Tear bomb launching control method and system based on mechanical dog
The robot dog's target distance perception and environmental sensors are combined with wind speed to calculate the launch angle, divide the sub-area and drive the tear gas launcher, solving the problem of insufficient accuracy in traditional tear gas launches and achieving efficient and reliable launch control.
Patent Information
- Application Number
- CN202510909647.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-02
- Publication Date
- 2025-09-23
AI Technical Summary
Traditional tear gas launch methods rely on manual operation, resulting in insufficient accuracy and poor flexibility. They are unable to quickly adapt to changing environments and target locations, increasing the risk of casualties.
The target distance perception module on the mechanical dog obtains the real-time coordinate data of the target, combines it with the wind speed collected by the environmental sensor, calculates the initial launch angle, divides the target area into multiple sub-areas, determines the density requirement and the number of launches, and drives the angle adjustment device and execution unit of the tear gas launcher.
It has achieved the precise launch of tear gas in complex environments, improved the launch accuracy and coverage effect, and provided efficient and reliable technical support for crowd evacuation and control in special scenarios.
Smart Images
Figure CN120684942A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of ammunition launch control, and in particular to a tear gas launch control method and system based on a mechanical dog. Background Art
[0002] Currently, many traditional tear gas delivery methods rely heavily on manual operation, requiring officers to face the target directly in dangerous environments. This not only increases the risk of casualties, but also results in inaccurate and ineffective delivery due to the limitations of human judgment. Furthermore, traditional equipment lacks flexibility and maneuverability, unable to quickly adapt to changing environments and target locations, significantly limiting mission success. Against this backdrop, the core challenges facing this field are gradually becoming apparent. The primary issue is the required accuracy. Without the ability to dynamically adjust the firing angle and quantity based on the environment, effective delivery is difficult to achieve. Summary of the Invention
[0003] In order to overcome the defects of the prior art, the present invention provides a tear gas grenade launch control method and system based on a mechanical dog to solve the above problems.
[0004] The technical solution adopted by the present invention to solve the technical problem is: a tear gas grenade launch control method based on a mechanical dog, comprising the following steps: S1: The target real-time coordinate data is obtained through the target distance perception module on the robot dog, and the coordinate difference is calculated based on the current coordinate data of the robot dog and the real-time coordinate data of the target; S2: Calculating an initial launch angle for the target object based on the coordinate difference and the wind speed collected by the environmental sensor; S3: Divide the target area into multiple sub-areas; S4: Using the quantity allocation strategy module in the robot dog to determine the density requirement value of each sub-area in the target area according to the task requirements, and obtaining the launch quantity of each sub-area according to the density requirement value of each sub-area; S5: Calculate the emission angle offset of each sub-area based on the positional relationship between the target object and each sub-area, and obtain the emission angle corresponding to the sub-area based on the initial emission angle and the emission angle offset; S6: driving the launch angle adjustment device in the tear gas launcher of the mechanical dog according to the launch angle, and driving the launch execution unit in the tear gas launcher of the mechanical dog according to the number of tear gas launches.
[0005] Preferably, in step S1, laser radar scanning data is obtained, wherein the laser radar scans the target object at a fixed frequency to obtain three-dimensional coordinate data of the target object in the radar coordinate system; The position information of the robot dog is obtained through the built-in positioning module of the robot dog, and the position information is converted into plane coordinate data through projection transformation; Converting the three-dimensional coordinate data into a coordinate system unified with the plane coordinate data to obtain converted target object coordinate data; The coordinate difference (x, y) between the converted target object coordinate data and the plane coordinate data is calculated.
[0006] Optionally, in step S2, based on the coordinate difference (x, y), combined with the coordinate representation of the average wind speed vector (x1, y1), the formula is used: Calculate the initial launch angle corresponding to the target , where v_t=x-x1, v_w=y-y1, Fine-tune the angle when wind speed exceeds a preset threshold.
[0007] Specifically, in step S2, the wind speed within a fixed sliding window is selected from the wind speed collected by the environmental sensor, and its average wind speed is calculated to obtain an average wind speed vector. Based on a unified coordinate system, the average wind speed vector is decomposed into the wind speed x-axis component x1 and the y-axis component y1 to obtain the coordinate representation of the average wind speed vector (x1, y1).
[0008] Preferably, in step S2, the numerical value in the average wind speed vector is compared with a preset wind speed threshold; If the average wind speed vector exceeds the preset wind speed threshold, then according to the formula Calculate the angle fine-tuning value, where is the angle fine-tuning value, k is the preset adjustment coefficient, and W is the numerical value in the average wind speed vector.
[0009] It is worth noting that in step S4, the overall coverage density value of the target area in the task requirement is obtained, and the coverage density value is inversely proportional to the area of the target area; The entropy weight method is used to calculate the weight coefficient of each sub-region. ,in is the distance data between the sub-region numbered n and the target object, and c is the sum of the distance data between all sub-regions and the target object; The density requirement value of each sub-area is obtained by multiplying the coverage density value by the weight coefficient.
[0010] Preferably, in step S4, a terrain complexity value of each sub-area is obtained, wherein the terrain complexity value is calculated by rasterizing the laser radar point cloud data; If the terrain complexity value of a sub-area exceeds the preset threshold, the density requirement value of the sub-area is multiplied by the correction coefficient to obtain the corrected density requirement value; According to a pre-established density emission correspondence table, the correspondence table stores a mapping relationship between density requirement value intervals and tear gas emission quantities, and the matched tear gas emission quantities are retrieved through the corrected density requirement value.
[0011] Optionally, in step S5, coordinate data of the target object is obtained, where the coordinate data includes a horizontal coordinate value and a vertical coordinate value; Obtaining coordinate data of the center point of each sub-area, wherein the coordinate data also includes a horizontal coordinate value and a vertical coordinate value; The azimuth angle of each sub-region center point relative to the target object is calculated by the inverse tangent function. The azimuth angle formula is the inverse tangent function acting on the ordinate difference and the abscissa difference, that is, , represents the azimuth, (x3, y3) is the coordinate data of the target object, and (x2, y2) is the coordinate data of the center point of the sub-region; The azimuth As the emission angle offset of each sub-area; The emission angle of each sub-area is determined by adding the preset initial emission angle to the emission angle offset.
[0012] A tear gas grenade launch control system based on a mechanical dog uses the tear gas grenade launch control method based on a mechanical dog.
[0013] The beneficial effects of the present invention are as follows: in the tear gas launch control method based on the mechanical dog, the real-time coordinates of the target are obtained by the target distance perception module, the coordinate difference is calculated in combination with the current coordinates of the mechanical dog, and the wind speed data collected by the environmental sensor is used to dynamically calculate the initial launch angle. At the same time, the coverage density of the target area is determined according to the task requirements, and the number of launches and the launch angle offset of each sub-area are calculated. Finally, the angle adjustment device and the launch execution unit of the tear gas launcher are driven to achieve precise launch. In a complex environment, the present invention can automatically adjust the launch parameters according to factors such as wind speed and environment, improve the launch accuracy and coverage effect of the tear gas, and provide efficient and reliable technical support for crowd evacuation and control in special scenarios. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 This is a flow chart of a tear gas grenade launch control method based on a robotic dog in one embodiment of the present invention; Figure 2 FIG. 4 is a step-by-step flow chart of step S4 in one embodiment of the present invention. DETAILED DESCRIPTION
[0015] The following is a further description of specific embodiments of the present invention in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is intended to facilitate understanding of the present invention and does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
[0016] like Figure 1 and 2 As shown, a tear gas grenade launch control method based on a mechanical dog includes the following steps: S1: The target real-time coordinate data is obtained through the target distance perception module on the robot dog, and the coordinate difference is calculated based on the current coordinate data of the robot dog and the real-time coordinate data of the target; S2: Calculating an initial launch angle for the target object based on the coordinate difference and the wind speed collected by the environmental sensor; S3: Divide the target area into multiple sub-areas. Specifically, the target area is divided into square grid sub-areas with preset side lengths. For example, when dividing the target area into square grid sub-areas, each grid side can be preset to 10 meters, thereby dividing the large area into multiple small units for more refined management. Assuming that a target area is divided into 10 square grid sub-areas, each square grid sub-area has an area of 100 square meters. This division method lays the foundation for subsequent weight calculation and density adjustment. S4: Using the quantity allocation strategy module in the robot dog to determine the density requirement value of each sub-area in the target area according to the task requirements, and obtaining the launch quantity of each sub-area according to the density requirement value of each sub-area; S5: Calculate the emission angle offset of each sub-area based on the positional relationship between the target object and each sub-area, and obtain the emission angle corresponding to the sub-area based on the initial emission angle and the emission angle offset; S6: driving the launch angle adjustment device in the tear gas launcher of the mechanical dog according to the launch angle, and driving the launch execution unit in the tear gas launcher of the mechanical dog according to the number of tear gas launches.
[0017] In the tear gas grenade launch control method based on the mechanical dog, the real-time coordinates of the target are obtained through the target distance perception module, the coordinate difference is calculated in combination with the current coordinates of the mechanical dog, and the initial launch angle is dynamically calculated using the wind speed data collected by the environmental sensor. At the same time, the coverage density of the target area is determined according to the task requirements, and the number of launches and the launch angle offset of each sub-area are calculated. Finally, the angle adjustment device and the launch execution unit of the tear gas launcher are driven to achieve precise launch. The present invention can automatically adjust the launch parameters according to factors such as wind speed and environment in complex environments, improve the launch accuracy and coverage effect of tear gas grenades, and provide efficient and reliable technical support for crowd evacuation and control in special scenarios.
[0018] It is worth noting that in step S1, laser radar scanning data is obtained, and the laser radar scans the target object at a fixed frequency to obtain the three-dimensional coordinate data of the target object in the radar coordinate system; The position information of the robot dog is obtained through the built-in positioning module of the robot dog, and the position information is converted into plane coordinate data through projection transformation; Converting the three-dimensional coordinate data into a coordinate system unified with the plane coordinate data to obtain converted target object coordinate data; The coordinate difference (x, y) between the converted target object coordinate data and the plane coordinate data is calculated.
[0019] LiDAR scans the surrounding environment at a fixed frequency, acquiring the three-dimensional coordinates of the target. Assume that the coordinates of the target acquired by the LiDAR scan are (5, 2, 1.5), expressed in meters, with the radar as the origin. This 3D data reflects the target's position in space and is highly accurate, but requires further processing to adapt it to other systems.
[0020] In one possible implementation, the positioning module outputs the robot's location information via GPS. For example, GPS provides longitude and latitude data, which, through a projection transformation (such as the UTM projection), is converted to a two-dimensional coordinate system, assuming the coordinates are (100, 200) in meters. This transformation simplifies complex three-dimensional positioning into a two-dimensional plane, facilitating subsequent calculations and reducing computational complexity.
[0021] Specifically, the coordinate conversion module converts the LiDAR's 3D coordinate data into a global coordinate system consistent with the positioning module. For example, through translation, the target's 3D coordinates (5, 2, 1.5) are converted to (105, 202, 1.5) in the global coordinate system. This conversion ensures that data from different sensors are in the same reference frame, improving data consistency and fusion efficiency.
[0022] When calculating the plane distance between the target object and the robot dog, ignore the height coordinates and only compare the plane coordinates (105, 202) and (100, 200). The resulting coordinate difference is (5, 2), which can be considered the coordinates of the target object in the coordinate system with the robot dog as the origin.
[0023] Preferably, in step S2, based on the coordinate difference (x, y), combined with the coordinate representation of the average wind speed vector (x1, y1), the formula is used. Calculate the initial launch angle corresponding to the target , where v_t=x-x1, v_w=y-y1, Fine-tune the angle when wind speed exceeds a preset threshold.
[0024] When determining the initial launch angle, the system dynamically calculates an appropriate launch angle for the current environment by integrating wind speed and coordinate differences. For example, if the robot dog needs to fire tear gas canisters in high winds, the launch angle needs to be adjusted upward to offset the wind's deviation. This dynamic adjustment mechanism can significantly improve mission accuracy, especially in scenarios with variable wind speeds.
[0025] Optionally, in step S2, the wind speed within a fixed sliding window is selected from the wind speed collected by the environmental sensor, and its average wind speed is calculated to obtain an average wind speed vector. Based on a unified coordinate system, the average wind speed vector is decomposed into the wind speed x-axis component x1 and the y-axis component y1 to obtain the coordinate representation of the average wind speed vector (x1, y1).
[0026] In this embodiment, the processing and application of wind speed data is a critical step in the robot dog's tear gas mission. For wind speed data acquisition and processing, environmental sensors can be used to collect real-time wind speed information. To ensure data stability, wind speed information within a fixed time window is averaged. Assuming the sensor collects wind speed information once per second, the wind speed information from the past five seconds is averaged to obtain a smoothed average wind speed vector. This average wind speed vector includes both a numerical and directional average. These two averages are then combined to form an average wind speed vector. This approach effectively reduces the interference caused by instantaneous wind speed fluctuations and provides a reliable basis for subsequent decision-making. Regarding the coordinate decomposition of wind speed data, the average wind speed vector can be split into horizontal and vertical components according to a unified coordinate system, forming a two-dimensional coordinate representation. This decomposition facilitates correlation analysis of the impact of wind speed on the robot dog's direction of motion. For example, in a scenario where wind speed primarily comes from the side and front, this decomposition can clearly understand the magnitude of wind force in different directions, providing data support for subsequent path planning or posture adjustment.
[0027] Specifically, in step S2, the numerical value in the average wind speed vector is compared with a preset wind speed threshold; If the average wind speed vector exceeds the preset wind speed threshold, then according to the formula Calculate the angle fine-tuning value, where is the angle fine-tuning value, k is the preset adjustment coefficient, and W is the numerical value in the average wind speed vector.
[0028] For example, when comparing the numerical value in the average wind speed vector with a preset threshold, a reasonable wind speed threshold, such as 5 meters per second, can be set as a criterion for determining whether to adjust the angle at which the robot dog fires tear gas. Specifically, the numerical value in the average wind speed vector is obtained by taking the absolute value of the average wind speed vector.
[0029] If the value in the average wind speed vector exceeds this threshold, it indicates that the current environment may have a significant impact on the robot's stability or mission execution. In this case, a preset adjustment mechanism is required to calculate an angle fine-tuning value. The specific angle fine-tuning value can be determined based on the robot's design parameters and mission requirements. For example, different preset adjustment coefficients are used for flat and complex terrain to adapt to different environmental challenges.
[0030] When calculating the target coordinate adjustment, we can combine the wind speed component and the coordinate difference between the robot dog and the target to comprehensively analyze the impact of wind speed on target positioning. Assuming that wind speed may cause the robot dog to shift its perceived target position during tracking, adjusting the coordinates can help it more accurately lock onto the target.
[0031] It is worth noting that in step S4, the overall coverage density value of the target area in the task requirement is obtained, and the coverage density value is inversely proportional to the area of the target area; The entropy weight method is used to calculate the weight coefficient of each sub-region. ,in is the distance data between the sub-region numbered n and the target object, and c is the sum of the distance data between all sub-regions and the target object; The density requirement value of each sub-area is obtained by multiplying the coverage density value by the weight coefficient.
[0032] Regarding the acquisition of the overall coverage density value of the target area, it can be understood that the coverage density is preliminarily determined by analyzing the mission requirements and combining the size of the area. In a mission, it is necessary to launch tear gas canisters at an area of 1,000 square meters in the target area formed around the target object, and the coverage density value is set to 0.001 units per square meter. The design concept of this value being inversely proportional to the area is that the larger the area, the lower the density requirement per unit area, so as to reasonably allocate resources. This approach helps to ensure the balance of resource launch when dividing the grid.
[0033] When calculating the coverage density weights of each sub-region using the entropy weight method, the weight coefficients can be determined by analyzing the distance between the square grid sub-regions and the target object. For example, if a sub-region is closer to the target object and has fewer obstacles, its weight coefficient might be 0.8, while another sub-region farther away might have a weight coefficient of 0.3. This method objectively reflects the differences in importance between sub-regions and provides a basis for resource allocation.
[0034] To calculate the required density for each sub-region, multiply the overall coverage density by the weight factor to arrive at the specific value. For example, if the overall density is 0.001 and a sub-region has a weight of 0.5, its required density is 0.0005. This calculation method ensures that resource emission is aligned with the importance of the sub-region.
[0035] It is worth noting that in step S4, the terrain complexity value of each sub-area is obtained, and the terrain complexity value is calculated by rasterizing the laser radar point cloud data; If the terrain complexity value of a sub-area exceeds the preset threshold, the density requirement value of the sub-area is multiplied by the correction coefficient to obtain the corrected density requirement value; According to a pre-established density emission correspondence table, the correspondence table stores a mapping relationship between density requirement value intervals and tear gas emission quantities, and the matched tear gas emission quantities are retrieved through the corrected density requirement value.
[0036] Regarding the acquisition of terrain complexity values, in this embodiment, it is achieved through rasterization of lidar point cloud data. Assuming that the terrain of a sub-area is relatively undulating, and the complexity value after point cloud data analysis is 8, which exceeds the preset threshold value of 5, its density requirement value needs to be corrected. Specifically, point cloud data is acquired through lidar scanning, and the point cloud data is rasterized to obtain a rasterized data set corresponding to each sub-area. Then, the elevation of all grids corresponding to the sub-area is calculated, and the corresponding standard deviation is calculated based on the elevation of all grids corresponding to the sub-area, and the standard deviation is used as the terrain complexity value corresponding to the sub-area. The correction coefficient is obtained from the terrain complexity value-correction coefficient mapping table by looking up the table. This method can fully consider the impact of terrain on task execution.
[0037] Assuming a correction factor of 1.2, the original density requirement for a sub-area is 0.0005, which is corrected to 0.0006. This adjustment ensures sufficient resource transmission in complex terrain.
[0038] Finally, the number of tear gas grenades to be fired is determined using a density-to-fire table. This pre-establishes a mapping between density ranges and firing counts. For example, if a density range of 0.0006 to 0.00065 corresponds to a firing count of 5, then based on the corrected density requirement of 0.0006, 5 grenades can be fired. This mapping table design makes firing decisions more standardized and efficient.
[0039] Preferably, in step S5, coordinate data of the target object is obtained, and the coordinate data includes a horizontal coordinate value and a vertical coordinate value; Obtaining coordinate data of the center point of each sub-area, wherein the coordinate data also includes a horizontal coordinate value and a vertical coordinate value; The azimuth angle of each sub-region center point relative to the target object is calculated by the inverse tangent function. The azimuth angle formula is the inverse tangent function acting on the ordinate difference and the abscissa difference, that is, , represents the azimuth, (x3, y3) is the coordinate data of the target object, and (x2, y2) is the coordinate data of the center point of the sub-region; The azimuth As the emission angle offset of each sub-area; The emission angle of each sub-area is determined by adding the preset initial emission angle to the emission angle offset.
[0040] Beneficial Effect: Assume that in a mission scenario, the coordinate data of the target object is horizontal coordinate 100 and vertical coordinate 200. The coordinates of the center point of a sub-region are horizontal coordinate 120 and vertical coordinate 230. Regarding the calculation of the azimuth angle, the inverse tangent function can be used to determine the direction of the sub-region center point relative to the target object.
[0041] The specific angle value can be calculated through the ratio of the difference between the vertical and horizontal coordinates. This angle information is important for determining the directionality of tear gas launches, especially in scenarios that require precise positioning, as it can help adjust the launch strategy. When finally determining the launch angle of each sub-area, the preset initial launch angle can be added to the calculated offset. Assuming the initial angle is 30 degrees and the launch angle offset is 5 degrees, the final launch angle is 35 degrees. This method can fine-tune the initial settings based on the actual position relationship, making the resource launch more in line with specific needs, especially in multi-sub-area collaborative tasks, which can improve overall coordination.
[0042] A tear gas grenade launch control system based on a mechanical dog uses the tear gas grenade launch control method based on a mechanical dog.
[0043] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It is apparent to those skilled in the art that various changes, modifications, substitutions, and variations to these embodiments may be made without departing from the principles and spirit of the present invention, and these changes and modifications still fall within the scope of protection of the present invention.
Claims
1. A tear gas grenade launch control method based on a mechanical dog, characterized in that: The following steps are involved: S1: The target real-time coordinate data is obtained through the target distance perception module on the robot dog, and the coordinate difference is calculated based on the current coordinate data of the robot dog and the real-time coordinate data of the target; S2: Calculating an initial launch angle for the target object based on the coordinate difference and the wind speed collected by the environmental sensor; S3: Divide the target area into multiple sub-areas; S4: Using the quantity allocation strategy module in the robot dog to determine the density requirement value of each sub-area in the target area according to the task requirements, and obtaining the launch quantity of each sub-area according to the density requirement value of each sub-area; S5: Calculate the emission angle offset of each sub-area based on the positional relationship between the target object and each sub-area, and obtain the emission angle corresponding to the sub-area based on the initial emission angle and the emission angle offset; S6: driving the launch angle adjustment device in the tear gas launcher of the mechanical dog according to the launch angle, and driving the launch execution unit in the tear gas launcher of the mechanical dog according to the number of tear gas launches.
2. The tear gas grenade launch control method based on a mechanical dog according to claim 1, characterized in that: In step S1, laser radar scanning data is obtained, where the laser radar scans the target object at a fixed frequency to obtain three-dimensional coordinate data of the target object in the radar coordinate system; The position information of the robot dog is obtained through the built-in positioning module of the robot dog, and the position information is converted into plane coordinate data through projection transformation; Converting the three-dimensional coordinate data into a coordinate system unified with the plane coordinate data to obtain converted target object coordinate data; The coordinate difference (x, y) between the converted target object coordinate data and the plane coordinate data is calculated.
3. The tear gas grenade launch control method based on a mechanical dog according to claim 2, characterized in that: In step S2, based on the coordinate difference (x, y), combined with the coordinate representation of the average wind speed vector (x1, y1), the formula Calculate the initial launch angle corresponding to the target , where v_t=x-x1, v_w=y-y1, Fine-tune the angle when wind speed exceeds a preset threshold.
4. The tear gas grenade launch control method based on a mechanical dog according to claim 3, characterized in that: In step S2, the wind speed within a fixed sliding window is selected from the wind speed collected by the environmental sensor, and its average wind speed is calculated to obtain an average wind speed vector. Based on a unified coordinate system, the average wind speed vector is decomposed into the wind speed x-axis component x1 and the y-axis component y1 to obtain the coordinate representation of the average wind speed vector (x1, y1).
5. The tear gas grenade launch control method based on a mechanical dog according to claim 3, characterized in that: In step S2, the numerical value in the average wind speed vector is compared with a preset wind speed threshold; If the average wind speed vector exceeds the preset wind speed threshold, then according to the formula Calculate the angle fine-tuning value, where is the angle fine-tuning value, k is the preset adjustment coefficient, and W is the numerical value in the average wind speed vector.
6. The tear gas grenade launch control method based on a mechanical dog according to claim 1, characterized in that: In step S4, the overall coverage density value of the target area in the task requirement is obtained, and the coverage density value is inversely proportional to the area of the target area; The entropy weight method is used to calculate the weight coefficient of each sub-region. ,in is the distance data between the sub-region numbered n and the target object, and c is the sum of the distance data between all sub-regions and the target object; The density requirement value of each sub-area is obtained by multiplying the coverage density value by the weight coefficient.
7. The tear gas grenade launch control method based on a mechanical dog according to claim 6, characterized in that: In step S4, a terrain complexity value of each sub-area is obtained, wherein the terrain complexity value is calculated by rasterizing the laser radar point cloud data; If the terrain complexity value of a sub-area exceeds the preset threshold, the density requirement value of the sub-area is multiplied by the correction coefficient to obtain the corrected density requirement value; According to a pre-established density emission correspondence table, the correspondence table stores a mapping relationship between density requirement value intervals and tear gas emission quantities, and the matched tear gas emission quantities are retrieved through the corrected density requirement value.
8. The tear gas grenade launch control method based on a mechanical dog according to claim 1, characterized in that: In step S5, coordinate data of the target object is obtained, wherein the coordinate data includes a horizontal coordinate value and a vertical coordinate value; Obtaining coordinate data of the center point of each sub-area, wherein the coordinate data also includes a horizontal coordinate value and a vertical coordinate value; The azimuth angle of each sub-region center point relative to the target object is calculated by the inverse tangent function. The azimuth angle formula is the inverse tangent function acting on the ordinate difference and the abscissa difference, that is, , represents the azimuth, (x3, y3) is the coordinate data of the target object, and (x2, y2) is the coordinate data of the center point of the sub-region; The azimuth As the emission angle offset of each sub-area; The emission angle of each sub-area is determined by adding the preset initial emission angle to the emission angle offset.
9. A tear gas grenade launch control system based on a mechanical dog, characterized in that: A tear gas grenade launch control method based on a mechanical dog is used as described in any one of claims 1 to 8.