arranged first guide rods 409 are fixedly connected to the opposite side walls of the two first fixing blocks 408. A first slider 410 is sleeved on the side wall of each first guide rod 409. A first rack 411 is fixedly connected to the side wall of the first slider 410. The first rack 411 is engaged with the first gear 407. A first spring 412 is sleeved on the side wall of each first guide rod 409. A first connecting plate 413 is fixedly connected to the side wall of the first rack 411. A second connecting plate 414 is fixedly connected to the side wall of the first connecting plate 413. A plurality of triangular blocks 415 arranged in an array are fixedly connected to the side wall of the second connecting plate 414. A push pin 416 is fixedly connected to the side wall of the first moving plate 306. An absorption mechanism for absorbing the impurities cleaned is arranged below the first moving plate 306. The movement of the first T-shaped guide rod 401 is pushed by a pushing mechanism. When the moving frame 307 moves upward, the first T-shaped guide rod 401 is pushed by the pushing mechanism to move away from the humanoid target, and it will not contact the clothes and hat on the humanoid target, avoiding pushing them off and ensuring the use effect. When the moving frame 307 moves downward, the electromagnet 506 is first energized. After the electromagnet 506 is energized, it attracts the iron block 505, causing the first push plate 501 to move towards the first connecting block 502. At the same time, the second spring 504 is compressed. At this time, the first T-shaped guide rod 401 can move towards the humanoid target under the action of the return spring 405. When the moving frame 307 moves downward, when the conical rod 402 abuts against the humanoid target, it can push the first T-shaped guide rod 401 to move. At the same time, the return spring 405 is compressed, enabling the brush 403 to move downward along the surface of the humanoid target. This can not only make the clothes more tidy and avoid wrinkles, but also clean the impurities on the clothes surface, ensuring the use effect and service life, and thus improving the training effect.

[0027] The driving mechanism includes two symmetrically arranged first driving plates 501. Two symmetrically arranged second T-shaped guide rods 503 are fixedly connected to the side walls of each first driving plate 501. A first connecting block 502 is sleeved on the side wall of the second T-shaped guide rod 503, and the first connecting block 502 is fixed to the side wall of the moving frame 307. A second spring 504 is sleeved on the side wall of each second T-shaped guide rod 503. An iron block 505 is fixedly connected to the side wall of the first driving plate 501, and an electromagnet 506 is fixedly connected to the side wall of the first connecting block 502. When the electromagnet 506 is powered off, at this time, the first driving plate 501 can move away from the first connecting block 502 under the action of the second spring 504. At the same time, it drives the first driving plates 501 to move synchronously, and pushes the first T-shaped guide rod 401 to move away from the humanoid target. At the same time, the return spring 405 is compressed.

[0028] The absorption mechanism includes a plurality of collecting holes 601 arranged in an array on the top of the first moving plate 306. A conical cover 602 is fixedly connected to the bottom of the first moving plate 306. An air storage cover 603 is fixedly connected to the top of the crawler mobile vehicle 301. A third moving plate 604 is connected to the air storage cover 603 through a second lifting mechanism. A suction pipe 605 is fixedly connected between the conical cover 602 and the air storage cover 603. A first one-way valve is arranged in the suction pipe 605. The first one-way valve is arranged between the filter box 606 and the air storage cover 603. The conduction direction of the first one-way valve is from the filter box 606 to the inside of the air storage cover 603. A filter box 606 is arranged on the side wall of the suction pipe 605. The filter box 606 is a well-known technology in the technical field and will not be elaborated here. An air outlet pipe 607 is arranged between the air storage cover 603 and the hollow cover 313. A second one-way valve is arranged in the air outlet pipe 607. The conduction direction of the second one-way valve is from the air storage cover 603 to the hollow cover 313. A working cover 703 is fixedly inserted into the side wall of the air outlet pipe 607. A sliding plate 714 is slidably connected in the working cover 703. A through hole 715 is opened on the top of the sliding plate 714. A third spring 716 is fixedly connected between the sliding plate 714 and the working cover 703. Two V-shaped grooves 720 are opened on the side wall of the support rod 312. A push rod 721 is fixedly connected to the side wall of the sliding plate 714. When the moving frame 307 moves upward, the second lifting mechanism can drive the third moving plate 604 to move downward. At this time, the air temporarily stored in the air storage cover 603 can be squeezed. At the same time, the first one-way valve is closed and the second one-way valve is opened, so that the air in the air storage cover 603 can enter the hollow cover 313 through the air outlet pipe 607 and be discharged through the air blowing holes 314 and the air blowing pipes 316. When the moving frame 307 moves downward, the third moving plate 604 can move upward and reset under the action of the second lifting mechanism, so that a negative pressure is generated in the air storage cover 603. At the same time, the first one-way valve is opened and the second one-way valve is closed. At this time, the air extraction operation can be carried out through the suction pipe 605 and the air can be extracted through the collecting holes 601. It can not only guide the clothes downward to make them more tidy, but also absorb the impurities swept. The absorbed impurities enter the filter box 606 for filtration. The filtered air enters the air storage cover 603 for temporary storage, so that the cleaning effect of the clothes of the humanoid target is better, ensuring its use effect and service life, and thus improving the training effect.

[0029] The feeding mechanism includes a rectangular tube 701 fixedly connected to the top of the crawler mobile vehicle 301, and a lifting plate 702 is inserted on the top of the rectangular tube 701, a storage box 713 is fixedly connected to the top of the lifting plate 702, the storage box 713 is filled with color powder, and the bottom of the storage box 713 is fixedly connected to a discharge pipe 707, the lower end of the discharge pipe 707 is fixedly connected to a fixed cover 705, and a sliding block 706 is slidably connected in the fixed cover 705, a storage trough 708 is provided on the top of the sliding block 706, and a filter hole is provided at the bottom of the storage trough 708, the side wall of the fixed cover 705 is fixedly connected to two symmetrically arranged second connecting blocks 709, and the side wall of the second connecting block 709 is fixedly connected to two symmetrically arranged third T-shaped guide rods 710, the third The side wall of the T-shaped guide rod 710 is sleeved with a second slider 711, and the second slider 711 is fixed to the side wall of the sliding block 706, and the side wall of each third T-shaped guide rod 710 is sleeved with a fourth spring 712, and the bottom of the sliding block 706 is fixedly connected to a push block 717, and the side wall of the rectangular tube 701 is fixedly connected to a second push plate 718, and the top of the second push plate 718 is provided with a second inclined surface 719. When the push block 717 is against the second inclined surface 719, the four springs 712 are compressed, and the side fixed sleeve of the blowing pipe 316 is provided with a third connecting plate 704, and the fixed cover 705 is fixed to the third connecting plate 704. After receiving the electrical signal of being hit, the second lifting module 310 drives the second movable plate 311 to move upward, and through the support rod 312 drives the hollow cover 313 and the sound and light alarm 315 to move upward, so that the lifting plate 702 slides out from a groove 720 above and slides on the side wall of the support rod 312, which can push the sliding plate 714 to slide into the working cover 703. At the same time, the third spring 716 is compressed, so that the through hole 715 is staggered with the air outlet pipe 607. At this time, the air outlet pipe 607 is blocked and sealed. At the same time, when the second movable disk 311 moves upward, the third movable plate 604 can be driven to move downward through the second lifting mechanism. At the same time, the first one-way valve is closed, the second one-way valve is opened, and the air in the air storage cover 603 is squeezed and pressurized. Moreover, when the hollow cover 313 moves upward, the air can be brought into contact with the air through the blowing pipe 316 and the third connecting plate 704. The movable fixed cover 705 moves upward and drives the storage box 713 to move upward through the discharge pipe 707. When the pushing block 717 is disengaged from the second connecting block 709, the sliding block 706 can move under the action of the fourth spring 712 and make the storage tank 708 move to the top of the blowing pipe 316. When the hollow cover 313 moves to the highest position, the end of the pushing rod 721 slides into a groove 720 below. At this time, the sliding plate 714 can move away from the working cover 703 under the action of the third spring 716, so that the through hole 715 coincides with the outlet pipe 607. At this time, the sound and light alarm 315 is used to sound and light alarm. At the same time, the high-pressure air in the air storage cover 603 can enter the hollow cover 313 through the outlet pipe 607.It is ejected through the hollow cover 313 and the blowing pipe 316. The high-pressure air ejected through the blowing holes 314 can blow away weeds and the like to avoid obstruction. The high-pressure air blown out by the blowing pipe 316 can quickly blow up the colored powder in the storage tank 708 upward, making the reminder effect better, and thus improving the training effect.

[0030] The first lifting mechanism includes a first fixing plate 801 fixedly connected to the side wall of the first moving plate 306. Two symmetrically arranged sleeve rods 802 are fixedly connected to the top of the first fixing plate 801. A sleeve 803 is sleeved on the side wall of the sleeve rod 802. The upper end of the sleeve 803 is fixedly connected to a second fixing plate 805. The second fixing plate 805 is fixed to the side wall of the moving frame 307. A fifth spring 804 is sleeved on the side wall of each sleeve 803. The bottom of the first fixing plate 801 is fixedly connected to a mounting plate 806. A motor 807 is fixedly connected to the side wall of the mounting plate 806. The output end of the motor 807 is fixedly connected to a winding disc 808. A first pulling rope 809 is fixedly connected to the side wall of the winding disc 808. The upper end of the first pulling rope 809 is fixed to the bottom of the second fixing plate 805. When the humanoid target falls down and hides or is not in use, start the motor 807 to reverse. When the motor 807 reverses, it can loosen the first pulling rope 809. At this time, the moving frame 307 can move upward and reset under the action of the fifth spring 804. At the same time, the telescopic cover 308 is stretched. And when the telescopic cover 308 covers the humanoid target, when the moving frame 307 continues to move upward, it can straighten the fourth pulling rope 910. At this time, it can pull the second rack 907 downward, and the seventh spring 908 is compressed. At this time, it can push the second gear 903 and the rotating shaft 902 to rotate clockwise and drive the cover plate 309 to rotate clockwise and close. At this time, it can seal and protect the humanoid target, avoid the influence of weeds, water stains and other impurities, ensure its use effect and service life, and thus improve the training effect. When it is necessary to use or stand up, the motor 807 can be started to rotate forward, so that the winding disc 808 can wind up the first pulling rope 809, thereby pulling the moving frame 307 to move in the direction close to the first moving plate 306. At the same time, the fifth spring 804 is compressed.

[0031] The second lifting mechanism includes a third connection block 1004 fixedly connected to the side wall of the second moving plate 311. The bottom of the crawler mobile vehicle 301 is fixedly connected with a fourth connection block 1005. A first cylindrical pin 1006 is fixedly connected to the side wall of the fourth connection block 1005. A fifth connection block 1008 is fixedly connected to the side wall of the third moving plate 604. A second pulling rope 1007 is slidably connected to the side wall of the first cylindrical pin 1006. The two ends of the second pulling rope 1007 are respectively fixed to the third connection block 1004 and the fifth connection block 1008. A sixth connection block 1002 is fixedly connected to the side wall of the air storage hood 603. A seventh connection block 1001 is fixedly connected to the side wall of the third moving plate 604. A sixth spring 1003 is fixedly connected between the seventh connection block 1001 and the sixth connection block 1002. An eighth connection block 1010 is fixedly connected to the side wall of the air storage hood 603. A second cylindrical pin 1011 is fixedly connected to the side wall of the eighth connection block 1010. A ninth connection block 1009 is fixedly connected to the side wall of the third moving plate 604. A tenth connection block 1013 is fixedly connected to the side wall of the moving frame 307. A third pulling rope 1012 is slidably connected to the side wall of the second cylindrical pin 1011. The two ends of the third pulling rope 1012 are respectively fixed to the ninth connection block 1009 and the tenth connection block 1013. When the moving frame 307 moves upward, it can pull the third moving plate 604 to move downward through the third pulling rope 1012. At the same time, the sixth spring 1003 is compressed. When the moving frame 307 moves downward, the third moving plate 604 can move upward and reset under the action of the sixth spring 1003. Moreover, when the second moving plate 311 moves upward, it can drive the second pulling rope 1007 to move through the third connection block 1004, so as to pull the third moving plate 604 to move downward.

[0032] The rotating mechanism includes a support plate 901 fixedly connected to the side wall of the moving frame 307, and the cover plate 309 is rotatably connected to the side wall of the support plate 901 through a rotating shaft 902. A second gear 903 is fixedly sleeved on the side wall of the rotating shaft 902, and two symmetrically arranged second fixing blocks 904 are fixedly connected to the side wall of the support plate 901. Two symmetrically arranged second guide rods 905 are fixedly connected to the opposite side walls of the two second fixing blocks 904. A third slider 906 is sleeved on the side wall of each second guide rod 905. A second rack 907 is fixedly connected to the side wall of the third slider 906, and the second rack 907 is meshed with the second gear 903. A seventh spring 908 is sleeved on the side wall of each second guide rod 905. A third fixing block 909 is fixedly connected to the side wall of the first moving plate 306, and a fourth pulling rope 910 is fixedly connected between the second rack 907 and the third fixing block 909. After the telescopic cover 308 covers the humanoid target, when the moving frame 307 continues to move upward, the fourth pulling rope 910 can be straightened. At this time, the second rack 907 can be pulled downward, and the seventh spring 908 is compressed. At this time, the second gear 903 and the rotating shaft 902 can be pushed to rotate clockwise, and the cover plate 309 can be driven to rotate clockwise to close. At this time, the humanoid target can be hermetically protected to avoid the influence of impurities such as weeds and water stains, ensuring its use effect and service life, and thus improving the training effect.

[0033] Working principle: When in use, the IMU module 105 is integrated with the image acquisition and processing device, and the loose coupling method is used to complement the offset. It is expected to greatly improve the acquisition accuracy. Among them, the IMU provides the general shooting direction and shooting angle information to assist in determining the accurate aiming line. The image acquisition and processing device has functions such as daytime CMOS imaging observation and aiming, nighttime infrared thermal imaging observation and aiming, personnel target detection and recognition, and ballistic calculation. It matches the digital training system with different color crosshairs as the aiming reference and the simulated projectile reference. The aiming reference is the aiming point, and a red crosshair is used to represent the theoretical observation and aiming point; the simulated projectile reference is the projectile impact point, and a green crosshair is used to represent the impact point of the simulated shooting and hitting the target. At the same time, the IMU module 105 is integrated in the image acquisition and processing device. The virtual-real combined training system is composed of an image acquisition and processing device, a cloud combat simulation engine module, a mobile tracked humanoid target terminal module, etc.

[0034] The aiming and shooting process is as follows: Use the image acquisition and processing device, and the image acquisition and processing device can automatically frame the personnel target; when pulling the trigger, at the moment of firing, the sight simultaneously displays the target image and the weapon aiming line and takes a screenshot for storage, and sends the screenshot and IMU data to the cloud combat simulation engine module.

[0035] The processing process of the cloud combat simulation engine module is as follows: ①Determine the approximate aiming area: After receiving the screenshot and azimuth data at the moment of the projectile, determine the approximate projectile direction angle according to the azimuth angle and estimated error given by the IMU module 105, and determine the approximate distance to the aiming target according to the sight data: ②Actual aiming target search: The engine compensates according to the network delay, accurately restores the personnel position information at the moment of the projectile, and combines the rough data of the direction and distance in ① to search and determine the actual aiming target; ③Weapon attitude calculation: The engine identifies the relative position relationship between the personnel and the sight in the projectile screenshot to determine the actual aiming point at the moment of the projectile in the digital battlefield, generates an aiming baseline, and determines the accurate firing angle of the weapon: ④Ballistic and subsequent processing: Rely on the ballistic model, etc. to generate the actual ballistic and perform subsequent calculations.

[0036] When it is necessary to install and fix the main body 1 of the image acquisition and processing device to the firearm, the mounting block 208 can be selected according to the shape of the gun barrel. When the mounting block 208 is not required, place the gun barrel between the first clamping block 202 and the second clamping block 206. Then, the knob 205 can be rotated so that the knob 205 moves and abuts against the second clamping block 206, thereby pushing the second clamping block 206 to slide along the first inclined surface 207 and abut against the gun barrel, thus fixing the gun barrel between the V-shaped groove 203 and the second clamping block 206. When it is necessary to select the mounting block 208, similarly, the mounting block 208 can be first clamped and fixed between the V-shaped groove 203 and the second clamping block 206. Then, insert the gun barrel between the first V-shaped plate 209 and the second V-shaped plate 211, and tighten and fix the second bolt 210, which is convenient for installing and fixing the main body 1 to the firearm, and has stronger adaptability and more convenient use.

[0037] By rotating the rotating disk 317, the target surface orientation of the humanoid target can be adjusted. By the first lifting module 302, the height of the humanoid target can be adjusted. By the rotating module 304, the humanoid target can be hidden, shown, raised, and lowered. And when the humanoid target falls down and hides or is not in use, start the motor 807 to reverse. When the motor 807 reverses, it can loosen the first pulling rope 809. At this time, the moving frame 307 can move upward and reset under the action of the fifth spring 804. At the same time, the telescopic cover 308 is stretched. And after the telescopic cover 308 covers the humanoid target, when the moving frame 307 continues to move upward, the fourth pulling rope 910 can be straightened. At this time, it can pull the second rack 907 to move downward, and the seventh spring 908 is compressed. At this time, it can push the second gear 903 and the rotating shaft 902 to rotate clockwise and drive the cover plate 309 to rotate clockwise and close. At this time, the humanoid target can be hermetically protected to avoid the influence of impurities such as weeds and water stains, ensure its use effect and service life, and thus improve the training effect.

[0038] When the moving frame 307 moves upward, the electromagnet 506 is powered off. At this time, the first push plate 501 can move away from the first connecting block 502 under the action of the second spring 504. At the same time, it drives the first push plate 501 to move synchronously and pushes the first T-shaped guide rod 401 to move away from the humanoid target. At the same time, the return spring 405 is compressed, so that when the moving frame 307 moves upward, it will not contact the clothes and hats on the humanoid target, ensuring its use effect. When the moving frame 307 moves downward, the electromagnet 506 is first powered on. After the electromagnet 506 is powered on, it attracts the iron block 505, so that the first push plate 501 moves toward the first connecting block 502. At the same time, the second spring 504 is compressed. At this time, the first T-shaped guide rod 401 can move toward the humanoid target under the action of the return spring 405. When the moving frame 307 moves downward, when the conical rod 402 abuts against the humanoid target, it can push the first T-shaped guide rod 401 to move. At the same time, the return spring 405 is compressed, so that the brush 403 can move downward along the surface of the humanoid target, which can not only make the clothes more tidy, but also clean the impurities on the clothes surface, ensuring its use effect and service life, and thus improving the training effect.

[0039] When the moving frame 307 moves upward, it can pull the third moving plate 604 to move downward through the third pull rope 1012. At the same time, the sixth spring 1003 is compressed. At this time, the air temporarily stored in the air storage cover 603 can be squeezed. At the same time, the first one-way valve is closed and the second one-way valve is opened, so that the air in the air storage cover 603 can enter the hollow cover 313 through the air outlet pipe 607 and be discharged through the air blowing holes 314 and the air blowing pipes 316. When the moving frame 307 moves downward, the third moving plate 604 can move upward and reset under the action of the sixth spring 1003, making the air storage cover 603 generate negative pressure. At the same time, the first one-way valve is opened and the second one-way valve is closed. At this time, the air extraction operation can be carried out through the air extraction pipe 605 and the air extraction can be carried out through the collection holes 601. It can not only guide the clothes downward to make them more tidy, but also absorb the swept impurities. The absorbed impurities enter the filter box 606 for filtration, and the filtered air enters the air storage cover 603 for temporary storage, making the cleaning effect of the humanoid target clothes better, ensuring its use effect and service life, and thus improving the training effect.

[0040] After receiving the hit electrical signal, the second lifting module 310 drives the second moving disk 311 to move upward, and drives the hollow cover 313 and the sound and light alarm 315 to move upward through the support rod 312, so that the lifting plate 702 slides out of an upper groove 720 and slides on the side wall of the support rod 312, and can push the sliding plate 714 to slide into the working cover 703. At the same time, the third spring 716 is compressed, so that the through hole 715 is staggered from the air outlet pipe 607. At this time, the air outlet pipe 607 is blocked and sealed. At the same time, when the second moving disk 311 moves upward, it can drive the second pull rope 1007 to move through the third connecting block 1004, so as to be able to pull the third moving plate 604 to move downward. At the same time, the first one-way valve is closed and the second one-way valve is opened, and the air in the air storage cover 603 is squeezed and pressurized.

[0041] Moreover, when the hollow cover 313 moves upward, it can drive the fixed cover 705 to move upward through the air blowing pipe 316 and the third connecting plate 704, and drive the storage box 713 to move upward through the discharge pipe 707. When the pushing block 717 is separated from the second connecting block 709, the sliding block 706 can move under the action of the fourth spring 712 and make the storage groove 708 move above the air blowing pipe 316. When the hollow cover 313 moves to the highest position, the end of the push rod 721 slides into a lower groove 720. At this time, the sliding plate 714 can move away from the working cover 703 under the action of the third spring 716, so that the through hole 715 coincides with the air outlet pipe 607. At this time, sound and light alarm is carried out through the sound and light alarm 315. At the same time, the high-pressure air in the air storage cover 603 can enter the hollow cover 313 through the air outlet pipe 607 and be ejected through the hollow cover 313 and the air blowing pipe 316. The high-pressure air ejected through the air blowing holes 314 can blow away weeds and the like to avoid blocking. The high-pressure air blown out by the air blowing pipe 316 can quickly blow up the colored powder in the storage groove 708 upward, making the reminder effect better, and thus improving the training effect.

[0042] The standard parts used in the present invention can all be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machines, parts, and equipment all adopt conventional models in the prior art. Coupled with the circuit connection adopting the conventional connection method in the prior art, it will not be elaborated here. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0043] The above describes the present invention and its implementation manners. Such description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. In general, if those of ordinary skill in the art are inspired by it and, without departing from the gist of the present invention, creatively design structural manners and embodiments similar to the technical solution, they shall fall within the protection scope of the present invention.

Claims

1. An image acquisition and processing device, comprising a main body (1) and a mounting base, and the main body (1) includes a housing (101), characterized in that: Further included are: An image acquisition module (107) disposed inside the housing (101) for acquiring image data; An IMU module (105) disposed inside the housing (101) for measuring the motion state of an object; A data processing module (102) disposed inside the housing (101) for processing the acquired data; A data storage module (103) disposed inside the housing (101) for storing the processed data; A data transmission module (104) disposed inside the housing (101) for transmitting the processed data; A power supply module (106) disposed inside the housing (101) for supplying power to each module.

2. The image acquisition and processing device according to claim 1, characterized in that: The mounting base includes a first clamping block (202), and the first clamping block (202) is fixed to the bottom of the housing (101) by a plurality of first bolts (201). A V-shaped groove (203) is formed in the side wall of the first clamping block (202), and a first inclined surface (207) is provided on the side wall of the first clamping block (202). A threaded rod (204) is fixedly inserted into the side wall of the first clamping block (202), and a knob (205) is threadedly connected to the side wall of the threaded rod (204). A U-shaped second clamping block (206) is sleeved on the side wall of the threaded rod (204), and the second clamping block (206) can slide on the first inclined surface (207). A mounting block (208) is detachably connected between the first clamping block (202) and the second clamping block (206), and a first V-shaped plate (209) is fixedly connected to the bottom of the mounting block (208). A second V-shaped plate (211) is connected to the lower side of the first V-shaped plate (209) by a plurality of second bolts (210).

3. A virtual-reality combined training system, comprising the image acquisition and processing device according to any one of claims 1-2, characterized in that: It also includes a cloud combat simulation engine module and a mobile tracked humanoid target terminal module. The mobile tracked humanoid target terminal module includes a tracked mobile vehicle (301), and a rotating disk (317) is rotatably connected to the top of the tracked mobile vehicle (301). The top of the rotating disk (317) is connected to a first moving disk (303) through a first lifting module (302). The top of the first moving disk (303) is rotatably connected to a rotating rod (305) through a rotating module (304), and the upper end of the rotating rod (305) is fixedly connected to a first moving plate (306). A moving frame (307) is connected to the side wall of the first moving plate (306) through a first lifting mechanism, and a telescopic cover (308) is fixedly connected between the moving frame (307) and the first moving plate (306). The top of the moving frame (307) is rotatably connected to a cover plate (309) through a rotating mechanism. The bottom of the tracked mobile vehicle (301) is connected to a second moving disk (311) through a second lifting module (310). A support rod (312) is fixedly connected to the top of the second moving disk (311), and the upper end of the support rod (312) is fixedly connected to a hollow cover (313). A plurality of blow holes (314) arranged in an array are formed in the side wall of the hollow cover (313), and a blow pipe (316) is fixedly connected to the top of the hollow cover (313). An audible and visual alarm (315) is fixedly connected to the top of the hollow cover (313). A feeding mechanism for feeding colored powder above the blow pipe (316) is arranged above the tracked mobile vehicle (301), and a cleaning mechanism for cleaning the humanoid target is arranged in the moving frame (307).

4. The virtual-reality combined training system according to claim 3, wherein: The cleaning mechanism includes a plurality of first T-shaped guide rods (401) arranged in an array and inserted into two opposite side walls of the moving frame (307). One end of each first T-shaped guide rod (401) is fixedly connected to a conical rod (402), and the other end of the conical rod (402) is fixedly connected to a brush (403). A ring (404) is fixedly sleeved on the side wall of the first T-shaped guide rod (401). A return spring (405) is sleeved on the side wall of the first T-shaped guide rod (401). One end of the return spring (405) is fixed to the side wall of the moving frame (307), and the other end of the return spring (405) is rotatably connected to the end of the ring (404). The rotation of each first T-shaped guide rod (401) is driven by a driving component. The driving component includes a spline (406) formed on the side wall of the first T-shaped guide rod (401), and a first gear (407) is slidably connected to the side wall of the spline (406). The first gear (407) is rotatably connected to the side wall of the moving frame (307). Two symmetrically arranged first fixing blocks (408) are fixedly connected to the side wall of the moving frame (307). Two symmetrically arranged first guide rods (409) are fixedly connected to the opposite side walls of the two first fixing blocks (408). A first slider (410) is sleeved on the side wall of each first guide rod (409). A first rack (411) is fixedly connected to the side wall of the first slider (410), and the first rack (411) is engaged with the first gear (407). A first spring (412) is sleeved on the side wall of each first guide rod (409). A first connecting plate (413) is fixedly connected to the side wall of the first rack (411). A second connecting plate (414) is fixedly connected to the side wall of the first connecting plate (413). A plurality of triangular blocks (415) arranged in an array are fixedly connected to the side wall of the second connecting plate (414). A push pin (416) is fixedly connected to the side wall of the first moving plate (306). An absorption mechanism for absorbing the impurities cleaned is arranged below the first moving plate (306), and the movement of the first T-shaped guide rod (401) is pushed by a pushing mechanism.

5. The virtual-real combination training system according to claim 4, wherein: The pushing mechanism includes two symmetrically arranged first push plates (501). Two symmetrically arranged second T-shaped guide rods (503) are fixedly connected to the side walls of the first push plates (501). A first connecting block (502) is sleeved on the side wall of the second T-shaped guide rod (503), and the first connecting block (502) is fixed to the side wall of the moving frame (307). A second spring (504) is sleeved on the side wall of each second T-shaped guide rod (503). An iron block (505) is fixedly connected to the side wall of the first push plate (501), and an electromagnet (506) is fixedly connected to the side wall of the first connecting block (502).

6. The virtual-reality combined training system according to claim 4, wherein: The absorption mechanism includes a plurality of collecting holes (601) arranged in an array on the top of the first moving plate (306), and a conical cover (602) is fixedly connected to the bottom of the first moving plate (306). A gas storage cover (603) is fixedly connected to the top of the crawler mobile vehicle (301), and a third moving plate (604) is connected to the gas storage cover (603) through a second lifting mechanism. A suction pipe (605) is fixedly connected between the conical cover (602) and the gas storage cover (603), and a first one-way valve is arranged in the suction pipe (605). A filter box (606) is arranged on the side wall of the suction pipe (605), and an air outlet pipe (607) is arranged between the gas storage cover (603) and the hollow cover (313). A second one-way valve is arranged in the air outlet pipe (607), and a working cover (703) is fixedly inserted into the side wall of the air outlet pipe (607). A sliding plate (714) is slidably connected in the working cover (703), and a through hole (715) is opened on the top of the sliding plate (714). A third spring (716) is fixedly connected between the sliding plate (714) and the working cover (703). Two V-shaped grooves (720) are opened on the side wall of the support rod (312), and a push rod (721) is fixedly connected to the side wall of the sliding plate (714).

7. The virtual-real combined training system according to claim 3, wherein: The feeding mechanism includes a rectangular pipe (701) fixedly connected to the top of the crawler mobile vehicle (301), and a lifting plate (702) is inserted into the top of the rectangular pipe (701). A storage box (713) is fixedly connected to the top of the lifting plate (702), and a discharge pipe (707) is fixedly connected to the bottom of the storage box (713). The lower end of the discharge pipe (707) is fixedly connected to a fixed cover (705), and a sliding block (706) is slidably connected in the fixed cover (705). A storage groove (708) is opened on the top of the sliding block (706), and filter holes are opened at the bottom of the storage groove (708). Two symmetrically arranged second connecting blocks (709) are fixedly connected to the side wall of the fixed cover (705), and two symmetrically arranged third T-shaped guide rods (710) are fixedly connected to the side wall of the second connecting block (709). A second sliding block (711) is sleeved on the side wall of the third T-shaped guide rod (710), and the second sliding block (711) is fixed to the side wall of the sliding block (706). A fourth spring (712) is sleeved on the side wall of each third T-shaped guide rod (710). A push block (717) is fixedly connected to the bottom of the sliding block (706). A second push plate (718) is fixedly connected to the side wall of the rectangular pipe (701), and a second inclined surface (719) is arranged on the top of the second push plate (718). A third connecting plate (704) is fixedly sleeved on the side of the air blowing pipe (316), and the fixed cover (705) is fixed to the third connecting plate (704).

8. The virtual-real combined training system according to claim 3, wherein: The first lifting mechanism includes a first fixed plate (801) fixedly connected to the side wall of the first moving plate (306), and two symmetrically arranged sleeve rods (802) are fixedly connected to the top of the first fixed plate (801). A sleeve (803) is sleeved on the side wall of the sleeve rod (802), and a second fixed plate (805) is fixedly connected to the upper end of the sleeve (803). The second fixed plate (805) is fixed to the side wall of the moving frame (307), and a fifth spring (804) is sleeved on the side wall of each sleeve (803). The bottom of the first fixed plate (801) is fixedly connected to a mounting plate (806), and a motor (807) is fixedly connected to the side wall of the mounting plate (806). The output end of the motor (807) is fixedly connected to a winding disc (808). A first pulling rope (809) is fixedly connected to the side wall of the winding disc (808), and the upper end of the first pulling rope (809) is fixed to the bottom of the second fixed plate (805).

9. The virtual-real combined training system according to claim 6, wherein: The second lifting mechanism includes a third connecting block (1004) fixedly connected to the side wall of the second moving disc (311), and a fourth connecting block (1005) is fixedly connected to the bottom of the crawler mobile vehicle (301). A first cylindrical pin (1006) is fixedly connected to the side wall of the fourth connecting block (1005), and a fifth connecting block (1008) is fixedly connected to the side wall of the third moving plate (604). A second pulling rope (1007) is slidably connected to the side wall of the first cylindrical pin (1006), and the two ends of the second pulling rope (1007) are respectively fixed to the third connecting block (1004) and the fifth connecting block (1008). A sixth connecting block (1002) is fixedly connected to the side wall of the air storage cover (603), and a seventh connecting block (1001) is fixedly connected to the side wall of the third moving plate (604). A sixth spring (1003) is fixedly connected between the seventh connecting block (1001) and the sixth connecting block (1002), and an eighth connecting block (1010) is fixedly connected to the side wall of the air storage cover (603). A second cylindrical pin (1011) is fixedly connected to the side wall of the eighth connecting block (1010), and a ninth connecting block (1009) is fixedly connected to the side wall of the third moving plate (604). A tenth connecting block (1013) is fixedly connected to the side wall of the moving frame (307). A third pulling rope (1012) is slidably connected to the side wall of the second cylindrical pin (1011), and the two ends of the third pulling rope (1012) are respectively fixed to the ninth connecting block (1009) and the tenth connecting block (1013).

10. A virtual-reality combined training system according to claim 3, characterized in that: The rotating mechanism includes a support plate (901) fixedly connected to the side wall of the moving frame (307), and the cover plate (309) is rotatably connected to the side wall of the support plate (901) through a rotating shaft (902). A second gear (903) is fixedly sleeved on the side wall of the rotating shaft (902), and two symmetrically arranged second fixing blocks (904) are fixedly connected to the side wall of the support plate (901). Two symmetrically arranged second guide rods (905) are fixedly connected to the opposite side walls of the two second fixing blocks (904). A third slider (906) is sleeved on the side wall of each second guide rod (905). A second rack (907) is fixedly connected to the side wall of the third slider (906), and the second rack (907) is engaged with the second gear (903). A seventh spring (908) is sleeved on the side wall of each second guide rod (905). A third fixing block (909) is fixedly connected to the side wall of the first moving plate (306), and a fourth pulling rope (910) is fixedly connected between the second rack (907) and the third fixing block (909).

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