Intelligent training device and training method for breaking through mine array psychology
By using vibration sensors and a controller system, the random distribution of landmine locations was simulated, which solved the problem of weakened training effect caused by the regular arrangement of landmines in existing training devices, and improved the realism and safety of training.
Patent Information
- Application Number
- CN202511742694.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-25
- Publication Date
- 2026-02-17
AI Technical Summary
The mines in the existing training devices are arranged too regularly, which does not conform to the randomness of mine placement in reality, thus weakening the training effect.
Using a vibration sensor and controller system, the system non-contactly locates the trainee's footing position, determines whether it coincides with a virtual landmine burial point, and generates a simulated explosion effect when they coincide, thus simulating the random distribution of landmines in reality.
It enhances the training effect, enabling trainees to conduct minefield psychological training in a more realistic environment, thus improving the realism and safety of the training.
Smart Images
Figure CN121545408A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of mine clearance technology, and in particular to an intelligent training device and a training method for breaking through minefields. Background Technology
[0002] With the deepening of realistic military training, live-fire training exercises have become routine in the armed forces. Engineering corps, responsible for mine-laying, mine-clearing, obstacle-setting, and obstacle-clearing, inevitably deal with dangerous materials such as landmines and explosives. Especially for soldiers encountering live-fire exercises for the first time, a certain degree of fear is common, potentially leading to hesitation, stiffness, rapid heartbeat, and trembling arms. This not only affects the completion of the live-fire exercise but may also cause accidental detonations with serious consequences. Therefore, training devices designed to overcome the psychological impact of minefields have emerged. Existing training devices generally involve spraying minefield maps on the ground or using advertising materials. The minefield layout is manually designed with pen and paper, and instructors manually guide trainees to determine whether they have triggered a mine based on the map. More advanced devices incorporate electronic equipment: multiple cells are set up, each with a trigger switch at the bottom. Some cells are designated as minefields, and the corresponding trigger switches are connected to electronic firecrackers. When a trainee steps into a minefield, the trigger switch activates the electronic firecracker, producing an explosion sound, achieving a simulated explosion effect. While this method has some training effect, the simulated mines are set up in a relatively regular manner. Trainees have to step on the middle of the cells during training. The simulated mines are limited by the arrangement and position of the cells and can only be arranged horizontally and vertically, which does not conform to the randomness of mine placement in reality and weakens the training effect. Summary of the Invention
[0003] Therefore, it is necessary to address the problem that the simulated landmine arrangement in existing training devices is too regular, which does not conform to the randomness of landmine burial in reality and weakens the training effect. In this regard, it is necessary to provide an intelligent training device and training method for breaking through the minefield psychological barrier.
[0004] In a first aspect, the present invention provides a smart training device for breaking through a minefield, comprising: a support, a platform, at least three vibration sensors, at least one explosion generating mechanism, and a controller.
[0005] The platform is mounted on a support frame; from top to bottom, the platform consists of: a pedal layer, a transmission layer, and a base plate layer; the pedal layer is used by the trainee to step on the pedals and generate a vibration source; the transmission layer is used to transmit the vibration waves generated by the vibration source; and the base plate is used to support the transmission layer.
[0006] At least three vibration sensors are mounted on a bracket to receive vibration waves on the transmission layer and record the arrival time of the vibration waves.
[0007] At least one explosion-generating mechanism is used to produce the mine-triggering effect.
[0008] Controller, which is used for: (1) Several virtual mine-laying points are set on the platform; each mine-laying point has a trigger radius.
[0009] (2) Receive the arrival time of each vibration sensor, calculate the position of the vibration source based on the time difference between the vibration waves detected by each two vibration sensors, and set the stepping radius for the vibration source.
[0010] (3) Determine whether the trigger radius and the stepping radius coincide; if they coincide, then trigger the explosion mechanism.
[0011] Secondly, the present invention also proposes a psychological training method for breaking through a minefield, which uses the intelligent psychological training device for breaking through a minefield described in the first aspect, and includes the following steps: S1. Generated at a random location on the platform. N One mine-laying point M 1~ M N ; N One mine-laying point M 1~ M N Generate trigger radius respectively R 1~ R N .
[0012] S2, Calculate the vibration source Z The location, and for Z Generate trampling radius R .
[0013] S3, Judgment R Is it related to the first n indivual R n coincide; n ∈[1, N If they overlap, it is determined that a landmine has been triggered; if they do not overlap, the next one is calculated. Z The position is repeated for S2 and S3.
[0014] The beneficial effects of this invention are as follows: This invention uses sensors to locate the trainee's stepping position without contact and compares the stepping position with the preset virtual mine-laying point. If they coincide, it means a mine has been triggered, and related simulated effects such as sound, light, and vibration are generated. This method allows the mine-laying point to be set arbitrarily, and the stepping position is no longer restricted by the layout of traditional cells. This makes the entire training platform like a normal ground, allowing trainees to move freely to conduct minefield psychological training, which is more in line with reality and enhances the training effect. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0016] Figure 1 A schematic diagram of a smart training device for overcoming psychological barriers in a minefield. Figure 2 This is a partial cross-sectional view of the platform in Example 1; Figure 3 This is a schematic diagram of the explosion generating mechanism in Example 1; Figure 4 This is a schematic diagram showing the state when the trigger circle and the pedaling circle do not overlap. Figure 5 This is a schematic diagram showing the state when the trigger circle and the pedaling circle coincide. Figure 6 This is a partial cross-sectional view of the platform in Example 2.
[0017] In the diagram: 1. Support frame; 2. Platform; 21. Pedal layer; 22. Transmission layer; 23. Base plate; 3. Vibration sensor; 4. Mine burial point; 5. Vibration source; 6. Housing; 7. Action module; 8. Sound and light module; 9. Walking wheel. Detailed Implementation
[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0019] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.
[0020] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.
[0022] Example 1 Please refer to Figure 1 This embodiment provides a psychological intelligent training device for breaking through a minefield, which includes a support 1, a platform 2, four vibration sensors 3, an explosion generating mechanism, a controller, and a display. Specifically, the support 1 serves as the main body and is used to mount other components. The support 1 can be configured as a rectangular frame. The platform 2 is mounted and fixed on the support 1. The platform 2 is located inside the support 1, and its perimeter is fixed to the inner wall of the support 1. Figure 2 As shown, platform 2 consists of a multi-layered structure, from top to bottom including: a pedal layer 21, a transmission layer 22, and a base plate 23. The pedal layer 21, located at the top, is the layer the trainee steps on during training. It can be made of hard plastic to improve hardness and wear resistance, simulating a ground surface. To make the training scenario more realistic, a thin grass mat can be laid on top of the pedal layer 21 to simulate a grassy effect. Alternatively, different materials such as curtains or fillers can be laid to simulate different ground effects. When the trainee steps on the pedal layer 21, the impact of their shoe sole generates a vibration source 5. The top of the transmission layer 22 contacts the bottom of the pedal layer, and the vibration waves generated by the vibration source 5 propagate through the transmission layer 22. To ensure uniform vibration wave propagation speed, the transmission layer can be made of metal, such as copper, iron, or aluminum alloy plates. The uniform distribution of these metal plates ensures uniform vibration wave propagation speed and minimal attenuation, which is beneficial for subsequent distance calculations. The bottom plate 23 supports the transfer layer 22 and the pedal layer 21, increasing the overall support strength of the platform 2 and preventing it from collapsing when stepped on by the trainee. Furthermore, reinforcing ribs or bars can be installed below the bottom plate 23 to further enhance the support strength.
[0023] If the number of vibration sensors 3 is too small, the time difference between multiple vibration sensors 3 will be insufficient to calculate the position of the vibration source 5. If the number is too large, the computational workload will increase. Therefore, a comprehensive consideration is required, and in this embodiment, the number of vibration sensors 3 is set to four. The four vibration sensors 3 are respectively installed at the four corners of the bracket 1, or evenly arranged in a ring around the center of the platform 2. This makes the positions of the vibration sensors 3 relatively dispersed and covers the periphery of the vibration generation area, avoiding multiple vibration sensors 3 from being collinear with the vibration source 5, which facilitates the subsequent distance calculation. The probes of the four vibration sensors 3 are in contact with the transmission layer 22 and are mainly used to detect the vibration waves propagated by the transmission layer 22. The vibration sensors 3 can be commercially available sensors, which only need to be able to detect the vibration waves propagated by the transmission layer 22 and record the arrival time of the vibration waves.
[0024] The explosion generating mechanism in this embodiment is located at the bottom of platform 2 and includes: a housing 6, an action module 7, an audio-visual module 8, and a movement module. Specifically, as shown... Figure 3 As shown, the motion module 7, sound and light module 8, and movement module are all mounted on the housing 6. The motion module 7 can be an impact hammer capable of rapid impact in one direction. The impact hammer is positioned towards the bottom of the platform 2. When the motion module 7 is activated, the hammerhead rapidly strikes the bottom of the platform 2 to simulate the impact vibration of an explosion. The sound and light module 8 can use sound and light components such as flashlights and horns. It simulates the thunder and flashes produced by an explosion through sound and light effects. The movement module includes wheels 9 and a matching drive mechanism, such as a motor. Driving the wheels 9 moves the entire explosion-generating mechanism to follow the trainee's position.
[0025] The configuration of the controller and its control logic are a key focus of this invention. The controller performs the following functions: (1) such as Figure 4 As shown, it is generated at a random location on platform 2. N One mine-laying point M 1~ M N Or, the location and number of mine-laying points 4 can be artificially set, and in N One mine-laying point M 1~ M N Generate trigger radius respectively R 1~ R N That is, a virtual trigger circle is set at the four mine-laying points. R 1~ R N The size can also be set freely.
[0026] (2) Receive the arrival times of the four vibration sensors 3, and calculate the position of the vibration source 5 based on the time difference between the vibration waves detected by each pair of vibration sensors 3. Specifically, the surface coordinates of the platform 2 are represented. The coordinate positions of the four vibration sensors 3 are known and can be recorded as vibration sensor coordinates. S 1~ S 4, whose coordinates are as follows: S 1 ( x , y 1) S 2 ( x 2, y 2) S 3 ( x 3, y 3) S 4 ( x 4, y 4). The time difference Δ between any two vibration sensors 3 detecting the vibration wave. t ij ( i , j (This indicates the serial number of the vibration sensor). Due to the speed of vibration wave propagation... v It is constant and known, let Δ t ij Multiply v The distance difference between the two vibration sensors 3 and the vibration source 5 can be obtained. v Δ t ij A coordinate system for the vibration source 5, Z( ), can be established. x , y The equations are as follows. Multiple equations can form a system of equations, as shown below: .
[0027] The position Z of vibration source 5 can be determined from this set of equations. x , y After obtaining the location of vibration source 5, set its stepping radius, that is, set a virtual pressing circle at vibration source 5. Similarly, the size of the stepping radius can be freely set.
[0028] (3) The controller also determines whether the trigger circle and the stepping circle overlap. The determination method includes the following steps: first calculate the mine placement point. M n and vibration source Z straight-line distance L Then R n and R Add them together to get the total radius R total . n ∈[1, N]. Then judge L and R total The size. If L ≤ R total If so, it is determined that the trigger circle and the stomp circle coincide. For example... Figure 5 As shown, this is a coincident state. If L＞ R total If the trigger circle and the stepping circle do not overlap, it is determined that the trigger circle and the stepping circle do not overlap.
[0029] (4) When the position of the vibration source 5 is calculated, control the explosion generating mechanism to move to the bottom of the platform 2 at the position corresponding to the vibration source 5.
[0030] Therefore, when the controller determines that the trigger ring and the stepping ring coincide, it also simultaneously triggers the explosion generation mechanism to produce simulated effects such as light and vibration.
[0031] As a visual device, the display shows the preset locations of the mine-laying points 4 on platform 2, allowing instructors to see them more intuitively. Furthermore, the display also features a touchscreen, allowing users to customize the number, location, trigger radius, and stepping radius of the mine-laying points 4. For example, the display could be an iPad or tablet computer, connected to the controller to achieve these functions.
[0032] Example 2 The difference between this embodiment and Embodiment 1 lies in the structure of platform 2. In this embodiment, platform 2 also includes, from top to bottom, the following layers: a pedal layer 21, a transfer layer 22, and a base plate 23. The difference is that, as... Figure 6 As shown, a gap is provided between the pedal layer 21 and the transmission layer 22. When the trainee steps on the pedal layer 21, the pedal layer 21 is pressed against the transmission layer 22, thereby generating the vibration source 5. When the pedal layer 21 loses pressure, it recovers under its own elasticity, and a gap is formed again between it and the transmission layer 22. This arrangement makes the vibration waves transmitted by the transmission layer 22 clearer, and more ground simulation material can be placed on top of the pedal layer 21 without affecting the generation of the vibration source 5.
[0033] Example 3 The difference between this embodiment and Embodiment 1 lies in the arrangement of the explosion generating mechanisms. In this embodiment, the explosion generating mechanisms do not include a moving module, but multiple mechanisms are provided. These multiple explosion generating mechanisms are evenly distributed at the bottom of platform 2. Each explosion generating mechanism has an influence radius. The controller is also used for: (5) Determine the trigger radius R n If the radius of influence overlaps with the mine's burial point 4, then the corresponding explosion mechanism will be associated with the mine's burial point 4.
[0034] (6) If the trigger radius R n If someone is trampled within the area, the controller will simultaneously activate the corresponding explosion-generating mechanism.
[0035] This configuration of explosion generating mechanisms allows different mechanisms to simultaneously provide multiple explosion simulations, making it suitable for scenarios where multiple people are training at the same time.
[0036] Example 4 This embodiment provides a psychological training method for breaking through a minefield, which uses the intelligent psychological training device for breaking through a minefield as described in Embodiment 1, Embodiment 2, or Embodiment 3. The psychological training method for breaking through a minefield includes the following steps: S1. Generate at a random location on platform 2. N One mine-laying point M 1~ M N ; N One mine-laying point M 1~ M N Generate trigger radius respectively R 1~ R N .
[0037] S2, Calculate the vibration source Z The location, and for Z Generate trampling radius R .
[0038] The method for calculating the location of vibration source 5 in this step includes the following steps: S21, Collection of the first i Vibration sensor S i x-coordinate x i y-axis y i Record the arrival time of the vibration. t i Collecting the first j Vibration sensor S j x-coordinate x j y-axis y j Record the arrival time of the vibration. t j .
[0039] S22, calculate first t i and t j Time difference Δt ij Then, based on Δ t ij calculate S i , S j Distance difference v Δ t ij The calculation formula is as follows: .
[0040] In the formula, v The speed at which the vibration wave propagates. x The x-coordinate represents the location of the vibration source. y The vertical coordinate represents the location of the vibration source.
[0041] Finally, based on multiple v Δ t ij The formula is solved to obtain Z The location.
[0042] S3, Judgment R Is it related to the first n indivual R n If they overlap, it's determined that a landmine has been triggered; otherwise, the next one is calculated. Z The location is determined, and S2 and S3 are repeated. When a landmine is detected, the explosion mechanism is controlled to generate impact vibration and sound and light simulation effects.
[0043] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0044] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.
Claims
1. A psychological intelligent training device for breaking through a minefield, characterized in that, It includes: support; The platform is mounted on a bracket; The platform consists of the following layers from top to bottom: a pedal layer, a transmission layer, and a base plate layer. The pedal layer is used by trainees to step on the pedals and generate vibrations. The transmission layer is used to transmit the vibration waves generated by the vibration source. The base plate supports the transmission layer. At least three vibration sensors, mounted on a bracket, are used to receive vibration waves on the transmission layer and record the arrival time of the vibration waves; At least one explosion generating mechanism is used to generate a mine-triggered effect; Controller, which is used for: (1) Several virtual mine-laying points are set on the platform; each mine-laying point has a trigger radius; (2) Receive the arrival time of each vibration sensor, calculate the position of the vibration source based on the time difference between the vibration waves detected by each two vibration sensors, and set the stepping radius for the vibration source; (3) Determine whether the trigger radius and the stepping radius coincide; if they coincide, then trigger the explosion mechanism.
2. The intelligent training device for breaking through the minefield psychological barrier according to claim 1, characterized in that, The pedal layer is made of hard plastic; the transmission layer is made of metal. And / or, a gap is provided between the pedal layer and the transmission layer; when the pedal layer is pressed, the pedal layer impacts the transmission layer, generating a vibration source.
3. The intelligent training device for breaking through the minefield psychological barrier according to claim 1, characterized in that, Four vibration sensors are set up, which are evenly arranged in a ring around the center of the platform.
4. The intelligent training device for breaking through the minefield psychological barrier according to claim 1, characterized in that, Several explosion-generating mechanisms are evenly distributed at the bottom of the platform; each explosion-generating mechanism has an influence radius. The controller is also used to: determine whether the trigger radius and the influence radius coincide; if they coincide, associate the corresponding explosion generating mechanism with the mine burial point. If someone is stepped on within the trigger radius, the controller will synchronously control the corresponding explosion-generating mechanism to operate.
5. The intelligent training device for breaking through the minefield psychological barrier according to claim 1, characterized in that, The explosion generating mechanism is located at the bottom of the platform, and there is only one such mechanism; the explosion generating mechanism is movable. The controller is also used to: when the location of the vibration source is calculated, control the explosion generating mechanism to move to the bottom of the platform at the position corresponding to the vibration source.
6. The intelligent training device for breaking through the minefield psychological barrier according to claim 4 or 5, characterized in that, The explosion-causing mechanism includes: case; The action module, mounted on the housing, is used to impact the bottom of the platform to simulate the shock vibrations generated by an explosion; The sound and light module, mounted on the housing, is used to simulate the thunder and flashes produced by an explosion.
7. The intelligent training device for breaking through the minefield psychological barrier according to claim 1, characterized in that, The intelligent training device for breaking through minefields also includes a display screen, which shows the locations of preset mine-laying points on the platform.
8. A psychological training method for breaking through a minefield, characterized in that, It uses the intelligent training device for breaking through the minefield as described in any one of claims 1 to 7; It includes the following steps: S1. Generated at a random location on the platform. N One mine-laying point M 1~ M N ; N One mine-laying point M 1~ M N Generate the corresponding trigger radius respectively R 1~ R N ; S2, Calculate the vibration source Z The location, and for Z Generate trampling radius R ; S3, Judgment R Is it related to the first n indivual R n coincide; n ∈[1, N If they overlap, it is determined that a landmine has been triggered; if they do not overlap, the next one is calculated. Z The position is repeated for S2 and S3.
9. The psychological training method for breaking through a minefield according to claim 8, characterized in that, In S2, the method for calculating the location of the vibration source includes the following steps: S21, Collection of the first i Vibration sensor S i x-coordinate x i y-axis y i Record the arrival time of the vibration. t i ; Collection of the first j Vibration sensor S j x-coordinate x j y-axis y j Record the arrival time of the vibration. t j ; S22, calculate first t i and t j Time difference Δ t ij ; Then according to Δ t ij calculate S i , S j Distance difference v Δ t ij The calculation formula is as follows: ； In the formula, v The speed at which the vibration wave propagates. x The x-coordinate represents the location of the vibration source. y The vertical coordinate represents the location of the vibration source. Finally, based on multiple v Δ t ij The formula is solved to obtain Z The location.
10. The psychological training method for breaking through a minefield according to claim 8, characterized in that, In S3, determine R Whether or not R n The method of overlapping includes the following steps: First calculate M n and Z straight-line distance L Then R n and R Add them together to get the total radius R total ; Then determine L and R total Size; if L ≤ R total If the trigger circle and the stomp circle coincide, then it is determined that the trigger circle and the stomp circle overlap; if L>R total If the trigger circle and the stepping circle do not overlap, it is determined that the trigger circle and the stepping circle do not overlap.