A method and system for automatically generating an electronic fence based on a holding device positioning point

Abstract

The application relates to a method and system for automatically generating an electronic fence based on a holding device positioning point, and relates to the field of safety management of a shooting range, which comprises the following steps: acquiring a current holding device number; determining a target task number; determining a target task activity range; acquiring a current holding device position and a current holding device shooting angle; determining a current holding device shooting range; determining a holding device passing range; determining a holding device activity range; generating an electronic fence area based on the holding device activity range and the target task activity range; when the current holding device shooting range falls into the electronic fence area, outputting a holding device unlocking signal; and when the current holding device position does not fall into the electronic fence area, outputting a holding device locking signal. The application has the effect of improving the safety and intelligent level of holding device management of a shooting range.

Description

Technical Field

[0001] This invention relates to the field of safety management of shooting ranges, and in particular to a method and system for automatically generating electronic fences based on the positioning points of a handheld device. Background Technology

[0002] Safety management of civilian shooting ranges is a core aspect of range operation and management. Real-time monitoring of the position of the equipment being held and constraints on the firing direction are directly related to the safety of personnel and the safety of facilities and property at the range.

[0003] Currently, the most common means of controlling gripping devices at firing ranges is a location control solution based on positioning technologies such as RFID and UWB. This type of solution can only monitor whether the gripping device is within a preset fixed area. By defining static location boundaries, it prevents the gripping device from being illegally taken away from the target position or the core area of ​​the firing range, thus reducing the risk of loss of gripping devices to a certain extent.

[0004] Regarding the aforementioned technologies, existing range holding equipment control schemes do not take into account the shooting angle, resulting in situations where the holding equipment is in a legal position but the firing port of the holding equipment is not pointing towards the target but instead pointing towards a dangerous area, creating safety hazards. Summary of the Invention

[0005] To address the issue that existing range gripping equipment control does not incorporate shooting angle constraints, this invention provides a method and system for automatically generating electronic fences based on the positioning points of the gripping equipment.

[0006] In a first aspect, the present invention provides a method for automatically generating electronic fences based on positioning points of a gripping device, employing the following technical solution: A method for automatically generating electronic fences based on positioning points of a handheld device includes: Step 1: In response to the signal generated by the electronic fence, obtain the number of the currently held device; Step 2: Determine the target task number corresponding to the current holding device number based on the current holding device number; Step 3: Based on the target task number, search the preset electronic fence information database to determine the activity range of the target task; Step 4: Obtain the current position of the holding device and the current firing angle of the holding device; Step 5: Determine the firing range of the current holding device based on its current position and firing angle; Step 6: Determine the path of the holding device based on the current position of the holding device and the target task's activity range; Step 7: Determine the range of motion of the holding device based on the path of the holding device and the range of motion of the target task; Step 8: Generate an electronic fence area based on the range of motion of the holding device and the range of motion of the target task; Step 80: When the current shooting range of the holding device falls into the electronic fence area, output the holding device unlock signal.

[0007] By adopting the above technical solution, an electronic fence is generated by integrating the legal movement range of the holding device (the range of activity of the holding device) and the shooting constraint range (the range of activity of the target mission), thereby realizing the core control of unlocking the shooting range in accordance with the rules and solving the safety hazard of existing technologies that only care about the position and not the shooting angle.

[0008] Optionally, when the current firing range of the holding device falls within the electronic fence area, the method for outputting the holding device unlock signal includes: Step 800: Determine the firing target number corresponding to the target mission's activity range based on the target mission's activity range; Step 801: Determine the firing angle range and firing target range corresponding to the firing target number; Step 802: When the current holding device position falls within the firing target range, determine the current firing target number; Step 803: Determine the current firing angle range based on the current target position number and target position range; Step 804: When the current shooting angle of the holding device falls within the current shooting angle range, output the holding device unlock signal.

[0009] By adopting the above technical solution, through the steps of confirming the target position number, verifying whether the holding device is within the target position range, and then verifying the compliance of the shooting angle, the holding device is only unlocked when both the target position and the shooting angle are compliant, thus improving the rigor of the unlocking judgment.

[0010] Optionally, methods for determining the current firing angle range based on the current target position number and the target position range include: Step 8030: If a current shooting target position number exists, output the current shooting target position number as the occupied target position number; Step 8031: Obtain the adjacent target number corresponding to the occupied target number; Step 8032: When the adjacent target position number is an occupied target position number, determine the adjacent occupied target position number; Step 8033: Determine the adjacency relationship based on the occupied target position number and the adjacent occupied target position numbers; Step 8034: Obtain the range of adjacent firing angles corresponding to adjacent occupied target positions; Step 8035: Determine and correct the current firing angle range based on the adjacency relationship, the current firing angle range, and the adjacent firing angle ranges, and output it as the current firing angle range.

[0011] By adopting the above technical solution, when adjacent target positions are occupied, the firing angle boundary of this target position is narrowed based on the firing angle range of the adjacent target positions, so as to avoid the firing range of this target position from overlapping with the adjacent target positions, and eliminate the safety risk of cross firing from the angle level.

[0012] Optionally, it also includes a method for outputting a holding device blocking signal when there are adjacent occupied target positions, the method comprising: Step 80360: Find the current holding device type based on the current holding device number; Step 80361: When the current holding device type is the preset automatic type, determine the interference firing angle range based on the current firing angle range and the adjacent firing angle range.

[0013] Step 80362: Obtain the status of the gripping device corresponding to the current gripping device number; Step 80363: When the holding device is in the preset firing state, obtain the firing port orientation angle in real time; Step 80364: Determine the trend of the launch port orientation angle based on the launch port orientation angle; Step 80365: Determine the expected firing point based on the trend of the firing port orientation angle; Step 80366: When the expected firing point falls within the range of the interference firing angle, output a holding device blocking signal.

[0014] By adopting the above technical solution, the recoil angle deviation problem of the automatic gripping device is addressed by monitoring the firing port orientation trend to predict the landing point. When the landing point may intrude into the interference angle range of adjacent targets, a blockade is immediately triggered to prevent the risk of accidental injury caused by recoil during continuous firing.

[0015] Optionally, a method for changing the target number is also included, the method comprising: Step 80370: When the current holding position of the device does not fall within the range of the shooting target, determine other shooting target numbers based on the shooting target number; Step 80371: Locate the range of other shooting target positions corresponding to other shooting target position numbers; Step 80372: When the current holding device position falls within the range of other shooting targets, determine the expected correction target number; Step 80373: When the expected target position number is not an occupied target position number, determine the rate of change of the gripping device position based on the current gripping device position; Step 80374: When the rate of change of the holding device position falls within the preset range of static change rate, the expected correction target number is output as the current shooting target number.

[0016] By adopting the above technical solution, automatic target matching is supported after the user leaves the original target position. By judging the position, target status and movement status, the idle target position is accurately selected and the target position number is switched without manual operation, which improves the flexibility and efficiency of target position use.

[0017] Optionally, it also includes a method for determining the range of a temporary firing target position when there are adjacent occupied target position numbers, the method comprising: Step 80380: Obtain the location of the adjacent holding device associated with the adjacent occupied target position number; Step 80381: Determine the lateral movement frequency of adjacent gripping devices based on their positions; Step 80382: When the lateral movement frequency of the adjacent holding device position falls into the preset high frequency range, a temporary shooting target range is determined based on the adjacency relationship and the shooting target range, and is output as the shooting target range.

[0018] By adopting the above technical solution, the lateral movement frequency of adjacent target-holding devices is monitored. When adjacent users are in an unstable state of frequent movement, the physical station range of the target position is actively reduced to increase the safety distance and cope with the dynamic safety risks of adjacent target positions.

[0019] Optionally, when the firing angle of the current holding device falls within the current firing angle range, the method for outputting the holding device unlock signal includes: Step 8040: Obtain the centerline of the target position with the current shooting target number; Step 8041: Determine the position offset of the holding device based on the target centerline and the current holding device position; Step 8042: Determine the corrected shooting angle of the holding device based on the position offset of the holding device and the current shooting angle of the holding device, and output the corrected shooting angle of the holding device as the current shooting angle of the holding device.

[0020] By adopting the above technical solution and combining the offset of the holding device relative to the central axis within the target position, the shooting angle range is dynamically corrected, which solves the drawback of adapting a fixed angle range to different positions and achieves precise control of different safe angle ranges corresponding to different positions.

[0021] Optionally, it also includes a method for outputting a preset abnormal signal for the gripping device, the method comprising: Step 82: Determine the boundary of the gripping device's range of motion based on the range of motion of the gripping device; Step 83: Determine the shortest outbound straight-line distance based on the current position of the gripping device and the boundary of the gripping device's range of motion; Step 84: When the shortest outbound straight-line distance is less than the preset risk distance threshold, determine the current movement direction of the holding device based on the shortest outbound straight-line distance; Step 85: When the current moving direction of the gripping device falls into the preset outward direction, determine and correct the boundary of the moving range of the gripping device based on the current moving direction of the gripping device and the boundary of the moving range of the gripping device; Step 86: When the current gripping device position exceeds the boundary of the corrected gripping device activity range, output a gripping device abnormality signal.

[0022] By adopting the above technical solution, the distance and direction of movement between the holding device and the boundary of the activity range are monitored. When there is a risk of crossing the boundary, the temporary safety boundary is dynamically contracted and an abnormal warning signal is output in advance to avoid the holding device directly crossing the boundary and causing a safety accident.

[0023] Optionally, methods for determining and correcting the boundaries of the gripping device's range of motion based on the current movement direction of the gripping device and the boundaries of the gripping device's range of motion include: Step 850: Determine the moving speed of the gripping device corresponding to the current moving direction based on the current gripping device position and the current moving direction of the gripping device; Step 851: Determine the reduction value of the activity range boundary of the gripping device in real time based on the moving speed of the gripping device; Step 852: When the current moving direction of the holding device falls into the preset inward direction and the shortest out-of-bounds straight distance is greater than the risk distance threshold, the boundary recovery value of the holding device's activity range is determined in real time based on the moving speed of the holding device. Step 853: Determine the corrected range of motion boundary of the gripping device based on the reduced range of motion boundary value, the restored range of motion boundary value, and the range of motion boundary of the gripping device.

[0024] By adopting the above technical solution, the reduction and recovery values ​​of the activity range boundary are determined based on the moving speed of the gripping device. The faster the moving speed and the closer to the boundary, the greater the contraction. When the risk is eliminated, the boundary is restored according to the speed, making the boundary control more in line with the actual moving state of the gripping device.

[0025] Secondly, this invention provides an electronic fence system that automatically generates electronic fences based on the positioning points of a gripping device, employing the following technical solution: An electronic fence system that automatically generates geofences based on the positioning points of a handheld device includes: The acquisition module is used to obtain the number of the currently held device; The memory is used to store a program for automatically generating an electronic fence based on the positioning points of a gripping device, as described above. The processor loads and executes programs from memory.

[0026] By adopting the above technical solution, the system can automatically locate the holding device, monitor the firing angle, and generate an electronic fence based on the stored method program and the obtained current holding device number. This enables the system to complete control operations such as unlocking, locking, and abnormal signal output of the holding device, effectively solving the problem that the control of holding devices in existing shooting ranges is not constrained by the firing angle, and effectively improving the safety control level of civilian shooting ranges.

[0027] In summary, the present invention has at least one of the following beneficial technical effects: Breaking through the limitations of existing technologies that only control the position of the holding device, a composite electronic fence is generated by integrating the range of motion of the holding device and the range of motion of the target mission. Combined with mechanisms such as adjacent target angle correction and position offset angle compensation, a dual safety judgment standard of position compliance and shooting angle legality is constructed to eliminate the safety hazard of the holding device being in a legal position but the firing port of the holding device pointing to a dangerous area. For dynamic risk scenarios such as recoil angle deviation after continuous firing of automatic gripping devices and user movement at adjacent target positions, the system upgrades from passive alarm to active prevention and control by monitoring the firing port orientation trend of the gripping device to predict the landing point and directionally shrinking the physical range of the target position. At the same time, it supports automatic target switching, which can complete the matching of idle targets without manual intervention, improving the flexibility and timeliness of safety management. By dynamically adjusting parameters such as the electronic fence boundary and angle correction coefficient, the control strategy is made to fit the actual shooting scenario, which not only improves the safety control level of the shooting range, but also optimizes the user's operating experience and the operational efficiency of the shooting range. Attached Figure Description

[0028] Figure 1 This is a flowchart of a method for automatically generating an electronic fence based on the positioning points of a holding device, as described in an embodiment of this application. Figure 2 This is a schematic diagram illustrating how the current firing angle range is determined and corrected based on adjacency relationships, the current firing angle range, and adjacent firing angle ranges in an embodiment of this application. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0030] This invention discloses a method for automatically generating electronic fences based on the positioning points of a handheld device. (Refer to...) Figure 1 A method for automatically generating electronic fences based on the positioning points of a handheld device includes: Step 1: In response to the signal generated by the electronic fence, obtain the number of the currently held device.

[0031] The electronic fence generation signal refers to the instruction that triggers the system to start the electronic fence generation process. Specifically, it is the ready signal sent after the user completes identity authentication (such as card swiping or facial recognition) and the positioning module of the holding device completes its self-test. The current holding device number is obtained as follows: After the user completes identity authentication and the positioning module of the holding device completes its self-test, the range control system controls the electronic tag readers (compatible with RFID / UWB tag protocols) deployed in the device acquisition area and target area to send an identity reading instruction to the built-in electronic tag of the currently associated holding device. After receiving the instruction, the electronic tag automatically feeds back its built-in unique ID information, and the reader transmits this ID information to the range control system. The system performs association verification between the received ID information and the user authentication information (confirming that the holding device is the user's authorized holding device). After the verification is successful, the ID information is used as the current holding device number to complete the acquisition.

[0032] Step 2: Determine the target task number corresponding to the current holding device number based on the current holding device number.

[0033] The target mission number is a unique identifier for a shooting reservation mission in a civilian firing range that is bound to the handheld device. Each number is associated with preset mission parameters, including the path area that is allowed to be walked on while carrying the handheld device, the designated shooting target position, and the effective shooting time period.

[0034] Step 3: Based on the target task number, search the preset electronic fence information database to determine the activity range of the target task.

[0035] The electronic fence database refers to a structured database pre-stored in the range control system. It stores parameters corresponding to all target mission numbers, including the coordinates of the firing target positions and the safe width of the path. The target mission activity range refers to the exclusive control area of ​​the unique target position authorized by the target mission number (excluding the walking path of those carrying handheld devices). It is specifically generated based on the firing target position coordinates stored in the electronic fence database, including the target position's physical boundary area, the range of legal firing angles, and the target's legal ballistic trajectory area.

[0036] The target physical boundary area refers to a circular or polygonal area centered on the pre-stored firing position coordinates in the electronic fence database, used to accurately determine whether the holding device has entered the designated target position. The legal firing angle range for the target refers to a pre-defined range of horizontal firing port orientation based on the target's centerline, used to verify whether the firing port's direction is compliant. The legal ballistic trajectory area for the target refers to a fan-shaped three-dimensional space extending from the target physical boundary area, within the boundary of the legal firing angle range, to the target position, and outwards to a pre-defined safe length; this is the legal area that the bullet is allowed to cover.

[0037] Step 4: Obtain the current position of the holding device and the current shooting angle of the holding device.

[0038] The current position of the holding device refers to the three-dimensional coordinate data collected in real time by the positioning module (such as UWB or inertial navigation module) on the holding device, accurately reflecting the spatial position of the holding device in the target range. The current firing angle of the holding device refers to the horizontal orientation angle of the launch port collected by the attitude sensing module on the holding device, quantifying the direction of the launch port with reference to the preset reference direction of the target range (such as the direction of the target centerline).

[0039] Step 5: Determine the firing range of the current holding device based on the current holding device position and the current holding device firing angle.

[0040] The current holding device firing range refers to a fan-shaped ballistic space area with the current holding device position as the apex, the current firing angle as the central axis, the preset firing angle (such as ±15°) as the boundary, and the preset maximum firing range as the length, reflecting the potential firing coverage area corresponding to the direction of the firing port.

[0041] Step 6: Determine the path of the holding device based on the current position of the holding device and the target task's activity range.

[0042] The range of movement for the holding device refers to the multiple walking paths from the current position of the holding device to the designated shooting target position within the target mission's activity range. This includes a strip-shaped area extending along both sides of the path with a preset safe width (e.g., 1 meter), which is the legal movement area for the holding device on its way to the shooting target position. This safe width is dynamically set based on the actual environment and safety requirements of the firing range, and is not a fixed value.

[0043] Step 7: Determine the range of motion of the holding device based on the range of the holding device's path and the range of motion of the target task.

[0044] The range of motion of the holding device refers to the area obtained by performing a spatial union operation on the range of motion of the holding device and the range of motion of the target mission. It is a legal boundary of movement that only constrains the physical position of the holding device and does not involve restrictions on the firing angle. The reason for combining the two is that the range of motion of the holding device only covers the movement path area and does not include the core activity area of ​​the target position. The superposition of the two can form a complete legal boundary of the physical position of the holding device.

[0045] Step 8: Generate an electronic fence area based on the range of motion of the holding device and the range of motion of the target task.

[0046] An electronic fence area refers to a target-specific dynamic composite control area formed by spatially superimposing the range of motion of the holding device with the range of motion of the target mission. It restricts the movement boundary of the holding device and limits the legal firing direction and ballistic coverage.

[0047] Step 80: When the current shooting range of the holding device falls into the electronic fence area, output the holding device unlock signal.

[0048] The handgrip unlock signal is a command issued by the range control system to the electronic locking mechanism of the handgrip, used to release the trigger lock and allow the handgrip to fire normally. If the current firing range of the handgrip falls within the electronic fence area, it means that the potential firing coverage of the handgrip is completely within the legal control boundary and will not hit areas unrelated to the range, thus meeting the firing safety conditions.

[0049] In this embodiment, the holding device is a firearm, and the firing port is the muzzle.

[0050] The methods for outputting an unlock signal for the gripping device when its current firing range falls within the electronic fence area include: Step 800: Determine the firing target number corresponding to the target mission's activity range based on the target mission's activity range.

[0051] The firing target number refers to the unique identifier assigned to each fixed firing target by a civilian firing range (such as "Target No. 1" or "Target No. 2"). It is bound to the target mission activity range and is used to associate the target's physical boundaries, legal firing angles, and other core control parameters.

[0052] Step 801: Determine the range of the shooting target based on the target position number.

[0053] The firing target range refers to the physical boundary area of ​​the target position bound to the firing target position number. It is a circular or polygonal area defined by the pre-stored firing station coordinates, which is completely consistent with the physical boundary area of ​​the target position in the target mission activity range.

[0054] Step 802: When the current holding device position falls within the firing target range, determine the current firing target number.

[0055] The current target position number refers to the unique identifier corresponding to the target position that the user has actually entered, determined by the system based on the matching result between the real-time position of the holding device and the target position range. If the current position of the holding device falls within the target position range, it means that the holding device has left the walking path carrying the holding device and has reached the designated firing position authorized by the target mission, satisfying the core position constraints before firing, and can proceed to the next step of the launch port pointing verification process.

[0056] Step 803: Determine the current firing angle range based on the current firing target number and firing target range.

[0057] The current firing angle range refers to the specific numerical range of the legal firing angle range of the target position, which is bound to the current firing target position number. In other words, it is the allowable range of the horizontal orientation of the firing port with the target centerline as the reference.

[0058] Step 804: When the current shooting angle of the holding device falls within the current shooting angle range, output the holding device unlock signal.

[0059] If the firing angle of the current holding device falls within the current firing angle range, it means that the horizontal orientation of the firing port is completely within the legal angle range authorized by the current target position, thus meeting the angle constraint conditions for firing safety.

[0060] The methods for determining the current firing angle range based on the current target position number and the target position range include: Step 8030: If a current shooting target position number exists, output the current shooting target position number as the occupied target position number.

[0061] The occupied target position number is an alternative name for the target position number that is currently occupied by the user and whose holding device has fallen into the corresponding shooting target position range. It is the same identifier as the current shooting target position number.

[0062] Step 8031: Obtain the adjacent target number corresponding to the occupied target number.

[0063] The adjacent target number refers to the unique identifier of the two targets directly adjacent to the occupied target number in the horizontal arrangement sequence of the target positions in the range (for example, if the occupied target number is "target 5", then the corresponding adjacent target numbers are "target 4" and "target 6").

[0064] Step 8032: When the adjacent target position number is an occupied target position number, determine the adjacent occupied target position number.

[0065] The adjacent occupied target number refers to the target number that is currently occupied by other users among the obtained adjacent target numbers.

[0066] Step 8033: Determine the adjacency relationship based on the occupied target position number and the adjacent occupied target position number.

[0067] Adjacent relationship refers to the directional relationship between an occupied target position and an adjacent occupied target position. It includes only two types: left adjacent and right adjacent (for example, if the occupied target position is No. 5 and the adjacent occupied target position is No. 4, then the adjacent relationship is left adjacent; if the adjacent occupied target position is No. 6, then the adjacent relationship is right adjacent).

[0068] Step 8034: Obtain the range of adjacent firing angles corresponding to adjacent occupied target positions.

[0069] The range of adjacent firing angles refers to the range of legal firing angles corresponding to adjacent occupied target positions.

[0070] Step 8035: Determine and correct the current firing angle range based on the adjacency relationship, the current firing angle range, and the adjacent firing angle ranges, and output it as the current firing angle range.

[0071] Reference Figure 2 Correcting the current firing angle range refers to adjusting the single or double boundary of the initial firing angle range based on the current firing target number, combined with the adjacency relationship and the safety boundary of adjacent firing angle ranges, to form an interference-free legal firing angle constraint interval. The specific adjustment rules are as follows: when the left adjacent target is occupied, the left boundary of the initial angle range is adjusted to a vertical constraint line that coincides with the right safety boundary of the left adjacent firing angle range; when the right adjacent target is occupied, the right boundary of the initial angle range is adjusted to a vertical constraint line that coincides with the left safety boundary of the right adjacent firing angle range; when both left and right adjacent targets are occupied, the double boundary is adjusted simultaneously to ultimately form a dedicated firing angle range that does not cover adjacent targets.

[0072] This also includes a method for outputting a blocking signal from the holding device when there are adjacent occupied target positions, the method comprising: Step 80360: Find the current holding device type based on the current holding device number.

[0073] The current type of handholding device refers to the classification of handholding devices for civilian range firing according to the firing mode. Specifically, it includes three types: automatic, semi-automatic, and manual. The classification is based on whether the handholding device has a continuous firing function. For handholding devices with a continuous firing function, the impact of recoil on the firing port orientation needs to be considered.

[0074] Step 80361: When the current holding device type is the preset automatic type, determine the interference firing angle range based on the current firing angle range and the adjacent firing angle range.

[0075] Automatic type refers to a grip device capable of firing multiple bullets in succession with a single trigger pull, such as an automatic rifle. The interference firing angle range refers to the angle interval corresponding to the legal firing angle range of adjacent occupied target positions, mapped using the target's center line as the angular reference. This range is the danger angle red line outside the corrected firing angle range of the current target position; specifically, it is the overlapping interval of the legal firing angle ranges of adjacent target positions in the current target position's angular coordinate system. It is used to determine whether the firing nozzle orientation of the automatic grip device, after being shifted due to recoil, will enter a danger angle range that would cause the bullet impact point to intrude into the adjacent target position.

[0076] Step 80362: Obtain the status of the gripping device corresponding to the current gripping device number.

[0077] The status of the gripping device refers to the real-time working status detected by the built-in sensors of the gripping device (trigger pressure sensor, gunpowder gas sensor, etc.), which is divided into two categories: firing status and non-firing status.

[0078] Step 80363: When the holding device is in the preset firing state, obtain the firing port orientation angle in real time.

[0079] The firing state refers to the working state in which the trigger of the grip device is triggered, the bullet is fired, and gunpowder gas and recoil are generated. For automatic grip devices, it specifically refers to the stage of continuously firing bullets.

[0080] The firing port orientation angle refers to the horizontal orientation angle of the firing port, which is collected in real time by the attitude sensing module mounted on the holding device during the firing phase, with the target centerline as the reference. Here, the target centerline refers to the direction of the centerline of the target position corresponding to the current firing target position number.

[0081] Step 80364: Determine the trend of the launch port orientation angle based on the launch port orientation angle.

[0082] The trend of the firing port orientation angle refers to the offset pattern obtained by calculating the rate and direction of angle change after continuously collecting multiple sets of firing port orientation angle data during the continuous firing phase of an automatic type holding device.

[0083] Step 80365: Determine the expected firing point based on the trend of the firing port orientation angle.

[0084] The predicted firing point refers to the coordinates of the bullet's future impact point calculated by a ballistic trajectory algorithm, which combines the trend of the firing port's orientation angle, the current firing port's orientation angle, and the preset maximum range. It reflects the position where the bullet might hit after the recoil deflection.

[0085] Step 80366: When the expected firing point falls within the range of the interference firing angle, output a holding device blocking signal.

[0086] When the expected firing point falls within the range of interfering firing angles, it indicates that during continuous fire, the automatic-type handheld device is experiencing muzzle deviation due to recoil. The bullet's future impact point will enter the legal firing area of ​​an adjacent occupied target position, posing a risk of accidental injury to personnel at adjacent targets, interfering with their handheld device experience, and causing overlapping bullet firing areas, making it impossible to determine the bullet's assigned target position. The handheld device must be immediately locked to eliminate this hazard. The handheld device lockout signal is an emergency command issued by the range control system to the electronic locking mechanism of the handheld device, used to immediately stop the firing action of the handheld device and ensure range safety. Once the handheld device lockout signal is issued, the trigger of the handheld device will be forcibly locked, and no further firing will be possible regardless of subsequent trigger operations until the range control system releases the lockout.

[0087] This also includes a method for changing the target number, which includes: Step 80370: When the current holding device position does not fall within the range of the shooting target position, determine other shooting target position numbers based on the shooting target position number.

[0088] Other shooting target number refers to the unique identifier of all fixed shooting targets in the range that have been entered into the electronic fence information database, excluding the currently bound shooting target number. It is a set of candidate numbers for the system to match new targets for the user. If the current position of the holding device does not fall within the shooting target range, it means that the user has left the physical area of ​​the shooting target authorized by the original target mission, which may require changing the target, or the user may have accidentally moved away from the original target boundary.

[0089] Step 80371: Find the range of other shooting targets corresponding to other shooting target numbers.

[0090] Other shooting target ranges refer to the physical boundary areas of the target positions that are individually bound to each other shooting target position number, that is, the circular or polygonal areas defined with the shooting station coordinates of the corresponding target position as the center.

[0091] Step 80372: When the current holding device position falls within the range of other shooting targets, determine the expected correction target number.

[0092] The expected corrected target number refers to the target number corresponding to another shooting target range that the system detects the current holding device position to actually fall into, and is the candidate number of the new target position to be switched.

[0093] Step 80373: When the expected target position number is not an occupied target position number, determine the rate of change of the gripping device position based on the current gripping device position.

[0094] The rate of change of the gripping device position refers to the average speed of position movement calculated based on the real-time position coordinates of the gripping device collected over a continuously preset time period (e.g., 10 seconds), which is used to determine whether the user is in a moving or stationary state.

[0095] Step 80374: When the rate of change of the holding device position falls within the preset range of static change rate, the expected correction target number is output as the current shooting target number.

[0096] The stationary rate of change range refers to a preset speed threshold range at the firing range used to determine if a user is in a stationary or hesitant state. If the speed is below the upper limit of this range, it is determined that the user has no obvious intention to move. When the rate of change of the holding device position falls within the stationary rate of change range, it indicates that the user has lingered too long in the new, unoccupied target area and has a clear intention to shoot at that target. The system automatically switches the target number without requiring manual operation from the user.

[0097] This also includes a method for determining the range of temporary firing targets when adjacent target positions exist, the method comprising: Step 80380: Obtain the location of the adjacent holding device associated with the adjacent occupied target position number.

[0098] The location of adjacent gripping devices refers to the real-time three-dimensional coordinates of the gripping device bound to the adjacent occupied target position number within its firing target position range, which is continuously collected by the range control system through the positioning module of the gripping device.

[0099] Step 80381: Determine the lateral movement frequency of adjacent gripping devices based on their positions.

[0100] The lateral movement frequency of adjacent holding devices refers to the number of times the position of adjacent holding devices changes along the left and right directions of the target within a preset statistical time (e.g., 10 seconds). It is calculated by dividing the number of effective changes in the lateral position coordinates of adjacent holding devices within the statistical time by the statistical time. It is used to determine whether adjacent users are in an unstable shooting state with frequent movement.

[0101] Step 80382: When the lateral movement frequency of the adjacent holding device position falls into the preset high frequency range, a temporary shooting target range is determined based on the adjacency relationship and the shooting target range, and is output as the shooting target range.

[0102] The high-frequency range refers to the frequency threshold range preset by the range to determine that adjacent users are in a state of frequent lateral movement. Exceeding this range indicates that there is a risk of unstable shooting posture at adjacent targets. The temporary shooting target range refers to the safe standing position range formed by directionally shrinking the physical boundary of the current target in response to the risk scenario of frequent movement of adjacent users. The shrinkage rule is as follows: if the adjacent target is to the left, the left boundary of the current target is shrunk by a preset width (e.g., 0.3 meters) towards the central axis; if it is to the right, the right boundary is shrunk, thereby increasing the safe distance from the adjacent target and avoiding the risk of overlapping shooting ranges due to the movement of adjacent users.

[0103] The method for outputting an unlock signal for the holding device when the current firing angle of the holding device falls within the current firing angle range includes: Step 8040: Obtain the centerline of the target position with the current shooting target position number.

[0104] The target centerline refers to the straight line that runs through the center of the shooting position and the center of the target, and is the baseline for determining the shooting direction of the target position.

[0105] Step 8041: Determine the position offset of the gripping device based on the target centerline and the current gripping device position.

[0106] The position offset of the gripping device refers to the combined parameter of the horizontal offset distance and offset direction of the current gripping device position relative to the center axis of the target position. Specifically, it is the vertical straight-line distance from the gripping device position to the center axis of the target position, as well as the direction indicator of whether the position is to the left or right of the center axis.

[0107] Step 8042: Determine the corrected shooting angle of the holding device based on the position offset of the holding device and the current shooting angle of the holding device, and output the corrected shooting angle of the holding device as the current shooting angle of the holding device.

[0108] The corrected firing angle of the holding device refers to the theoretical firing angle based on the target's centerline, which is then compensated and calibrated by the positional offset of the holding device to obtain an effective firing angle that matches the actual position of the holding device. The calibration rule is as follows: when the holding device is biased to the left of the centerline, the left boundary of the firing angle is compensated by contraction; when the holding device is biased to the right of the centerline, the right boundary of the firing angle is compensated by contraction. This ensures that the corrected firing angle always points towards the target area, avoiding the firing port pointing towards an adjacent target due to positional offset.

[0109] This also includes a method for outputting a preset abnormal signal for the gripping device, the method comprising: Step 82: Determine the boundary of the gripping device's range of motion based on the range of motion of the gripping device.

[0110] The boundary of the holding device's activity range refers to the closed positional boundary formed by the strip-shaped outer edge of the area traversed by the holding device and the physical boundary of the target's activity range; this is the highest-authority positional boundary of the holding device within the target range.

[0111] Step 83: Determine the shortest straight-line distance for crossing the boundary based on the current position of the gripping device and the boundary of the gripping device's range of motion.

[0112] The shortest out-of-bounds straight-line distance refers to the vertical straight-line length from the current three-dimensional coordinate point of the holding device to the boundary of the holding device's range of motion. When this distance is greater than 0, the holding device is within the legal position; when the distance is less than 0, the holding device has exceeded the legal position boundary. The legal position refers to the area within the firing range where the holding device is allowed to remain and move.

[0113] Step 84: When the shortest outbound straight distance is less than the preset risk distance threshold, determine the current movement direction of the holding device based on the shortest outbound straight distance.

[0114] The risk distance threshold refers to the critical distance value pre-set by the target range based on the site layout. The current movement direction of the gripping device refers to the vector direction of the position change of the gripping device calculated by continuously collecting multiple sets of real-time position coordinates of the gripping device, specifically divided into outward and inward directions.

[0115] Step 85: When the current moving direction of the gripping device falls into the preset outward direction, determine and correct the boundary of the moving range of the gripping device based on the current moving direction of the gripping device and the boundary of the moving range of the gripping device.

[0116] The outward direction refers to the direction in which the vector direction of the change in the position of the holding device points to the outside of the boundary of the holding device's range of activity, that is, the direction in which the holding device tends to move out of the legal area and trigger the risk of crossing the boundary.

[0117] The modified boundary of the holding device's range of motion refers to the temporary safety boundary formed by dynamically shrinking and adjusting the original boundary of the holding device's range of motion in risk scenarios where the holding device moves out of the boundary. The shrinkage range is positively correlated with the current moving speed of the holding device and the shortest straight-line distance of crossing the boundary (e.g., the closer the holding device is to the original boundary and the faster the moving speed, the greater the shrinkage range).

[0118] Step 86: When the current gripping device position exceeds the boundary of the corrected gripping device activity range, output a gripping device abnormality signal.

[0119] An abnormal signal for the gripping device refers to a multi-level warning command issued by the range control system to the administrator terminal and the gripping device positioning module. This command includes information such as the gripping device number and its current location indicating a violation. If the gripping device's current location exceeds the boundary of its corrected activity range, it indicates a serious violation of safety regulations and an extremely dangerous state, potentially causing unpredictable harm to personnel and facilities at the range. Upon receiving this abnormal signal, the administrator terminal should immediately take appropriate emergency measures.

[0120] The method for determining and correcting the boundary of the gripping device's range of motion based on the current movement direction of the gripping device and the boundary of the gripping device's range of motion includes: Step 850: Determine the moving speed of the gripping device corresponding to the current moving direction of the gripping device based on the current position of the gripping device and the current moving direction of the gripping device.

[0121] The moving speed of the gripping device refers to the average movement rate of the gripping device along the moving direction, calculated based on the position coordinates of the gripping device collected over a continuously preset time period (such as 10 seconds).

[0122] Step 851: Determine the reduction value of the activity range boundary of the gripping device in real time based on the moving speed of the gripping device.

[0123] The reduction value of the activity range boundary of the holding device refers to the length by which the original activity range boundary of the holding device shrinks into the legal area when the holding device moves outward in a risk scenario. This value is positively correlated with the moving speed of the holding device. The faster the moving speed and the smaller the shortest straight-line distance of the boundary, the larger the reduction value, thereby improving the sensitivity of the early warning.

[0124] Step 852: When the current moving direction of the holding device falls into the preset inward direction and the shortest out-of-bounds straight distance is greater than the risk distance threshold, the boundary recovery value of the holding device's activity range is determined in real time based on the moving speed of the holding device.

[0125] The inward direction refers to the direction in which the vector direction of the change in the position of the gripping device points towards the inside of the boundary of the gripping device's range of motion; that is, the gripping device moves away from the boundary to reduce the risk of exceeding the boundary. The recovery value of the gripping device's range of motion boundary refers to the length value by which the corrected boundary recovers in the direction of the original boundary after the gripping device moves inward and the risk is eliminated. This value is positively correlated with the speed of the gripping device's inward movement; the faster the movement speed, the faster the recovery speed, until the corrected boundary completely coincides with the original boundary of the gripping device's range of motion.

[0126] If the current direction of movement of the holding device falls in the inward direction and the shortest straight-line distance of crossing the boundary is greater than the risk distance threshold, it means that the holding device has moved away from the boundary risk area, the risk of crossing the boundary has been completely eliminated, the system no longer needs to maintain the contracted temporary warning boundary, and can gradually restore to the original legal position boundary.

[0127] Step 853: Determine the corrected range of motion boundary of the gripping device based on the reduced range of motion boundary value, the restored range of motion boundary value, and the range of motion boundary of the gripping device.

[0128] Based on the same inventive concept, embodiments of the present invention provide an electronic fence system that automatically generates electronic fences based on the positioning points of a gripping device.

[0129] An electronic fence system that automatically generates geofences based on the positioning points of a handheld device includes: The acquisition module is used to obtain the number of the currently held device; The memory is used to store a program for automatically generating an electronic fence based on the positioning points of a gripping device; The processor loads and executes programs from memory.

[0130] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for automatically generating electronic fences based on the positioning points of a gripping device, characterized in that, include: Step 1: In response to the signal generated by the electronic fence, obtain the number of the currently held device; Step 2: Determine the target task number corresponding to the current holding device number based on the current holding device number; Step 3: Based on the target task number, search the preset electronic fence information database to determine the activity range of the target task; Step 4: Obtain the current position of the holding device and the current firing angle of the holding device; Step 5: Determine the firing range of the current holding device based on its current position and firing angle; Step 6: Determine the path of the holding device based on the current position of the holding device and the target task's activity range; Step 7: Determine the range of motion of the holding device based on the path of the holding device and the range of motion of the target task; Step 8: Generate an electronic fence area based on the range of motion of the holding device and the range of motion of the target task; Step 80: When the current shooting range of the holding device falls into the electronic fence area, output the holding device unlock signal; Step 81: When the current holding device position does not fall into the electronic fence area, output a locking signal for the holding device; The methods for outputting an unlock signal for the gripping device when its current firing range falls within the electronic fence area include: Step 800: Determine the firing target number corresponding to the target mission's activity range based on the target mission's activity range; Step 801: Determine the firing angle range and firing target range corresponding to the firing target number; Step 802: When the current holding device position falls within the firing target range, determine the current firing target number; Step 803: Determine the current firing angle range based on the current target position number and target position range; Step 804: When the current shooting angle of the holding device falls within the current shooting angle range, output a holding device unlock signal; The methods for determining the current firing angle range based on the current target position number and the target position range include: Step 8030: If a current shooting target position number exists, output the current shooting target position number as the occupied target position number; Step 8031: Obtain the adjacent target number corresponding to the occupied target number; Step 8032: When the adjacent target position number is an occupied target position number, determine the adjacent occupied target position number; Step 8033: Determine the adjacency relationship based on the occupied target position number and the adjacent occupied target position numbers; Step 8034: Obtain the range of adjacent firing angles corresponding to adjacent occupied target positions; Step 8035: Determine and correct the current firing angle range based on the adjacency relationship, the current firing angle range, and the adjacent firing angle ranges, and output it as the current firing angle range; This also includes a method for changing the target number, which includes: Step 80370: When the current holding position of the device does not fall within the range of the shooting target, determine other shooting target numbers based on the shooting target number; Step 80371: Locate the range of other shooting target positions corresponding to other shooting target position numbers; Step 80372: When the current holding device position falls within the range of other shooting targets, determine the expected correction target number; Step 80373: When the expected target position number is not an occupied target position number, determine the rate of change of the gripping device position based on the current gripping device position; Step 80374: When the rate of change of the holding device position falls within the preset range of static change rate, the expected correction target number is output as the current shooting target number.

2. The method for automatically generating electronic fences based on the positioning points of a gripping device according to claim 1, characterized in that, It also includes a method for outputting a blocking signal for the holding device when there are adjacent occupied target positions, the method comprising: Step 80360: Find the current holding device type based on the current holding device number; Step 80361: When the current holding device type is the preset automatic type, determine the interference firing angle range based on the current firing angle range and the adjacent firing angle range; Step 80362: Obtain the status of the gripping device corresponding to the current gripping device number; Step 80363: When the holding device is in the preset firing state, obtain the firing port orientation angle in real time; Step 80364: Determine the trend of the launch port orientation angle based on the launch port orientation angle; Step 80365: Determine the expected firing point based on the trend of the firing port orientation angle; Step 80366: When the expected firing point falls within the range of the interference firing angle, output a holding device blocking signal.

3. The method for automatically generating electronic fences based on the positioning points of a gripping device according to claim 1, characterized in that, It also includes a method for determining the range of temporary firing targets when adjacent occupied target positions exist, the method comprising: Step 80380: Obtain the location of the adjacent holding device associated with the adjacent occupied target position number; Step 80381: Determine the lateral movement frequency of adjacent gripping devices based on their positions; Step 80382: When the lateral movement frequency of the adjacent holding device position falls into the preset high frequency range, a temporary shooting target range is determined based on the adjacency relationship and the shooting target range, and is output as the shooting target range.

4. The method for automatically generating electronic fences based on the positioning points of a gripping device according to claim 1, characterized in that, The methods for outputting an unlock signal for the holding device when the current firing angle of the holding device falls within the current firing angle range include: Step 8040: Obtain the centerline of the target position with the current shooting target number; Step 8041: Determine the position offset of the holding device based on the target centerline and the current holding device position; Step 8042: Determine the corrected shooting angle of the holding device based on the position offset of the holding device and the current shooting angle of the holding device, and output the corrected shooting angle of the holding device as the current shooting angle of the holding device.

5. The method for automatically generating electronic fences based on the positioning points of a gripping device according to claim 1, characterized in that, It also includes a method for outputting a preset abnormal signal for the gripping device, the method comprising: Step 82: Determine the boundary of the gripping device's range of motion based on the range of motion of the gripping device; Step 83: Determine the shortest outbound straight-line distance based on the current position of the gripping device and the boundary of the gripping device's range of motion; Step 84: When the shortest outbound straight-line distance is less than the preset risk distance threshold, determine the current movement direction of the holding device based on the shortest outbound straight-line distance; Step 85: When the current moving direction of the gripping device falls into the preset outward direction, determine and correct the boundary of the moving range of the gripping device based on the current moving direction of the gripping device and the boundary of the moving range of the gripping device; Step 86: When the current gripping device position exceeds the boundary of the corrected gripping device activity range, output a gripping device abnormality signal.

6. The method for automatically generating electronic fences based on the positioning points of a gripping device according to claim 4, characterized in that, Methods for determining and correcting the boundary of the gripping device's range of motion based on the current direction of movement of the gripping device and the boundary of the gripping device's range of motion include: Step 850: Determine the moving speed of the gripping device corresponding to the current moving direction based on the current gripping device position and the current moving direction of the gripping device; Step 851: Determine the reduction value of the activity range boundary of the gripping device in real time based on the moving speed of the gripping device; Step 852: When the current moving direction of the holding device falls into the preset inward direction and the shortest out-of-bounds straight distance is greater than the risk distance threshold, the boundary recovery value of the holding device's activity range is determined in real time based on the moving speed of the holding device. Step 853: Determine the corrected range of motion boundary of the gripping device based on the reduced range of motion boundary value, the restored range of motion boundary value, and the range of motion boundary of the gripping device.

7. An electronic fence system that automatically generates electronic fences based on the positioning points of a gripping device, characterized in that, include: The acquisition module is used to obtain the number of the currently held device; A memory for storing a program for an automatic electronic fence generation method based on the positioning points of a gripping device as described in any one of claims 1 to 6; The processor loads and executes programs from memory.

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