Underwater shooting training hidden target

Abstract

The application discloses a kind of underwater shooting training hidden target, including target body, target body translation track, jet pipe, jet pipe air valve, left shift air valve, right shift air valve, gas tank, controller, counterweight and air bag.Target body is slidably arranged on target body translation track, jet pipe is arranged below the front of target body and is communicated with jet pipe air valve;Left shift air valve and right shift air valve are respectively arranged on the two sides of target body and the exhaust direction is opposite.Gas tank is communicated with each air valve respectively, and controller is electrically connected with each air valve respectively.Air bag and counterweight are connected to the upper part and lower part of target body translation track respectively.The application can shield target body by underwater air bubble, and make target body move horizontally during shielding by using jet reaction force, realize the hiding and position change of target body, and at the same time, the device can be stably suspended in water.

Description

Technical Field

[0001] This invention relates to the field of target technology, specifically to a concealed and revealed target for underwater shooting training. Background Technology

[0002] Underwater shooting training is an important training method to improve divers' target identification ability, shooting reaction speed, and shooting accuracy. Existing land-based shooting training usually uses inverted targets, rising targets, or side-rotating targets, which achieve the display and concealment of targets by changing the attitude or position of the target, but such devices are mainly designed for terrestrial environments.

[0003] In underwater environments, because water resistance is much greater than air resistance, large targets are easily obstructed by water flow during lifting, lowering, or rotating, making it difficult to quickly complete the target reveal and concealment actions. Furthermore, the movement of the target can easily cause the supporting structure to sway or deflect. When using underwater lifting structures, it is usually necessary to set up a traction device or pre-build a foundation on the seabed, resulting in a complex structure, inconvenient deployment, and a tendency to rust or jam after long-term immersion in water.

[0004] Therefore, existing underwater shooting training devices have problems such as difficulty in quickly revealing and concealing targets, easy prediction of target position when concealed, and difficulty in maintaining stability in water, making it difficult to meet the training requirements of rapid target discovery, rapid aiming, and rapid firing in underwater shooting training. Summary of the Invention

[0005] The purpose of this invention is to solve the problem that the lack of concealed and revealed targets in existing underwater shooting training can improve the shooting accuracy and reaction speed of frogmen, which seriously affects the shooting training effect.

[0006] To achieve the above objectives, the present invention proposes the following technical solution: an underwater shooting training concealed target, comprising:

[0007] The target mechanism includes a target body and a target translation track for lateral movement of the target body, wherein the target body is slidably disposed on the target translation track;

[0008] A bubble shielding mechanism includes a jet pipe and a jet pipe valve communicating with the jet pipe, wherein the jet pipe is located at the lower front of the target.

[0009] The translation drive mechanism includes a left gas shift valve and a right gas shift valve respectively disposed on the left and right sides of the target body, wherein the exhaust directions of the left gas shift valve and the right gas shift valve are opposite;

[0010] The gas supply mechanism includes a gas tank and a gas pipe connected to the gas tank. The gas tank is connected to the jet pipe valve, the left shift valve and the right shift valve respectively through the gas pipe.

[0011] The control mechanism includes a controller and a control line connected to the controller. The controller is electrically connected to the jet pipe valve, the left shift valve and the right shift valve respectively through the control line.

[0012] The suspension stabilization mechanism includes an airbag connected to the upper part of the target translation track and a counterweight connected to the lower part of the target translation track.

[0013] Preferably, the target translation track includes two circular tubes that are spaced apart vertically and arranged parallel to each other. The left and right ends of the two circular tubes are connected by longitudinal connecting components, so that the two circular tubes and the two longitudinal connecting components together form a frame structure.

[0014] The target body is provided with a circular sleeve at its upper and lower parts. The circular sleeve at the upper part of the target body is fitted onto the upper circular tube of the target body translation track, and the circular sleeve at the lower part of the target body is fitted onto the lower circular tube of the target body translation track, so that the target body can slide laterally along the target body translation track.

[0015] Preferably, the jet pipe is a hollow tubular structure, the jet pipe extends along the lateral movement direction of the target body, and is arranged parallel to the lower circular tube of the target body's translation track; the jet pipe has multiple air outlets spaced apart along its length.

[0016] Both ends of the jet pipe are connected to the lower circular tube of the target translation track via connecting components, and the distribution area of ​​the multiple air outlets corresponds to the lateral movement area of ​​the target along the target translation track.

[0017] Preferably, the left gas shift valve is located at the lower right part of the target body, and the exhaust port of the left gas shift valve faces the right side of the target body; the right gas shift valve is located at the lower left part of the target body, and the exhaust port of the right gas shift valve faces the left side of the target body.

[0018] The air tube is a flexible tube, which includes a jet pipe air supply branch, a left-moving air supply branch, and a right-moving air supply branch. The jet pipe air supply branch is connected to the jet pipe through the jet pipe air valve. The left-moving air supply branch is connected to the left-moving air valve, and the right-moving air supply branch is connected to the right-moving air valve.

[0019] Preferably, the control line includes a jet pipe control branch, a left shift control branch, and a right shift control branch. The jet pipe control branch is connected between the controller and the jet pipe valve, the left shift control branch is connected between the controller and the left shift valve, and the right shift control branch is connected between the controller and the right shift valve.

[0020] Preferably, at least two airbags are provided, and airbag connecting components are respectively provided at both ends of the upper circular tube of the target translation track. Each airbag is connected to the corresponding airbag connecting component by a rope to apply an upward buoyancy to the target translation track.

[0021] At least two counterweights are provided, and counterweight connecting components are respectively provided at both ends of the lower circular tube of the target translation track. Each counterweight is connected to the corresponding counterweight connecting component by a rope to apply a downward traction force to the target translation track.

[0022] The target is a plate-shaped structure, and a human-shaped pattern or a ring pattern is provided on the front of the target.

[0023] The concealment and revealing control method for underwater shooting training concealed targets, including the aforementioned underwater shooting training concealed targets, includes the following steps:

[0024] S1. Place the target and the target translation track in the water, and adjust the connecting rope of the airbag and the counterweight to suspend the target translation track at a set water depth and keep the target in a vertical state.

[0025] S2. The controller controls the air valve of the jet pipe to open, so that the compressed gas in the gas tank is discharged into the water through multiple air outlets of the jet pipe, forming a bubble shielding area in front of the target that covers the lateral movement area of ​​the target, so that the target enters the hidden target state.

[0026] S3. When the jet pipe valve remains open and the target is within the bubble shielding area, the controller selectively opens the left or right shift valve, using the jet reaction force to drive the target to move left or right along the target translation track, and closes the opened left or right shift valve after the target has moved for a predetermined time.

[0027] S4. The controller controls the air valve of the jet pipe to close, so that the jet pipe stops exhausting. The bubbles in the bubble shielding area rise and leave the front of the target, so that the target is exposed in the moved position and enters the target display state.

[0028] The controller cyclically executes the hidden target state and the displayed target state according to the control commands input by the operator or the preset on / off time.

[0029] In the hidden target state of each hidden-reveal cycle, the left-moving air valve and the right-moving air valve are selectively opened but not simultaneously. The controller adjusts the lateral movement distance of the target by controlling the opening duration of the selected air valve, and controls the air jet valve to close after the selected air valve is closed, so that the lateral movement of the target is within the shielding range of the bubble shielding area.

[0030] The method for controlling the concealment and revelation of targets in underwater shooting training based on image detection includes the aforementioned underwater shooting training concealment and revelation target, and also includes an image feedback control step:

[0031] A forward image acquisition device is used to acquire a forward image of the target and the bubble-covered area in front of it. A lateral positioning image of the target is acquired by a lateral image acquisition device located on the side of the target's translation track.

[0032] Image processing is performed on the positive image to obtain the visible area and bubble area of ​​the target, and the target concealment effect is determined based on the visibility of the target and the coverage of the bubble area of ​​the target's lateral movement area.

[0033] The lateral positioning image is processed to obtain the actual lateral position of the target on the target translation track;

[0034] The controller controls the jet pipe valve according to the target concealment effect, and selectively controls the left or right shift valve according to the actual lateral position, so as to form a closed-loop control of the bubble concealment state and the lateral position of the target.

[0035] Preferably, controlling the jet pipe valve based on the target concealment effect includes:

[0036] When the jet pipe valve is closed and the target is exposed, a reference image of the target is acquired, and the complete reference area of ​​the target is determined.

[0037] After the jet pipe valve is opened, the visible area of ​​the target and the bubble area in the current forward image are identified. Based on the proportion of the visible area of ​​the target to the complete reference area and the proportion of the bubble area to the preset detection area, it is determined whether the current target concealment effect meets the preset target concealment requirements.

[0038] When the proportion of the visible area of ​​the target to the complete reference area is greater than the preset visible proportion, or the proportion of the bubble area to the preset detection area is less than the preset coverage proportion, the opening duty cycle, opening degree, or opening duration of the gas valve of the jet pipe is increased to increase the gas supply from the gas tank to the jet pipe per unit time.

[0039] When the target concealment effect reaches the preset target concealment requirement for multiple consecutive image sampling cycles, the jet pipe valve remains open, and the lateral movement control of the target is allowed.

[0040] Preferably, the lateral movement control of the target includes:

[0041] The target lateral position of the target is determined according to the training control command or the preset training program. The lateral contour of the target or the positioning mark set on the target is identified according to the lateral positioning image. The actual lateral position of the target is determined according to the calibration relationship between the pre-established image coordinates and the actual position of the target translation track.

[0042] The actual lateral position is compared with the target lateral position. When the target lateral position is to the left of the actual lateral position, the left shift valve is opened and the right shift valve is kept closed. When the target lateral position is to the right of the actual lateral position, the right shift valve is opened and the left shift valve is kept closed.

[0043] Based on the positional deviation between the actual lateral position and the target lateral position, adjust the opening duty cycle, opening degree, or opening duration of the opened left or right shift valve so that the gas tank outputs gas to the corresponding gas supply branch that is adapted to the positional deviation, and close the left and right shift valves when the positional deviation is not greater than the preset allowable deviation.

[0044] After confirming that the position of the target meets the preset allowable deviation and the target concealment effect still meets the preset target concealment requirements, the air valve of the jet pipe is closed, so that the bubble leaves the front of the target and the target is exposed in the lateral position of the target; when the position deviation or target concealment effect does not meet the corresponding preset requirements, the air valve of the jet pipe is kept open and the position adjustment or bubble concealment adjustment continues to be performed.

[0045] Beneficial effects: The technical solution of this application has the following technical effects:

[0046] This invention slides the target onto a target translation track and sets up a jet pipe at the lower front of the target. The gas in the gas tank enters the jet pipe through the gas valve and can form a bubble shielding area in the water. This allows the target to be concealed without having to tilt, lift, or rotate, reducing the impact of water flow resistance on the concealment and revelation action and improving the speed of target concealment and revelation.

[0047] By setting left and right shift valves with opposite exhaust directions, the reaction force generated by the jet can be used to drive the target to move left or right along the target translation track. This allows the target to change position during the bubble shielding period, reducing the trainee's ability to predict the target's reappearance position and improving the trainee's target search and rapid firing capabilities.

[0048] By placing an airbag above the target translation track and a counterweight below it, the buoyancy of the airbag and the downward traction of the counterweight allow the target translation track and the target to be stably suspended in the water, reducing the swaying caused by rising air bubbles and the reaction force of the air jet. The entire device eliminates the need for digging deep pits or installing complex mechanical transmission mechanisms underwater, facilitating rapid deployment, dismantling, and relocation in different water areas and at different depths, depending on the training scenario and subject.

[0049] It should be understood that all combinations of the foregoing concepts and the additional concepts described in more detail below can be considered part of the inventive subject matter of this disclosure, provided that such concepts do not contradict each other.

[0050] The foregoing and other aspects, embodiments, and features of the teachings of the present invention will be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the invention, such as features and / or beneficial effects of exemplary embodiments, will become apparent from the following description or may be learned through practice of specific embodiments according to the teachings of the present invention. Attached Figure Description

[0051] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown in the various figures may be denoted by the same reference numeral. For clarity, not every component is labeled in each figure. Embodiments of various aspects of the invention will now be described by way of example and with reference to the accompanying drawings, wherein:

[0052] Figure 1 This is a schematic diagram of the structure of the present invention;

[0053] Figure 2 This is a flowchart of the steps in Example 3.

[0054] In the figure, the meanings of the various labels are as follows: 1. Target; 2. Target translation track; 3. Jet pipe; 4. Jet pipe valve; 5. Left shift valve; 6. Right shift valve; 7. Air tank; 8. Controller; 9. Counterweight; 10. Airbag; 11. Air pipe; 12. Control line. Detailed Implementation

[0055] The embodiments of the invention are described in detail below with reference to the accompanying drawings to clearly illustrate the structure, purpose, advantages, positional relationships, and connection methods of each component. It should be noted that the directional indications (such as "front," "back," "up," and "down") involved in this embodiment are based on the posture shown in the drawings and are only used to describe the relative positional relationships and movement of the components. If the posture changes, the directional indications will be adjusted accordingly. The term "connection" includes mechanical connections and electrical connections, and can be fixed connections, detachable connections, or indirect connections through an intermediate medium. The specific meaning is understood by those skilled in the art based on the context.

[0056] Example 1

[0057] like Figure 1 As shown, this embodiment provides an underwater shooting training concealed target, including a target body 1, a target body translation track 2, a jet pipe 3, a jet pipe valve 4, a left shift valve 5, a right shift valve 6, an air tank 7, a controller 8, a counterweight 9, an air bag 10, an air hose 11, and a control line 12. The target body 1 is used to form a shooting target; the target body translation track 2 is used to support and guide the lateral movement of the target body 1; the jet pipe 3 is used to generate a bubble shielding area in front of the target body 1; the left shift valve 5 and the right shift valve 6 are used to drive the lateral movement of the target body 1 using the jet reaction force; and the air bag 10 and the counterweight 9 together are used to stably suspend the device in the water.

[0058] In this embodiment, the side of the target 1 with the shooting pattern facing the shooter is considered the front side. The target 1 has a plate-like structure, and its front side has a human figure pattern, a ring pattern, or other shooting identification pattern. The target 1 can be made of plastic plate, composite material plate, or other plates that can be used underwater to reduce the weight of the target 1 and the risk of corrosion. The plate-like structure of the target 1 provides the shooter with a clear target area and facilitates the installation of sliding connection structures at its upper and lower positions.

[0059] The target translation track 2 includes two parallel circular tubes spaced vertically apart. The left and right ends of the two tubes are fixedly connected by longitudinal connecting components to form a stable rectangular frame structure. The two circular tubes can be made of stainless steel, and the longitudinal connecting components can be made of stainless steel angle steel, connecting rods, or connecting plates, and connected to the tubes by welding, bolting, or other fixed connection methods. The two circular tubes together guide the target 1, restricting its rotation and forward / backward swing, allowing the target 1 to move primarily in the horizontal direction.

[0060] The target 1 has circular sleeves installed at its upper and lower parts. The circular sleeve located at the upper part of the target 1 is fitted onto the upper circular tube of the target translation track 2, and the circular sleeve located at the lower part of the target 1 is fitted onto the lower circular tube of the target translation track 2. The inner diameter of the circular sleeve is larger than the outer diameter of the corresponding circular tube, allowing the circular sleeve to slide along the circular tube. At the same time, the clearance between the two should not be too large to avoid significant swaying of the target 1 in the water.

[0061] The circular sleeve can be made of stainless steel or wear-resistant engineering plastic. Using wear-resistant engineering plastic can reduce the sliding friction between the circular sleeve and the circular tube, and reduce the possibility of rust or jamming after long-term immersion in water. By having the upper and lower sets of circular sleeves cooperate with the target translation track 2 simultaneously, the target 1 can be kept vertical and moved smoothly to the left or right along the target translation track 2.

[0062] The jet pipe 3 is located at the lower front part of the target translation track 2, on the side of the target 1 facing the shooter. The jet pipe 3 is a hollow tubular structure, with its length direction aligned with the lateral movement direction of the target 1 and parallel to the lower circular tube of the target translation track 2. Both ends of the jet pipe 3 are connected to the lower circular tube of the target translation track 2 via connecting components, thus keeping the jet pipe 3 fixed relative to the target translation track 2.

[0063] Multiple air vents are spaced 10-20 cm apart along the length of the jet pipe 3, with a vent diameter of 3-10 mm. The distribution area of ​​the multiple air vents corresponds to the lateral movement area of ​​the target 1 on the target translation track 2, so that a bubble shielding area can be formed in front of the target 1 when it is in different lateral positions. After the compressed air in the jet pipe 3 is discharged from the multiple air vents, it forms continuously upward-moving bubbles in the water. The multiple bubbles together form a bubble curtain in front of the target 1, thereby blocking the shooter's line of sight to the target 1.

[0064] The jet valve 4 is installed in the air path between the gas tank 7 and the jet pipe 3. The inlet of the jet valve 4 is connected to the gas tank 7 via the air pipe 11, and the outlet of the jet valve 4 is connected to the cavity of the jet pipe 3 via the air pipe 11. When the jet valve 4 is open, compressed gas in the gas tank 7 can enter the jet pipe 3; when the jet valve 4 is closed, the gas tank 7 stops supplying gas to the jet pipe 3. By installing the jet valve 4, the generation and disappearance of the bubble curtain can be directly controlled. A relatively long flexible hose is selected for the air pipe 11.

[0065] The left-shifting air valve 5 is located at the lower right of the target body 1. The air inlet of the left-shifting air valve 5 is connected to the air tank 7 through the air pipe 11, and its exhaust port faces the right side of the target body 1. After the left-shifting air valve 5 is opened, compressed gas is ejected to the right. The reaction force generated by the jet acts on the target body 1, causing the target body 1 to move to the left along the target body translation track 2. Placing the left-shifting air valve 5 at the lower part of the target body 1 allows its driving force to be close to the lower guide position, which helps to reduce the overturning and swaying of the target body 1 during the movement process.

[0066] The right-side gas shift valve 6 is located at the lower left of the target body 1. The inlet of the right-side gas shift valve 6 is connected to the gas tank 7 via the gas pipe 11, and its exhaust port faces the left side of the target body 1. When the right-side gas shift valve 6 is opened, compressed gas is ejected to the left, and the reaction force generated by the ejection causes the target body 1 to move to the right along the target body translation track 2. The left-side gas shift valve 5 exhausts in the opposite direction to the right-side gas shift valve 6, thus applying opposite lateral driving forces to the target body 1.

[0067] The left-side air displacement valve 5 and the right-side air displacement valve 6 can be waterproof solenoid valves. Their exhaust ports can directly form directional air jet ports, or the air jet direction can be limited by a short pipe connected to the exhaust port. The left-side air displacement valve 5 and the right-side air displacement valve 6 are usually not opened at the same time to avoid the opposing forces generated by the air jets on both sides canceling each other out. By controlling the opening time of either valve, the duration of the air jet action on the target 1 can be changed, thereby causing the target 1 to move a certain distance in the corresponding direction.

[0068] Air tank 7 stores compressed air and supplies air to jet pipe valve 4, left-shift valve 5, and right-shift valve 6 via air pipe 11. Air pipe 11 includes a jet pipe supply branch, a left-shift supply branch, and a right-shift supply branch. Specifically, the jet pipe supply branch is connected to the jet pipe 3 via jet pipe valve 4, the left-shift supply branch is connected to the left-shift valve 5, and the right-shift supply branch is connected to the right-shift valve 6. These three supply branches are independent of each other, allowing the jet pipe 3, left-shift valve 5, and right-shift valve 6 to receive compressed gas independently.

[0069] The air tank 7 can be fixedly installed on one side of the target translation track 2, avoiding the moving area of ​​the target 1. The air pipe 11 connected to the left shift valve 5 and the right shift valve 6 is a flexible air pipe, with a bending allowance to adapt to the lateral stroke of the target 1, so that the air pipe 11 can move with the target 1 without hindering the target 1 from sliding along the target translation track 2. The air pipe 11 can be arranged along the target translation track 2 to reduce the possibility of it drifting or getting tangled in the water.

[0070] The gas pressure output from gas tank 7 is selected based on the water depth of the device, the number of air outlets in the jet pipe 3, and the weight of the target 1. The gas pressure should be sufficient to overcome the water pressure and pipe resistance at the operating depth, ensuring stable gas discharge from the air outlets of the jet pipe 3 and the exhaust ports of the left and right shift valves 5 and 6. In practical use, the output pressure of gas tank 7 can be adjusted to a suitable range for the device's operation using existing pressure-reducing components. This pressure adjustment is a conventional pneumatic technique, which can be determined by those skilled in the art based on water depth and test conditions.

[0071] The controller 8 is electrically connected to the jet pipe valve 4, the left shift valve 5, and the right shift valve 6 via control lines 12. Control lines 12 include a jet pipe control branch, a left shift control branch, and a right shift control branch. The jet pipe control branch connects the controller 8 to the jet pipe valve 4, the left shift control branch connects the controller 8 to the left shift valve 5, and the right shift control branch connects the controller 8 to the right shift valve 6.

[0072] The controller 8 can be a controller with at least three switching output terminals, such as a controller composed of a microprocessor and a solenoid valve drive circuit, or it can be a programmable logic controller, a combination of time relays, or multiple manual control switches. Each output terminal of the controller 8 is connected to the solenoid coil of the corresponding air valve. When an output terminal outputs an open electrical signal, the solenoid coil of the corresponding air valve is energized, causing the air valve to open; when the output terminal stops outputting an open electrical signal, the solenoid coil of the corresponding air valve is de-energized, causing the air valve to close.

[0073] The controller 8 transmits switching electrical signals to each air valve to control their on / off states, rather than complex data processing signals. Upon receiving their respective switching electrical signals, the jet pipe valve 4, left-shift valve 5, and right-shift valve 6 change the on / off state of their corresponding air paths, directly generating bubbles or moving the target 1 due to gas pressure. Therefore, the concealed target, revealed target, and left / right movement functions of this invention are achieved through the hardware connections between the controller 8, control line 12, each air valve, air pipe 11, and air tank 7.

[0074] In one specific embodiment, the controller 8 includes a power supply module, a switch control module, and three solenoid valve drive output terminals. The power supply module supplies power to the controller 8 and the three air valves, and the three solenoid valve drive output terminals correspond to the jet pipe air valve 4, the left-shifting air valve 5, and the right-shifting air valve 6, respectively. The switch control module can consist of three independent buttons, a selector switch, or time relay contacts.

[0075] The controller 8 can be positioned above the water surface or installed within a waterproof housing and positioned underwater with the device. When the controller 8 is positioned underwater, a waterproof connector is used at the connection point of the control line 12 to reduce the risk of water entering the electrical connection. The portion of the control line 12 closest to the target 1 also has allowance for movement to prevent it from being stretched taut when the target 1 moves.

[0076] An airbag 10 is connected to the upper part of the target translation track 2. Preferably, there are two airbags 10, which are respectively connected to the two ends of the upper circular tube of the target translation track 2 by ropes. After the airbags 10 are inflated, they generate an upward buoyancy in the water. This buoyancy acts on the left and right ends of the target translation track 2, which can keep the target translation track 2 near the predetermined water depth and reduce the possibility of the device sinking.

[0077] A counterweight 9 is connected to the lower part of the target translation track 2. Preferably, two counterweights 9 are provided, each connected to one end of the lower circular tube of the target translation track 2 via ropes. Under the action of gravity, the counterweights 9 exert a downward traction force on the target translation track 2, which, in conjunction with the upward buoyancy provided by the airbag 10, keeps the connecting ropes taut and maintains the target translation track 2 and the target 1 in a vertical state.

[0078] By setting airbags 10 and counterweights 9 at the left and right ends of the target translation track 2 respectively, buoyancy and downward traction can be applied more evenly to both sides of the frame. When the jet pipe 3 generates bubbles or the left and right shift valves 5 and 6 perform lateral jetting, the airbags 10 and counterweights 9 together restrict the tilting and drifting of the target translation track 2, thereby improving the stability of the target 1 during movement and exposure.

[0079] During installation, first, fit the upper and lower circular sleeves on the target body 1 onto the upper and lower circular tubes of the target body translation track 2, respectively. Then, fix the jet pipe 3 to the lower front part of the target body translation track 2. Subsequently, complete the air circuit connection between the air tank 7, the jet pipe valve 4, the jet pipe 3, the left shift valve 5, and the right shift valve 6 through the air pipe 11, and complete the electrical connection between the controller 8 and the three air valves through the control line 12. Finally, connect the airbag 10 to the upper part of the target body translation track 2, and connect the counterweight 9 to the lower part of the target body translation track 2.

[0080] In use, the assembled device is placed in the training water area. By adjusting the length of the rope connecting the airbag 10 and the counterweight 9, the target 1 is positioned at the set water depth and kept vertical. The airbag 10 pulls the target translating track 2 upwards, and the counterweight 9 pulls the target translating track 2 downwards, thereby suspending the device stably in the water.

[0081] When targeting a concealed target, the controller 8 outputs an opening electrical signal to the jet pipe valve 4 through the jet pipe control branch. The jet pipe valve 4 opens, and the compressed gas in the gas tank 7 enters the jet pipe 3 through the air pipe 11, and is then discharged into the water through multiple air outlets. The discharged gas forms a dense bubble curtain in front of the target 1, making it difficult for the shooter to see the target 1 clearly.

[0082] During the process of the bubble curtain obscuring the target 1, the controller 8 can output an opening electrical signal to the left shift valve 5 via the left shift control branch. The left shift valve 5 opens and expels air to the right. The reaction force of the air expulsion pushes the target 1 to the left along the target translation track 2. The controller 8 can also open the right shift valve 6 via the right shift control branch. The right shift valve 6 expels air to the left, pushing the target 1 to the right. Because the movement of the target 1 is obscured by the bubble curtain, it is difficult for the shooter to predict the reappearance position of the target 1 in advance.

[0083] During target display, controller 8 stops sending an opening signal to jet valve 4, jet valve 4 closes, and jet pipe 3 stops exhausting. The existing air bubbles rise to the water surface and gradually move away from the front of target 1, making target 1 visible in its new position. Trainees need to rediscover target 1 and complete aiming and firing, thereby training their underwater target search and rapid firing capabilities.

[0084] Example 2

[0085] This embodiment provides a method for controlling the concealment and revelation of a concealed target for underwater shooting training. This method is implemented using the concealed target for underwater shooting training in Embodiment 1.

[0086] The method for controlling visibility in this embodiment includes the following steps.

[0087] Step S1, device setup.

[0088] The assembled target 1 and target translation track 2 are placed in the training water area. The airbag 10 is connected to the upper part of the target translation track 2 via ropes, and the counterweight 9 is connected to the lower part of the target translation track 2 via ropes. By adjusting the length of the connecting ropes of the airbag 10 and the counterweight 9, the airbag 10 applies an upward buoyancy force to the target translation track 2, and the counterweight 9 applies a downward traction force to the target translation track 2, thereby stabilizing the target translation track 2 at the set water depth and keeping the target 1 in a vertical position.

[0089] In the initial state, the jet pipe valve 4, the left shift valve 5, and the right shift valve 6 are all closed, the jet pipe 3 does not exhaust gas, and the front of the target 1 can be observed by the trainee. At this time, the device is in the target display state.

[0090] Step S2: Form the bubble-covered area.

[0091] When the target 1 needs to be put into a concealed target state, the controller 8 outputs an opening electrical signal to the jet pipe valve 4 through the corresponding control line 12, causing the jet pipe valve 4 to open. The compressed gas in the gas tank 7 enters the jet pipe 3 through the jet pipe supply branch, and is discharged into the water through multiple air outlets on the jet pipe 3.

[0092] Gas discharged from multiple vents forms continuously upward-moving bubbles, which together constitute a bubble-shielding area in front of the target 1. Since the distribution area of ​​the multiple vents corresponds to the lateral movement area of ​​the target 1, the target 1 can be blocked by the bubble-shielding area when it is located at different lateral positions on the target translation track 2, making it difficult for the trainee to see the target 1 and its location.

[0093] Step S3: Move to the left while in the occluded state.

[0094] In one control method, with the jet valve 4 remaining open and the bubble-shrouded area continuously present, the controller 8 outputs an opening electrical signal to the left displacement valve 5, causing the left displacement valve 5 to open. Compressed gas is ejected from the exhaust port of the left displacement valve 5 toward the right side of the target 1, and the reaction force generated by the jet propels the target 1 to move to the left along the target translation track 2.

[0095] The target 1 is slidably engaged with the upper and lower circular tubes of the target translation track 2 through the circular sleeves set on its upper and lower parts, so that the target 1 mainly moves laterally under the action of jet reaction force, and can reduce the possibility of rotation, back and forth swing or deviation from the track during the movement.

[0096] After the left-shifting air valve 5 has been open for a predetermined time, the controller 8 stops outputting the opening electrical signal to the left-shifting air valve 5, causing the left-shifting air valve 5 to close, and the target 1 to stop at the position after moving to the left. By adjusting the opening duration of the left-shifting air valve 5, the duration of the jet reaction force acting on the target 1 can be changed, thereby adjusting the distance the target 1 moves to the left.

[0097] Step S4: Move to the right while in the occluded state.

[0098] In another control method, with the jet valve 4 remaining open and the bubble-shrouded area continuously present, the controller 8 outputs an opening electrical signal to the right shift valve 6, causing the right shift valve 6 to open. Compressed gas is ejected from the exhaust port of the right shift valve 6 towards the left side of the target 1, and the reaction force generated by the jet propels the target 1 to move to the right along the target translation track 2.

[0099] After the right-side air displacement valve 6 has been open for a predetermined time, the controller 8 stops outputting the opening electrical signal to the right-side air displacement valve 6, causing the right-side air displacement valve 6 to close, and the target 1 to stop at its position after moving to the right. By adjusting the opening duration of the right-side air displacement valve 6, the distance the target 1 moves to the right can be adjusted.

[0100] The left-side air displacement valve 5 and the right-side air displacement valve 6 are selectively opened during a single lateral movement, and they are not opened simultaneously to avoid the two opposing jet forces canceling each other out. Steps S3 and S4 are performed by selecting one of them based on the target movement direction required for this training.

[0101] Step S5: The target is revealed in its moved position.

[0102] After the target 1 completes its lateral movement and the left shift valve 5 or right shift valve 6 is closed, the controller 8 stops outputting an opening electrical signal to the jet pipe valve 4, causing the jet pipe valve 4 to close and the gas tank 7 to stop supplying gas to the jet pipe 3.

[0103] After the exhaust pipe 3 stops, the original bubbles continue to rise to the water surface and gradually move away from the front of the target 1, and the bubble-covered area disappears. The target 1 re-emerges at its new position after the lateral movement, making it impossible for the trainee to determine its re-emergence position solely based on its position before entering the concealed target state.

[0104] Step S6: Repeat the hidden / show control process.

[0105] After completing one target reveal process, the controller 8 can reopen the jet pipe valve 4 according to the control command input by the operator, and select to open the left shift valve 5 or the right shift valve 6 during the bubble concealment period, thereby starting the next concealment and reveal cycle.

[0106] The controller 8 can also employ a time relay, a programmable logic controller, or a general-purpose microprocessor with switch output functionality to cyclically control the jet valve 4, the left-moving valve 5, and the right-moving valve 6 according to preset valve on / off times. By repeatedly executing the processes of bubble shielding, lateral movement in the shielded state, and re-emergence after stopping jetting, the periodic appearance and disappearance of the target 1 can be achieved, or the appearance and disappearance can be controlled by the operator.

[0107] In this embodiment, the lateral movement of the target 1 always occurs during the period when the jet valve 4 is open and a bubble shielding area is formed, and the jet valve 4 is closed after the movement is completed. Therefore, the bubble shielding area not only shields the target 1, but also shields the process of the target 1 changing position, allowing the target 1 to reappear in different positions, thus increasing the uncertainty of the target's appearance position in underwater shooting training.

[0108] Example 3

[0109] This embodiment provides an intelligent control method for concealed and revealed targets in underwater shooting training based on image detection. This method is implemented based on the target 1, target translation track 2, jet pipe 3, jet pipe valve 4, left-shifting valve 5, right-shifting valve 6, air tank 7, controller 8, counterweight 9, airbag 10, air pipe 11, and control line 12 described in Embodiment 1. It uses closed-loop adjustment of bubble concealment intensity and the lateral position of the target 1 through image detection results. Existing applications have disclosed a structural basis that uses the jet pipe 3 to form a bubble concealment area and uses the left-shifting valve 5 and right-shifting valve 6 with opposite exhaust directions to drive the lateral movement of the target 1. This embodiment adds image feedback control to this hardware to improve the concealment effect and the accuracy of target position control.

[0110] To implement this method, an image acquisition device and an image processing module can be installed in the training water area. The image acquisition device preferably includes a forward detection camera and a lateral positioning camera. The forward detection camera is positioned on the same or substantially the same side as the trainee's observation direction, and its field of view covers the entire lateral movement area of ​​the target 1, used to determine whether the target 1 is sufficiently obscured by the bubble. The lateral positioning camera is positioned on one side of the target translation track 2, and its field of view covers the lateral movement of the target 1, used to detect the actual position of the target 1. The lateral positioning camera can avoid the forward bubble obscuration area formed by the jet pipe 3, thus avoiding the problem of being unable to detect the position when the target 1 is completely obscured.

[0111] In one specific configuration, positioning marks for identification by a lateral positioning camera can be set on the back, side, or top edge of the target 1. These positioning marks do not face the trainee, do not constitute part of the shooting target, and can be high-contrast color blocks, geometric shapes, or reflective markings. The forward detection camera and the lateral positioning camera are connected to the controller 8, or connected to an image processing module and then to the controller 8. The image processing module can be integrated into the controller 8, or it can be an industrial computer, edge computing device, or embedded processor that communicates with the controller 8.

[0112] The controller 8 has output terminals that control the jet pipe valve 4, the left shift valve 5, and the right shift valve 6 respectively. The jet pipe valve 4 can be a solenoid valve with pulse width modulation to change the effective opening duration per unit time; or it can be a proportional valve to continuously change the gas flow rate entering the jet pipe 3. The output terminal of the gas tank 7 can also be equipped with a conventional electrically controlled pressure reducing valve or a proportional pressure regulating valve, enabling the controller 8 to adjust the output gas supply pressure of the gas tank 7. When no electrically controlled pressure regulating component is provided, the gas tank 7 can also maintain the set output pressure by adjusting the opening duty cycle and opening duration of the jet pipe valve 4, the left shift valve 5, and the right shift valve 6.

[0113] The intelligent control method in this embodiment includes the following steps.

[0114] Step S201: Complete device setup, image calibration, and detection model initialization.

[0115] The target 1, target translation track 2, jet nozzle 3, airbag 10, and counterweight 9 are deployed in the training water area. By adjusting the connecting ropes of airbag 10 and counterweight 9, the target translation track 2 is suspended at the set water depth, and the target 1 is kept vertical. The controller 8 keeps the jet nozzle valve 4, left shift valve 5, and right shift valve 6 closed. A forward detection camera captures a reference image of the target when no bubble obstruction is formed, and determines the complete projected area of ​​the target 1 in the reference image and the target's lateral movement area.

[0116] The forward detection camera continuously acquires forward images according to a set sampling period during subsequent operation. The image processing module performs brightness correction, noise reduction, color space conversion, and image segmentation on the forward images to obtain the visible areas of the target and the bubble areas. Image segmentation can employ trained semantic segmentation models or instance segmentation models, such as using convolutional neural networks to classify the target area, bubble area, and water background area, or it can use image processing methods that combine color thresholding, texture features, and edge features.

[0117] When using an intelligent segmentation model, training images can be pre-collected under different water depths, turbidity levels, lighting conditions, and bubble densities, and the visible target region, bubble region, and background region in the images can be labeled. After training, the model takes camera images as input and outputs a mask for the visible target region and a mask for the bubble region. Those skilled in the art can implement the above functions using existing U-shaped segmentation networks, lightweight semantic segmentation networks, or object detection and segmentation networks, without being limited by the specific model type.

[0118] Calculate the target visibility ratio based on the pixel area of ​​the target's visible region:

[0119]

[0120] In the formula, For the first The visible proportion of the target at each sampling time. For the first The area of ​​the visible region of the target identified from the front image at each sampling time. This represents the complete reference pixel area of ​​target 1 when no bubble occlusion occurs. This is the image sampling sequence number.

[0121] The smaller the visible proportion of the target, the less target area can be identified from the trainee's viewing direction. Using the complete area of ​​the target without bubble obscuring as a benchmark can reduce the impact of changes in target size, camera installation distance, and image resolution on the judgment results.

[0122] Step S202: Detect the bubble masking effect and adjust the bubble density in a closed loop.

[0123] The controller 8 first opens the jet valve 4, allowing compressed gas from the gas tank 7 to enter the jet pipe 3 through the air pipe 11, and then be discharged into the water through multiple air outlets on the jet pipe 3. Multiple bubbles move upward from the lower front of the target 1, forming a bubble shielding area in front of the target 1 that covers the area of ​​the target's lateral movement.

[0124] The image processing module identifies bubble regions within the detection area corresponding to target 1 and calculates the bubble coverage ratio:

[0125]

[0126] In the formula, For the first Bubble coverage ratio at each sampling time, For the first The pixel area of ​​the bubble region identified within the detection area at each sampling time. The detection area is the total pixel area of ​​the detection region, which is preferably the projection area formed by the target 1 at all lateral movement positions.

[0127] This embodiment uses both the visible target ratio and the bubble coverage ratio to evaluate the target concealment effect, and calculates the comprehensive target concealment evaluation value according to the following formula:

[0128]

[0129] In the formula, For the first The comprehensive hidden target evaluation value at each sampling time. The visible proportion of the target. The bubble coverage ratio, The weighting coefficients are and satisfy the following conditions: In practical applications, it can be used as follows: The value is set to 0.6 to 0.8, making the visibility of the target the primary judgment factor. At the same time, the bubble coverage ratio is used to help determine whether the bubble curtain is continuous and whether there are obvious gaps.

[0130] When target 1 is fully obscured, the visible proportion of the target is low and the bubble coverage is high, resulting in a correspondingly higher overall target concealment evaluation value. Conversely, when the number of bubbles is insufficient, there are gaps in the bubble curtain, or water flow causes bubbles to deviate from target 1, the visible proportion of the target increases or the bubble coverage decreases, leading to a corresponding decrease in the overall target concealment evaluation value. Using two image features for comprehensive judgment can reduce misjudgments based solely on the number of bubbles, even when target 1 is still visible.

[0131] Controller 8 compares the comprehensive hidden target evaluation value with the preset hidden target value, and adjusts the bubble control quantity according to the following formula:

[0132]

[0133] In the formula, For the first Bubble control quantity at each sampling time, This represents the bubble control quantity at the previous sampling time. To adjust the gain for the bubble, To preset the hidden target value, and These are the lower and upper limits for bubble control, respectively. This is a limiting function used to restrict the calculation results within an allowable control range.

[0134] The bubble control quantity can correspond to the duty cycle, proportional opening degree of the jet pipe valve 4, or the pressure setting value of the electronically controlled pressure regulating component at the output end of the gas tank 7. When the overall target evaluation value is lower than the target value, the controller 8 increases the duty cycle or opening degree of the jet pipe valve 4 and can simultaneously increase the output gas supply pressure of the gas tank 7, thereby increasing the amount of gas discharged from the jet pipe 3 per unit time and increasing the number and density of bubbles. When the overall target evaluation value is higher than the target value and has sufficient margin, the controller 8 can appropriately reduce the bubble control quantity to reduce compressed gas consumption.

[0135] To prevent the jet valve 4 from frequently adjusting near the threshold, control hysteresis can be set on both sides of the target value. For example, when the overall target evaluation value is lower than the first threshold, the bubble flow rate is increased; when the overall target evaluation value is higher than the second threshold, the bubble flow rate is decreased, and the second threshold is higher than the first threshold. When the overall target evaluation value is between the two thresholds, the current control variable remains unchanged.

[0136] The controller 8 only allows the target 1 to move after the comprehensive target evaluation value reaches the preset target concealment requirement for multiple consecutive sampling cycles. This control sequence ensures that the target 1 is in a reliable concealed state before it begins to move laterally, preventing trainees from judging the re-revealing position of the target 1 by the target's movement trajectory.

[0137] Step S203: Detect the target position and perform closed-loop control of the left or right gas shift valve.

[0138] After the bubble-masking area reaches the preset target concealment requirements, the lateral positioning camera continuously acquires lateral images of the target 1 and the target translation track 2. The image processing module identifies the positioning marks set on the back, side, or upper edge of the target 1, or directly identifies the lateral contour of the target 1 to obtain the target positioning area mask.

[0139] Based on the pixel coordinates of the target positioning area and the correspondence between the pre-calibrated image coordinates and the actual coordinates of the track, calculate the actual lateral position of target 1 on target translation track 2:

[0140]

[0141] In the formula, For the first The actual lateral position of target 1 on target translation track 2 at each sampling time. This is a binary mask for locating the target area. A value of 1 is used when a pixel belongs to the target area, and a value of 0 is used otherwise. and Image pixel coordinates, This is the ratio between pixel distance and actual distance. This is the correction value for the coordinate zero point. Scale factor. and correction value This can be achieved by moving target 1 to a known position on the track and acquiring calibration images.

[0142] Controller 8 generates the target location based on the training subject, operator input instructions, or preset random location. The position error between the target position and the actual position is calculated. To ensure that target 1 moves accurately to the target position, the lateral movement control quantity can be calculated using a combination of proportional, integral, and derivative methods:

[0143]

[0144] In the formula, For the first Lateral movement control quantity at each sampling time The positional error between the target position and the actual position. This is the proportionality coefficient. The integral coefficient is... The differential coefficients are... The time interval between two adjacent position detections. This is for accumulating serial numbers.

[0145] When the lateral movement control value is positive and exceeds the set dead zone, it indicates that the target 1 needs to move to the right. The controller 8 keeps the left shift valve 5 closed and opens the right shift valve 6. The right shift valve 6 sprays air into the left side of the target 1, and the reaction force of the air spray drives the target 1 to move to the right along the target translation track 2. The larger the absolute value of the lateral movement control value, the more the controller 8 can increase the opening duty cycle, opening degree of the right shift valve 6, or the air supply pressure output from the right shift air supply branch of the air tank 7.

[0146] When the lateral movement control quantity is negative and its absolute value exceeds the set dead zone, it indicates that the target 1 needs to move to the left. The controller 8 keeps the right shift valve 6 closed and opens the left shift valve 5. The left shift valve 5 sprays air into the right side of the target 1, and the reaction force of the air spray drives the target 1 to move to the left along the target translation track 2. The larger the absolute value of the lateral movement control quantity, the greater the opening duty cycle, opening degree, or corresponding air supply pressure of the left shift valve 5.

[0147] As the target 1 approaches the target position, the position error gradually decreases. The controller 8 accordingly reduces the opening duty cycle of the selected air valve or uses intermittent pulse jet injection to gradually decelerate the target 1. Compared to a control method that only opens the air valve according to a predetermined time, this closed-loop control method can compensate for the movement distance error caused by changes in water flow resistance, track friction, air tank pressure drop, and air pipe resistance.

[0148] The left and right air valves 5 and 6 are electrically and programmatically interlocked, allowing only one valve to be open at a time. When the error between the actual position and the target position of the target 1 is less than the allowable error, and the positional change of the target 1 within multiple consecutive image sampling periods is less than a stability threshold, the controller 8 closes the left and right air valves 5 and 6, determining that the target 1 has accurately reached the target position. The allowable positional error can be set according to the target size and training requirements, for example, from 10 mm to 30 mm.

[0149] Step S204: Confirm the hidden target and positioning results, and execute target display and loop control.

[0150] After target 1 reaches the target position, controller 8 keeps jet valve 4 open for a stable period of time, and reconfirms that the comprehensive target evaluation value meets the preset requirements through the forward detection camera. At the same time, it confirms through the lateral positioning camera that target 1 is still within the allowable error range of the target position. This confirmation process can prevent water flow disturbance caused by the movement of target 1 from causing a temporary gap in the bubble curtain, and can also prevent target 1 from continuing to slide due to inertia after the left shift valve 5 or right shift valve 6 is closed.

[0151] After confirming that the concealment effect and target position meet the requirements, the controller 8 closes the air valve 4 of the jet pipe and stops the air tank 7 from supplying air to the jet pipe 3. The jet pipe 3 stops generating new bubbles, and the existing bubbles continue to rise and gradually move away from the front of the target 1, making the target 1 visible in the moved target position.

[0152] The forward-facing camera can continue to acquire images of the target. When the visible proportion of the target rises to the preset target visibility threshold, the controller 8 determines that target visibility is complete and records the actual exposure position of the target 1, the bubble dissipation time, and the gas control quantity during this control process. The above data can be used to adjust the target bubble value, valve opening parameters, and position control parameters for the next visibility cycle.

[0153] When the target 1 is detected as not accurately reaching its target position, the controller 8 does not close the jet valve 4, but instead re-executes position correction while the bubble shielding persists. When the target 1 is detected as being in the correct position but the bubble shielding effect is insufficient, the controller 8 keeps the left shift valve 5 and the right shift valve 6 closed, and increases the duty cycle or air supply pressure of the jet valve 4 until the target concealment effect reaches the preset requirements. This prevents the position correction process or the bubble reinforcement process from being observed by the trainee.

[0154] After completing one target display and shooting training session, controller 8 can reopen the jet valve 4 according to the operator's control command or a preset training program, and randomly or according to the training sequence determine the next target position. Controller 8 sequentially performs bubble obscuration detection, bubble density adjustment, target position closed-loop adjustment, and stops jet display, thereby enabling multiple consecutive underwater shooting training sessions.

[0155] In one exemplary parameter setting, the sampling frequency of the forward detection camera and the lateral positioning camera can be set to 10 to 30 frames per second, the overall hidden target value can be set to 0.85 to 0.95, and the number of consecutive confirmation frames required for bubble occlusion to meet the requirements can be set to 3 to 10 frames. These parameters can be adjusted according to the turbidity of the training water, lighting conditions, camera installation distance, bubble size, and the area of ​​target 1.

[0156] To improve system operational safety, controller 8 can also set the upper limit of air supply pressure, the maximum opening time of a single air valve, and the target movement stroke boundary. When the image processing module fails to recognize the target positioning mark continuously, the camera image is abnormal, or the target 1 reaches the end position of the target translation track 2, controller 8 closes the left shift air valve 5 and the right shift air valve 6, stops the continued movement of the target 1, and outputs a fault prompt. Controller 8 can also retain a manual control interface, allowing operators to manually control the air jet valve 4, the left shift air valve 5, and the right shift air valve 6.

[0157] The working principle of this embodiment is based on a collaborative control method that uses "forward image evaluation of target concealment effect, lateral image detection of target position, closed-loop adjustment of bubble supply, and closed-loop positioning of left and right air jets". The forward detection camera acquires images from the perspective of the trainee, so its detection results can more realistically reflect whether the trainee can still see the target 1; the lateral positioning camera avoids the forward bubble curtain, so even if the target 1 is completely covered by bubbles, it can still detect the actual position of the target 1 on the target translation track 2.

[0158] The controller 8 first adjusts the opening degree and duty cycle of the jet pipe valve 4 and the output air supply pressure of the air tank 7 according to the frontal image to make the bubble curtain reach the preset shielding degree. Only after confirming that the target 1 is fully shielded will the controller 8 open the left shift air valve 5 or the right shift air valve 6, and adjust the jet direction and jet intensity in real time according to the position error obtained from the side image, so that the target 1 moves to the target position without being observed by the trainee.

[0159] After the target 1 reaches the target position, the controller 8 reconfirms the bubble shielding effect and positional accuracy. Only when both conditions are met will the jet valve 4 be closed, causing the bubble to dissipate and the target 1 to be revealed. Thus, bubble control and position control are not executed independently, but rather operate in a coordinated manner in the following sequence: first, a reliable shield is formed; then, movement is performed while shielded; after movement, double confirmation is performed; and finally, the target is revealed.

[0160] This closed-loop control method can automatically correct control parameters based on water turbidity, water flow velocity, water depth, air tank pressure, and track friction state. It avoids insufficient bubble density or inaccurate target movement distance caused by fixed air valve opening time, thereby improving the reliability of the hidden target, the randomness of the target position, and the accuracy of the revealed target position, and enhancing the realism and training effect of underwater shooting training.

[0161] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. An underwater shooting training target with concealed and revealed features, characterized in that, include: The target mechanism includes a target body (1) and a target translation track (2) for the target body (1) to move laterally, wherein the target body (1) is slidably disposed on the target translation track (2); The bubble shielding mechanism includes a jet pipe (3) and a jet pipe valve (4) connected to the jet pipe (3), wherein the jet pipe (3) is located at the front and lower part of the target (1); The translation drive mechanism includes a left gas valve (5) and a right gas valve (6) respectively disposed on the left and right sides of the target (1), and the exhaust directions of the left gas valve (5) and the right gas valve (6) are opposite. The gas supply mechanism includes a gas tank (7) and a gas pipe (11) connected to the gas tank (7). The gas tank (7) is connected to the jet pipe valve (4), the left shift valve (5) and the right shift valve (6) respectively through the gas pipe (11). The control mechanism includes a controller (8) and a control line (12) connected to the controller (8). The controller (8) is electrically connected to the jet pipe valve (4), the left shift valve (5) and the right shift valve (6) respectively through the control line (12). The suspension stabilization mechanism includes an airbag (10) connected to the upper part of the target translation track (2) and a counterweight (9) connected to the lower part of the target translation track (2).

2. The underwater shooting training concealed target according to claim 1, characterized in that: The target translation track (2) includes two circular tubes that are spaced apart vertically and arranged in parallel with each other. The left and right ends of the two circular tubes are connected by longitudinal connecting components, so that the two circular tubes and the two longitudinal connecting components together form a frame structure. The target (1) is provided with a circular sleeve at its upper and lower parts respectively. The circular sleeve at the upper part of the target (1) is fitted onto the upper circular tube of the target translation track (2), and the circular sleeve at the lower part of the target (1) is fitted onto the lower circular tube of the target translation track (2) so that the target (1) can slide laterally along the target translation track (2).

3. The underwater shooting training concealed target according to claim 2, characterized in that: The jet pipe (3) is a hollow tubular structure. The jet pipe (3) extends along the lateral movement direction of the target (1) and is arranged parallel to the lower circular tube of the target translation track (2). Multiple air outlets are arranged at intervals along the length of the jet pipe (3). The two ends of the jet pipe (3) are respectively connected to the lower circular tube of the target translation track (2) through connecting components, and the distribution area of ​​the multiple air outlets corresponds to the lateral movement area of ​​the target (1) along the target translation track (2).

4. The underwater shooting training concealed target according to claim 3, characterized in that: The left gas shift valve (5) is located at the lower right part of the target (1), and the exhaust port of the left gas shift valve (5) faces the right side of the target (1); the right gas shift valve (6) is located at the lower left part of the target (1), and the exhaust port of the right gas shift valve (6) faces the left side of the target (1). The air pipe (11) is a flexible tube. The air pipe (11) includes a jet pipe air supply branch, a left shift air supply branch and a right shift air supply branch. The jet pipe air supply branch is connected to the jet pipe (3) through the jet pipe air valve (4). The left shift air supply branch is connected to the left shift air valve (5). The right shift air supply branch is connected to the right shift air valve (6).

5. The underwater shooting training concealed target according to claim 4, characterized in that: The control line (12) includes a jet pipe control branch, a left shift control branch and a right shift control branch. The jet pipe control branch is connected between the controller (8) and the jet pipe valve (4). The left shift control branch is connected between the controller (8) and the left shift valve (5). The right shift control branch is connected between the controller (8) and the right shift valve (6).

6. The underwater shooting training concealed target according to claim 5, characterized in that: At least two airbags (10) are provided. Airbag connecting components are provided at both ends of the upper circular tube of the target translation track (2). Each airbag (10) is connected to the corresponding airbag connecting component by a rope to apply an upward buoyancy to the target translation track (2). At least two counterweights (9) are provided. The lower circular tube of the target translation track (2) is provided with counterweight connecting components at both ends. Each counterweight (9) is connected to the corresponding counterweight connecting component by a rope to apply a downward traction force to the target translation track (2). The target (1) is a plate-shaped structure, and the front of the target (1) is provided with a human-shaped pattern or a ring pattern.

7. A method for controlling the concealment and revelation of targets in underwater shooting training, characterized in that: The underwater shooting training concealed target as described in claim 6 includes the following steps: S1. Place the target (1) and the target translation track (2) in the water. By adjusting the connecting rope of the airbag (10) and the counterweight (9), the target translation track (2) is suspended at a set water depth, and the target (1) is kept vertical. S2. The controller (8) controls the air valve (4) of the jet pipe to open, so that the compressed gas in the gas tank (7) is discharged into the water through multiple air outlets of the jet pipe (3), forming a bubble shielding area in front of the target (1) that covers the lateral movement area of ​​the target (1), so that the target (1) enters the hidden target state. S3. When the jet valve (4) remains open and the target (1) is within the bubble shielding area, the controller (8) selectively opens the left shift valve (5) or the right shift valve (6), using the jet reaction force to drive the target (1) to move left or right along the target translation track (2), and closes the opened left shift valve (5) or right shift valve (6) after the target (1) has moved for a predetermined time. S4. The controller (8) controls the air valve (4) of the jet pipe to close, so that the jet pipe (3) stops exhausting, and the bubbles in the bubble shielding area rise and leave the front of the target (1), so that the target (1) is exposed in the moved position and enters the target display state. The controller (8) cyclically executes the hidden target state and the displayed target state according to the control instructions input by the operator or the preset on / off time. In the hidden target state of each hidden and revealed cycle, the left shift air valve (5) and the right shift air valve (6) are opened selectively but not simultaneously. The controller (8) adjusts the lateral movement distance of the target (1) by controlling the opening duration of the selected air valve, and controls the jet pipe air valve (4) to close after the selected air valve is closed, so that the lateral movement of the target (1) is within the shielding range of the bubble shielding area.

8. A method for controlling the concealment and revelation of targets in underwater shooting training based on image detection, characterized in that, Including the underwater shooting training concealed target as described in claim 6, it further includes an image feedback control step: A forward image acquisition device is used to acquire a forward image of the target (1) and the bubble-covered area in front of it. A lateral positioning image of the target (1) is acquired by a lateral image acquisition device is used to acquire a lateral positioning image of the target (1) ... Image processing is performed on the positive image to obtain the visible area and bubble area of ​​the target (1), and the target concealment effect is determined according to the visibility of the target (1) and the coverage of the bubble area of ​​the target's lateral movement area. The lateral positioning image is processed to obtain the actual lateral position of the target (1) on the target translation track (2); The controller (8) controls the jet pipe valve (4) according to the target concealment effect, and selectively controls the left shift valve (5) or right shift valve (6) according to the actual lateral position, so as to form a closed-loop control of the bubble concealment state and the lateral position of the target.

9. The concealment and revelation control method for underwater shooting training targets according to claim 8, characterized in that, The control of the jet pipe valve (4) based on the concealed target effect includes: When the jet valve (4) is closed and the target (1) is exposed, a reference image of the target (1) is acquired, and the complete reference area of ​​the target (1) is determined. After the jet valve (4) is opened, the visible area of ​​the target and the bubble area in the current forward image are identified. Based on the proportion of the visible area of ​​the target to the complete reference area and the proportion of the bubble area to the preset detection area, it is determined whether the current target concealment effect meets the preset target concealment requirements. When the proportion of the visible area of ​​the target to the complete reference area is greater than the preset visible proportion, or the proportion of the bubble area to the preset detection area is less than the preset coverage proportion, the opening duty cycle, opening degree or opening time of the jet pipe valve (4) is increased to increase the gas supply from the gas tank (7) to the jet pipe (3) per unit time. When the target concealment effect reaches the preset target concealment requirement for multiple consecutive image sampling cycles, the jet valve (4) is kept open, and the lateral movement control of the target (1) is allowed.

10. The concealment and revelation control method for underwater shooting training targets according to claim 9, characterized in that, The lateral movement control of the target (1) includes: The target lateral position of the target (1) is determined according to the training control command or the preset training program. The lateral contour of the target (1) or the positioning mark set on the target (1) is identified according to the lateral positioning image. The actual lateral position of the target (1) is determined according to the calibration relationship between the pre-established image coordinates and the actual position of the target translation track (2). The actual lateral position is compared with the target lateral position. When the target lateral position is to the left of the actual lateral position, the left shift valve (5) is opened and the right shift valve (6) is kept closed. When the target lateral position is to the right of the actual lateral position, the right shift valve (6) is opened and the left shift valve (5) is kept closed. Based on the positional deviation between the actual lateral position and the target lateral position, adjust the opening duty cycle, opening degree or opening duration of the opened left shift valve (5) or right shift valve (6) so that the gas tank (7) outputs gas to the corresponding gas supply branch that is adapted to the positional deviation, and close the left shift valve (5) and right shift valve (6) when the positional deviation is not greater than the preset allowable deviation. After confirming that the position of the target (1) meets the preset allowable deviation and the target concealment effect still meets the preset target concealment requirements, the jet pipe valve (4) is closed, so that the bubble leaves the front of the target (1) and the target (1) is exposed in the horizontal position of the target; when the position deviation or target concealment effect does not meet the corresponding preset requirements, the jet pipe valve (4) is kept open and the position adjustment or bubble concealment adjustment continues to be performed.

Images