Control method and system of electric firing mechanism

Abstract

The invention discloses a control method and system for an electric firing mechanism, and the method comprises the steps: recognizing all shooting targets in a detection region image through a preset target detection algorithm, and transmitting a first instruction signal to the electric firing mechanism after receiving an instruction signal triggered by a function key; a steering engine in an electric firing mechanism is driven to rotate to a specified angle through the first instruction signal, and the steering engine rotates to synchronously drive a sliding block in the electric firing mechanism to move to a specified position; when the sliding block moves to a designated position, the simulated finger is driven to pull a trigger of a target shooting instrument fixed in the electric firing mechanism, and the firing action is completed. According to the technical scheme, the control flexibility and accuracy of the electric firing mechanism can be improved.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and specifically to a control method and system for an electric firing mechanism. Background Technology

[0002] Currently, there are two main types of electric firing mechanisms: one is the grip-type electric firing mechanism, which achieves control of the firing mechanism structure through electromechanical integration design of the gun grip; the other is the snap-in electric firing mechanism, which simulates the trigger-pulling action through matching design with the appropriate gun type.

[0003] In order to achieve cross-domain reuse of the electric firing mechanism without changing the gun body structure, the structure of the electric firing mechanism needs to be redesigned to adapt to the vast majority of gun models.

[0004] At this point, due to the different gun types, there are significant differences in the control of the electric firing mechanism, and the flexibility and accuracy of the control are also insufficient. Summary of the Invention

[0005] This invention provides a control method and system for an electric firing mechanism, enabling flexible control of the electric firing mechanism and improving control accuracy.

[0006] In a first aspect, the present invention provides a control method for an electrically driven firing mechanism, comprising:

[0007] The system identifies all shooting targets in the detection area image using a preset target detection algorithm, and sends a first command signal to the electric firing mechanism after receiving a command signal triggered by a function key; wherein the function key is located on the outside of the electric firing mechanism.

[0008] The first command signal drives the servo motor in the electric firing mechanism to rotate to a specified angle, and the rotation of the servo motor synchronously drives the slider in the electric firing mechanism to move to a specified position.

[0009] When the slider moves to the designated position, it drives the simulated finger to pull the trigger of the target firing device fixed in the electric firing mechanism, thus completing the firing action.

[0010] Furthermore, the step of identifying all shooting targets in the detection area image using a preset target detection algorithm includes:

[0011] The first detection algorithm extracts the extreme points in the local image, and by reducing the merging distance between the extreme points, all shooting targets in the detection area image are obtained.

[0012] Alternatively, the resolution of the local image can be adjusted using a second detection algorithm, and all shooting targets in the detection area image can be obtained based on the gray-level gradient relationship between adjacent pixels;

[0013] Alternatively, a third detection algorithm can be used to merge all the shooting targets obtained by the first and second detection algorithms to obtain all the shooting targets in the detection area image.

[0014] Furthermore, before issuing a firing command to the electric firing mechanism, the method further includes: receiving firing status information from the electric firing mechanism;

[0015] If the firing status information indicates that the current electric firing mechanism is in manual firing mode, then wait to receive the second command signal triggered by the function key, and after receiving the second command signal, send the first command signal to the electric firing mechanism;

[0016] If the firing status information indicates that the current electric firing mechanism is in automatic firing mode, then wait to receive the third command signal triggered by the function key, and after receiving the third command signal, automatically lock onto any firing target and send the first command signal to the electric firing mechanism;

[0017] By pressing the function button for more than a preset time, the switching between manual firing mode and automatic firing mode of the electric firing mechanism is triggered.

[0018] Furthermore, the electrical interface of the control unit is pre-configured;

[0019] External power is supplied to the electric firing mechanism through the electrical interface;

[0020] Furthermore, information exchange between the control unit and the electric firing mechanism is established through the electrical interface.

[0021] Furthermore, the initial and designated positions of the slider movement are pre-set according to the gun type of the target firing device;

[0022] Based on the initial and specified positions of the slider movement, set the initial and specified angles of the servo rotation.

[0023] Furthermore, the rotational speed of the servo motor is set in advance according to the type of gun used by the target firing device;

[0024] The operating voltage of the servo is set based on its rotational speed.

[0025] Furthermore, based on the initial angle and the specified angle of the servo rotation, the pulse width of the first command signal is set.

[0026] Furthermore, a mapping relationship between the pulse width of the first command signal and the rotation angle of the servo motor is established in advance;

[0027] Furthermore, the minimum pulse width of the first command signal corresponds to a rotation angle of zero;

[0028] The maximum pulse width of the first command signal corresponds to the rotation angle that is the rotation limit of the servo motor.

[0029] Secondly, the present invention provides a control system for an electrically driven firing mechanism, comprising:

[0030] Control unit and electric firing mechanism;

[0031] The control unit is used to control the electric firing mechanism;

[0032] The electric firing mechanism is used to fix the target firing device and, upon receiving a first command signal from the control unit, to drive the servo motor to rotate to a specified angle.

[0033] Furthermore, the electric firing mechanism includes: a drive assembly, a locking assembly, and a simulated finger; a function button is also provided on the outside of the electric firing mechanism;

[0034] The drive assembly includes a slider and a servo motor. The servo motor is driven by the electric firing mechanism to rotate to a specified angle, and the rotation of the servo motor synchronously drives the slider to move to a specified position.

[0035] The locking assembly is used to secure the target firing device;

[0036] The simulated finger is fixed to the slider and moves with the slider to pull the trigger of the target firing device, thus completing the firing action;

[0037] The function button is used to switch the firing state of the electric firing mechanism.

[0038] Compared with the prior art, the present invention has the following advantages:

[0039] The technical solution in this embodiment of the invention first identifies all shooting targets in the detection area image using a preset target detection algorithm. Upon receiving a command signal triggered by a function key, a first command signal is sent to the electric firing mechanism. Then, the first command signal drives a servo motor in the electric firing mechanism to rotate to a specified angle. Simultaneously, the servo motor rotation moves a slider in the electric firing mechanism to a specified position. Finally, when the slider reaches the specified position, it actuates a simulated finger to pull the trigger of the target firing device fixed in the electric firing mechanism, completing the firing action. This technical solution enables flexible control of the electric firing mechanism and improves control accuracy. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only preferred embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart illustrating a control method for an electric firing mechanism provided in an embodiment of the present invention;

[0042] Figure 2 A structural diagram of the mechanical interface of an electric firing mechanism provided in an embodiment of the present invention;

[0043] Figure 3 A schematic diagram illustrating the slider movement principle provided in an embodiment of the present invention;

[0044] Figure 4 This is an architecture diagram of a small target detection algorithm provided in an embodiment of the present invention;

[0045] Figure 5 A schematic diagram illustrating the working principle of a detection block provided in an embodiment of the present invention;

[0046] Figure 6 A flowchart of a surface target detection algorithm provided in an embodiment of the present invention;

[0047] Figure 7 A flowchart of an AI target detection algorithm provided in an embodiment of the present invention;

[0048] Figure 8 A flowchart illustrating the locking onto a firing target is provided as an embodiment of the present invention;

[0049] Figure 9 A flowchart of manual control logic provided for an embodiment of the present invention;

[0050] Figure 10 A flowchart of an automatic control logic provided in an embodiment of the present invention;

[0051] Figure 11 A circuit diagram of an electrical interface for a control unit provided in an embodiment of the present invention;

[0052] Figure 12 This is a schematic diagram illustrating the rotation angle of a servo motor according to an embodiment of the present invention;

[0053] Figure 13 A structural diagram of a control system for an electric firing mechanism provided in an embodiment of the present invention;

[0054] Figure 14A structural diagram of another electric firing mechanism provided in an embodiment of the present invention;

[0055] Figure 15 This is a structural diagram of another electric firing mechanism provided in an embodiment of the present invention. Detailed Implementation

[0056] 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.

[0057] This invention discloses a control method for an electric firing mechanism. Figure 1 This is a flowchart illustrating a control method for an electric firing mechanism provided in an embodiment of the present invention. This embodiment is applicable to situations where the electric firing mechanism is controlled by a control unit, thereby driving the shooting device to complete automatic firing. The method can be executed by the control system of the electric firing mechanism, which can be implemented in software and / or hardware, and can be configured in an electronic device.

[0058] like Figure 1 As shown, the method specifically includes:

[0059] S1 identifies all shooting targets in the detection area image through a preset target detection algorithm, and sends a first command signal to the electric firing mechanism after receiving a command signal triggered by a function key; wherein, the function key is located on the outside of the electric firing mechanism.

[0060] The first command signal is used to drive the servo motor in the electric firing mechanism to rotate to a specified angle.

[0061] The preset target detection algorithms include small target detection algorithms, area target detection algorithms, and AI target detection algorithms. The detection area image refers to the original image acquired by the image acquisition device, which can be used in conjunction with the electric firing mechanism to calibrate the image coordinate system corresponding to the original image and the physical coordinate system corresponding to the electric firing mechanism. The shooting target includes moving or stationary objects, and is not limited to objects in land, sea, or air scenarios, such as vehicles and drones. The first command signal is an electrical signal used to drive the servo motor in the electric firing mechanism to rotate to a certain angle. The rotation of the servo motor causes the slider in the electric firing mechanism to move back and forth along the axis of the target firing device. A simulated finger is installed on the slider to pull the trigger of the target firing device to complete the firing action as the slider moves back and forth.

[0062] Figure 2A structural diagram of the mechanical interface of an electric firing mechanism provided in an embodiment of the present invention is shown below. Figure 2 As shown, the mechanical interface of the electric firing mechanism includes a locking assembly, a simulated finger, and a drive assembly, with the drive assembly comprising a slider and a servo motor. The locking assembly secures the target firing device within the electric firing mechanism, for example, by turning the locking handle to engage the locking block. Simultaneously, the position of the drive assembly is adjusted to align the simulated finger with the trigger of the target firing device, thus matching the trigger structure of different firearm models.

[0063] Figure 3 This is a schematic diagram illustrating the slider movement principle provided in an embodiment of the present invention, as shown below. Figure 3 As shown, a slot is cut into the slider, and a cam is mounted on the servo motor. The cam is positioned within the slot of the slider, and the servo motor drives the cam to rotate, which in turn moves the slider back and forth synchronously. Additionally, a simulated finger is mounted on the slider, moving along with the slider's movement.

[0064] It should be noted that a servo motor is a position or angle servo actuator suitable for control systems that require continuous angle changes and maintenance. Generally, a servo motor consists of a housing, servo disc, DC motor, reduction gear set, angle sensor, control drive circuit, and interface cables. These components work together to enable the servo motor to accurately and stably achieve angle changes. The servo motor adjusts the angular position of its output shaft by receiving control signals, featuring high precision, fast response, and reliability.

[0065] In some embodiments, all firing targets in the detection area image are identified by a preset target detection algorithm, including:

[0066] The first detection algorithm extracts the extreme points in the local image, and by reducing the merging distance between the extreme points, all shooting targets in the detection area image are obtained.

[0067] Alternatively, the resolution of the local image can be adjusted using a second detection algorithm, and all shooting targets in the detection area image can be obtained based on the gray-level gradient relationship between adjacent pixels;

[0068] Alternatively, a third detection algorithm can be used to merge all the shooting targets obtained by the first and second detection algorithms to obtain all the shooting targets in the detection area image.

[0069] The first detection algorithm refers to the small target detection algorithm, which is as follows: First, a first detection block with a dynamically changing size is set in the detection area image, and an upper limit is set on the size of the first detection block so that the first detection block detects only one shooting target as much as possible; then, the first detection block is moved, and the local extreme points of pixels or gray levels in the first detection block are obtained, and if there are two local extreme points in the first detection block, the merging distance between the local extreme points is reduced; finally, by continuously moving the first detection block, all local extreme points are obtained, and the positions of all shooting targets in the detection area image are determined according to the positions of the local extreme points.

[0070] Figure 4 This is an architecture diagram of a small target detection algorithm provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the original image is taken as input and processed sequentially through two branches and a core layer, ultimately annotating the shooting target. In the first branch, Gaussian filtering is used to smooth the original image to reduce background noise interference; in the second branch, a separation network is used to calculate the target probability to extract the target's feature probability distribution; then, the outputs of the first branch and the second distribution are fused to enhance the target features and further suppress the background, ultimately achieving target tracking and association, and annotation.

[0071] Figure 5 This is a schematic diagram illustrating the working principle of a detection block according to an embodiment of the present invention, as shown below. Figure 5 As shown, the first detection block contains two shooting targets, and the target areas corresponding to the two shooting targets in the first detection block are determined based on local extrema. If the selected local extrema is a maximum value, the smaller of the two local extrema is recorded as the secondary extrema; if the selected local extrema is a minimum value, the larger of the two local extrema is recorded as the secondary extrema. Since only one shooting target is detected in the first detection block under normal circumstances, the secondary extrema are often difficult to distinguish when two shooting targets appear in the first detection block. In this case, the merging distance between the local extrema is reduced to avoid merging the two local extrema as much as possible, while the size of the first detection block is adjusted. That is, only when the distance between the two local extrema is less than the set merging distance are the two shooting targets identified as one shooting target.

[0072] The second detection algorithm refers to the area target detection algorithm, which is as follows: First, a second detection block with a dynamically variable size is set in the detection area image, and a lower limit is set for the size of the second detection block to enable it to detect shooting targets as efficiently as possible. Then, a size threshold is set. If the size of the second detection block is smaller than the size threshold, the image in the second detection block is downsampled to reduce the image resolution. If the size of the second detection block is larger than the size threshold, the current image resolution is maintained. Next, after adjusting the resolution of the local image, the shooting targets in the local image are obtained by utilizing the gray-level gradient relationship between adjacent pixels, and the resolution of the local image is restored. Finally, by moving the second detection block, all shooting targets in the detection area image are determined.

[0073] It should be noted that the lower limit of the size of the second detection block in the second detection algorithm is greater than the upper limit of the size of the first detection block in the first detection algorithm.

[0074] Figure 6 A flowchart of a surface target detection algorithm provided in an embodiment of the present invention is shown below. Figure 6 As shown, to more efficiently detect shooting targets, a local image adjusted for resolution is first input. Then, a grayscale integral image is calculated for subsequent rapid calculation of grayscale features in the pixel neighborhood. Next, points meeting the grayscale threshold are used as seed points, serving as initial candidate feature points for area target detection. Then, utilizing the grayscale gradient relationship between adjacent pixels, region growing is performed starting from the seed points, binarizing the regions near the seed points that meet the grayscale features to distinguish the target from the background. Next, it is determined whether the target has been found using the region connectivity method. If not, the process returns to the "calculate grayscale integral image" step for reprocessing; if found, area target merging is performed. By merging multiple detected area target regions, the problem of scattered target regions is solved, and the final output is the area target detection result.

[0075] The third detection algorithm refers to the AI ​​target detection algorithm. Specifically, after the first detection algorithm and the second detection algorithm have completed their respective identifications, the identification results of the two algorithms are merged to remove duplicate shooting targets, thus avoiding the creation of a target multiple times and causing pipeline interference. Finally, the identification results of the two algorithms are added as a union to the queue of shooting targets.

[0076] Figure 7 A flowchart of an AI object detection algorithm provided in an embodiment of the present invention is shown below. Figure 7As shown, the original image or video is first input, then the original image or video is preprocessed, then a network model is built and the parameters of the network model are adjusted to optimize the model, then single frame detection and continuous frame detection are performed simultaneously, and the network model is iteratively optimized by judging whether the output result of the network model is optimal.

[0077] Figure 8 A flowchart of a shooting target provided for an embodiment of the present invention, such as Figure 8 As shown, after all firing targets are identified using the aforementioned target detection algorithm, the control unit intelligently identifies and tracks these targets. For example, different tags are used to distinguish each firing target. Then, periodic automatic ranging is performed on each firing target, and the firing parameters of each target in the detection area image are obtained. Simultaneously, due to differences in gun type and ammunition type, the corresponding firing trajectories will differ; therefore, after obtaining the firing parameters, automatic identification of gun type and ammunition type is performed. Next, a fitting calculation is performed based on the firing table to filter out firing targets within the firing range. Finally, the firing targets within the firing range are displayed by the aiming reticle.

[0078] In some embodiments, before sending the first command signal to the electric firing mechanism, the method further includes: receiving firing status information of the electric firing mechanism;

[0079] If the firing status information indicates that the current electric firing mechanism is in manual firing mode, then wait to receive the second command signal triggered by the function key, and after receiving the second command signal, send the first command signal to the electric firing mechanism;

[0080] If the firing status information indicates that the current electric firing mechanism is in automatic firing mode, it waits to receive the third command signal triggered by the function key, and after receiving the third command signal, it automatically locks onto any firing target and sends the first command signal to the electric firing mechanism.

[0081] By pressing the function button for more than a preset time, the electric firing mechanism is switched between manual and automatic firing modes.

[0082] The second command signal is used to instruct the control unit to send the first command signal to the electric firing mechanism in manual firing mode, so as to achieve manual triggering of firing.

[0083] The third command signal is used to instruct the control unit to lock onto any firing target in automatic firing mode. After locking onto the firing target, the control unit sends the first command signal to the electric firing mechanism to achieve automatic triggering of firing.

[0084] Figure 9 A flowchart of a manual control logic provided for an embodiment of the present invention, such as... Figure 9 As shown, in manual firing mode, the image acquisition device in the control unit identifies all firing targets through a preset target detection algorithm. When the center reticle in the image acquisition device is aligned with any firing target, the user can press the function button for no more than a preset time to trigger the transmission of the second command signal. After the control unit receives the second command signal driven by the function button, the control unit sends the first command signal to the electric firing mechanism to control the servo to rotate at a certain angle, thereby driving the simulated finger on the slider to pull the trigger and realize the manual control function.

[0085] It should be noted that in manual firing mode, each press of the function button triggers the transmission of a second command signal, corresponding to one manual fire. The second command signal instructs the control unit to send the first command signal to the electric firing mechanism, enabling manual trigger pulling and preserving the original usage habits of the target firing device.

[0086] Figure 10 A flowchart of an automatic control logic provided for an embodiment of the present invention, such as... Figure 10 As shown, in automatic firing mode, all firing targets are identified by a preset target detection algorithm. After a firing target is identified, it is marked with a target frame of any color. Then, the center reticle is aligned with any target frame, and the function button is manually pressed to lock the target frame. The color of the target frame is changed to another color to distinguish the target. Finally, it is determined whether the center reticle coincides with the center of the target frame. If they coincide, a third command signal is sent to the control unit. After receiving the third command signal, the control unit sends a first command signal to the electric firing mechanism to control the servo to rotate a certain angle, which drives the simulated finger on the slider to pull the trigger, thus realizing the automatic control function.

[0087] It should be noted that target locking is performed in automatic firing mode. By pressing the function button for no more than a preset time, a third command signal is triggered. At this time, the image acquisition device in the control unit will automatically lock onto any target and initiate automatic firing.

[0088] Understandably, the function button has the function of triggering manual firing in manual firing mode, and each press of the function button triggers manual firing once; the function button has the function of locking onto the firing target in automatic firing mode; in addition, by pressing and holding the function button, one can switch between manual firing mode and automatic firing mode.

[0089] In some embodiments, an electrical interface for the control unit is pre-configured; external power is supplied to the electric firing mechanism through the electrical interface; and information exchange between the control unit and the electric firing mechanism is established through the electrical interface.

[0090] Figure 11 A circuit diagram of an electrical interface for a control unit provided in an embodiment of the present invention is shown below. Figure 11 As shown, the electric firing mechanism is powered externally, drawing power from the electrical interface of the control unit; and it also interacts with the control unit through the electrical interface of the control unit.

[0091] S2, the first command signal drives the servo motor in the electric firing mechanism to rotate to a specified angle, and the rotation of the servo motor synchronously drives the slider in the electric firing mechanism to move to a specified position.

[0092] When the drive assembly receives the first command signal from the control unit, the servo motor in the drive assembly drives the cam to rotate by a specified angle. The rotation of the cam causes the slider to move back and forth along the axis of the gun. The simulated finger installed on the slider drives the trigger to complete the automatic firing.

[0093] In some embodiments, the initial position and a specified position of the slider movement are set in advance according to the gun type of the target firing device; based on the initial position and the specified position of the slider movement, the initial angle and a specified angle of the servo rotation are set.

[0094] The slider's movement distance L and the servo motor's rotation angle α satisfy the following relationship:

[0095]

[0096] Where r represents the radius of the servo motor's rotor.

[0097] In some embodiments, the rotational speed of the servo motor is preset according to the type of gun used in the target firing device; and the operating voltage of the servo motor is set based on the rotational speed of the servo motor.

[0098] The servo motor receives the first command signal from the control unit to achieve high-torque, low-latency rotation. By designing a DC-DC circuit that matches the servo motor's operating voltage and changing the output resistance ratio of the DC-DC circuit, different operating voltages can be supplied to the servo motor.

[0099] For example, the operating voltage of the servo motor is set to 5V, and its torque is 6.5 kg·cm.

[0100] The higher the operating voltage of the servo motor, the greater its maximum output torque and the faster its rotation speed.

[0101] In this embodiment, by adjusting the operating voltage of the servo motor, the output torque of the servo motor can be adjusted to apply a specific torque to the external load.

[0102] In some embodiments, the pulse width of the first command signal is set based on the initial angle and the specified angle of the servo rotation.

[0103] By changing the pulse width of the first command signal, the servo motor can rotate to different specified angles.

[0104] Generally, the control range of a servo motor is 0 to 180°, where the pulse width is proportional to the target angle. The pulse width of the first command signal is approximately linearly proportional to the angle of the servo motor's output shaft.

[0105] Furthermore, a mapping relationship between the pulse width of the first command signal and the rotation angle of the servo motor is established in advance; and the minimum pulse width of the first command signal corresponds to a rotation angle of zero; the maximum pulse width of the first command signal corresponds to a rotation angle that is the rotation limit of the servo motor.

[0106] In this embodiment, by configuring the pulse width of the first command signal, the output of the servo motor at different output shaft angles can be achieved.

[0107] For example, the PWM period T is 3000us, and the minimum pulse width required to drive the servo motor to rotate is determined by the characteristics of the servo motor itself. The maximum pulse width is 500µs. The servo motor rotation limit is 2500µs. It is 270°.

[0108] At this moment, the pulse width P of the first command signal is related to the rotation angle of the servo motor. The mapping relationship between them is represented as follows:

[0109]

[0110] Figure 12 This is a schematic diagram of a servo motor rotation angle provided in an embodiment of the present invention, as shown below. Figure 12 As shown, for example: rotation angle For a pulse angle of 135°, the required pulse width should be 1500µs. The calculation process is as follows:

[0111]

[0112] S3, when the slider moves to the designated position, drives the simulated finger to pull the trigger of the target firing device fixed in the electric firing mechanism, thus completing the firing action.

[0113] It should be noted that a simulated finger is mounted on the slider to pull the trigger of the target firing device and complete the firing action.

[0114] The technical solution in this invention embodiment achieves accurate target identification through multiple target detection algorithms, and automatically drives the servo motor in the electric firing mechanism to rotate after locking onto any target. The solution also retains a manual firing function to accommodate the usage habits of existing shooting equipment. Furthermore, the electric firing mechanism is powered and communicated via the electrical interface of the control unit. Moreover, the solution flexibly adjusts the position, operating voltage, and pulse width of the command signals of each component in the electric firing mechanism for different types of firearms, improving the flexibility and accuracy of control over the electric firing mechanism through the coordinated work of each component.

[0115] Under the same inventive concept, a control system for an electric firing mechanism is also involved. Figure 13 This is a schematic diagram of the control system for an electric firing mechanism provided in an embodiment of the present invention, as shown below. Figure 13 As shown, the device specifically includes a control unit and an electric firing mechanism.

[0116] The control unit is used to control the electric firing mechanism.

[0117] An electric firing mechanism is used to fix a target firing device and, upon receiving a first command signal from the control unit, to drive a servo motor to rotate to a specified angle.

[0118] In some embodiments, the electric firing mechanism includes: a drive assembly, a locking assembly, and a simulated finger; a function button is also provided on the exterior of the electric firing mechanism;

[0119] The drive assembly includes a slider and a servo motor. The servo motor is driven by the electric firing mechanism to rotate to a specified angle, and the rotation of the servo motor synchronously drives the slider to move to a specified position.

[0120] The locking assembly is used to secure the target firing device;

[0121] The simulated finger is fixed on the slider and follows the movement of the slider to pull the trigger of the target firing device to complete the firing action;

[0122] The function buttons are used to switch the firing status of the electric firing mechanism.

[0123] Specifically, pressing the function button for more than a preset time triggers the switching between manual and automatic firing modes of the electric firing mechanism; and in manual firing mode, pressing the function button for more than a preset time triggers the electric firing mechanism to send a second command signal to the control unit; and in automatic firing mode, pressing the function button for more than a preset time triggers the electric firing mechanism to send a third command signal to the control unit.

[0124] Figure 13A structural diagram of another electrically firing mechanism provided in an embodiment of the present invention is shown below. Figure 13 As shown, by adjusting the position of the drive component up, down, left, and right, the simulated finger can pull the trigger of the target firing device as it moves with the slider.

[0125] Figure 14 A structural diagram of another electrically firing mechanism provided in an embodiment of the present invention is shown below. Figure 14 As shown, combining the first and second views, the electric firing mechanism has a locking handle and a locking block at the bottom, and a drive component and a simulated finger at the top, with the simulated finger positioned directly above the locking component.

[0126] The technical solution in this embodiment of the invention, through the coordinated work between the control unit and the electric firing mechanism, can be fully adapted to shooting instruments with different structures, completely retains the original firearm body, and does not require modification of the shooting instrument structure; and through miniaturization design, it can achieve interface adaptation with the vast majority of shooting instruments.

[0127] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0128] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control method for an electrically driven firing mechanism, applied to a control unit, characterized in that, include: The system identifies all shooting targets in the detection area image using a preset target detection algorithm, and sends a first command signal to the electric firing mechanism after receiving a command signal triggered by a function key; wherein the function key is located on the outside of the electric firing mechanism. The first command signal drives the servo motor in the electric firing mechanism to rotate to a specified angle, and the rotation of the servo motor synchronously drives the slider in the electric firing mechanism to move to a specified position. When the slider moves to the designated position, it drives the simulated finger to pull the trigger of the target firing device fixed in the electric firing mechanism, thus completing the firing action.

2. The control method according to claim 1, characterized in that, The step of identifying all shooting targets in the detection area image using a preset target detection algorithm includes: The first detection algorithm extracts the extreme points in the local image, and by reducing the merging distance between the extreme points, all shooting targets in the detection area image are obtained. Alternatively, the resolution of the local image can be adjusted using a second detection algorithm, and all shooting targets in the detection area image can be obtained based on the gray-level gradient relationship between adjacent pixels; Alternatively, a third detection algorithm can be used to merge all the shooting targets obtained by the first and second detection algorithms to obtain all the shooting targets in the detection area image.

3. The control method according to claim 1, characterized in that, Before issuing a firing command to the electric firing mechanism, the method further includes: receiving firing status information of the electric firing mechanism; If the firing status information indicates that the current electric firing mechanism is in manual firing mode, then wait to receive the second command signal triggered by the function key, and after receiving the second command signal, send the first command signal to the electric firing mechanism; If the firing status information indicates that the current electric firing mechanism is in automatic firing mode, then wait to receive the third command signal triggered by the function key, and after receiving the third command signal, automatically lock onto any firing target and send the first command signal to the electric firing mechanism; By pressing the function button for more than a preset time, the switching between manual firing mode and automatic firing mode of the electric firing mechanism is triggered.

4. The control method according to claim 1, characterized in that, Also includes: The electrical interface of the control unit is pre-configured; External power is supplied to the electric firing mechanism through the electrical interface; Furthermore, information exchange between the control unit and the electric firing mechanism is established through the electrical interface.

5. The control method according to claim 1, characterized in that, Also includes: The initial and specified positions of the slider movement are pre-set according to the type of gun used by the target firing device; Based on the initial and specified positions of the slider movement, set the initial and specified angles of the servo rotation.

6. The control method according to claim 5, characterized in that, Also includes: The rotational speed of the servo motor is set in advance according to the type of gun used by the target firing device; The operating voltage of the servo is set based on its rotational speed.

7. The control method according to claim 5, characterized in that, Also includes: Based on the initial angle and the specified angle of the servo motor rotation, the pulse width of the first command signal is set.

8. The control method according to claim 7, characterized in that, A mapping relationship between the pulse width of the first command signal and the rotation angle of the servo motor is established in advance; Furthermore, the minimum pulse width of the first command signal corresponds to a rotation angle of zero; The maximum pulse width of the first command signal corresponds to the rotation angle that is the rotation limit of the servo motor.

9. A control system for an electrically driven firing mechanism, characterized in that, include: Control unit and electric firing mechanism; The control unit is used to control the electric firing mechanism according to the control method according to any one of claims 1 to 8; The electric firing mechanism is used to fix the target firing device and, upon receiving a first command signal from the control unit, to drive the servo motor to rotate to a specified angle.

10. The control system according to claim 9, characterized in that, The electric firing mechanism includes: a drive assembly, a locking assembly, and a simulated finger; a function button is also provided on the outside of the electric firing mechanism; The drive assembly includes a slider and a servo motor. The servo motor is driven by the electric firing mechanism to rotate to a specified angle, and the rotation of the servo motor synchronously drives the slider to move to a specified position. The locking assembly is used to secure the target firing device; The simulated finger is fixed to the slider and moves with the slider to pull the trigger of the target firing device, thus completing the firing action; The function button is used to switch the firing state of the electric firing mechanism.

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