Intelligent target vehicle with obstacle avoidance device
By installing lidar and AR cameras on the target vehicle to generate three-dimensional images for obstacle recognition, and by using anti-collision elastic bladders and high-pressure gas buffer systems, the problem of the target vehicle having difficulty avoiding obstacles on a fixed route is solved, thereby improving obstacle avoidance capabilities and reducing vehicle damage.
Patent Information
- Application Number
- CN202520277839.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-20
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2035-02-20
AI Technical Summary
Traditional target vehicles struggle to handle sudden obstacles when traveling along pre-set fixed routes, leading to vehicle rollovers or collision damage.
It uses LiDAR and AR cameras to identify obstacles in real time and form a 3D image. Combined with anti-collision elastic bladders and a high-pressure gas buffer system, it can achieve intelligent obstacle avoidance.
It improves the target vehicle's ability to avoid sudden obstacles, reduces the degree of damage to the vehicle, and protects the integrity of the obstacle avoidance device.
Smart Images
Figure CN223925604U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of shooting training devices, and in particular to an intelligent target vehicle with an obstacle avoidance device. Background Technology
[0002] A target vehicle is a piece of technical equipment primarily used in military training, tactical training for police and law enforcement agencies, hunting clubs, shooting ranges, and certain recreational activities. This vehicle is equipped with movable targets that can simulate different shapes, sizes, and movement patterns for shooters to practice shooting, thereby improving their shooting skills and accuracy.
[0003] Before the target vehicle is put into operation, its internal control system usually pre-sets parameters such as its driving route and speed. However, during the actual driving process, there is no human intervention.
[0004] However, in actual driving, various unexpected situations will always be encountered, such as large rocks suddenly appearing on the road. Since it is a pre-set fixed route, it is difficult to avoid such sudden obstacles, which may cause the target vehicle to overturn or be damaged by a collision, resulting in obvious shortcomings. Utility Model Content
[0005] To address the problem that traditional target vehicles, which follow a fixed pre-set route, struggle to handle unexpected obstacles, this application provides an intelligent target vehicle equipped with an obstacle avoidance device.
[0006] The intelligent target vehicle with an obstacle avoidance device provided in this application adopts the following technical solution:
[0007] A smart target vehicle with an obstacle avoidance device includes a target vehicle chassis on which a lidar and an AR camera electrically connected to a control system are mounted.
[0008] By adopting the above technical solution, the AR camera can capture real-time images of the driving route and identify obstacles in the captured images. In conjunction with the LiDAR, the distance between the camera and the obstacles is calculated to form a three-dimensional image, thereby achieving intelligent obstacle avoidance.
[0009] Optionally, the target vehicle chassis is equipped with a main gimbal for the electrical connection control system, and the AR camera is mounted on the main gimbal.
[0010] By adopting the above technical solution, the main gimbal can drive the AR camera to rotate horizontally and vertically, thereby improving the comprehensiveness of the AR camera's imaging of the terrain around the target vehicle.
[0011] Optionally, the target vehicle chassis is provided with an anti-collision elastic bladder, and the target vehicle chassis is provided with a high-pressure gas tank filled with gas. The high-pressure gas tank is provided with a gas replenishment valve, and the high-pressure gas tank is connected to the anti-collision elastic bladder, and a solenoid valve electrically connected to the control system is provided at the connection point.
[0012] By adopting the above technical solution, when an obstacle is detected but the control system determines that it is difficult to avoid it in time, the control system opens the solenoid valve, thereby releasing the high pressure in the high-pressure tank immediately. A large amount of gas rushes into the anti-collision elastic bladder, thereby causing the anti-collision elastic bladder to expand rapidly, thus buffering the impact and reducing the damage to the target vehicle.
[0013] Optionally, the target vehicle chassis is provided with a plurality of arc-shaped elastic band plates. The outer side wall of the target vehicle chassis is provided with insertion slots. The two ends of the elastic band plates are respectively provided with insertion slots and are inserted into them. The anti-collision elastic bladder is housed between the elastic band plates and the outer wall of the target vehicle chassis.
[0014] By adopting the above technical solution, when the anti-collision elastic bladder is not in use, it is housed between the elastic band plate and the outer wall of the target vehicle chassis. During the expansion of the anti-collision elastic bladder, its expansion will cause the elastic band plate to deform, thereby automatically disengaging the end of the elastic band plate from the insertion slot.
[0015] Optionally, multiple elastic band plates located on the same side of the target vehicle chassis are jointly bolted with a protective tube with a semi-circular cross-section, and the protective tube covers the anti-collision elastic bladder.
[0016] By adopting the above technical solution, when the elastic beam plate is launched, the protective tube automatically detaches from the target vehicle chassis. The protective tube protects the anti-collision elastic bladder, reducing the possibility of the anti-collision elastic bladder being damaged and leaking air due to accidental scraping when not in use, thereby ensuring its protective performance.
[0017] Optionally, the ends of two protective tubes on adjacent sides of the target vehicle chassis are joined together.
[0018] By adopting the above technical solution, the end splicing further improves the protection effect on the anti-collision elastic bladder.
[0019] Optionally, an exhaust pipe is also connected between the solenoid valve and the anti-collision elastic bladder, the exhaust pipe extends to the outside of the target vehicle chassis, and a manual valve is arranged on the exhaust pipe.
[0020] By adopting the above technical solution, when the anti-collision elastic bladder is triggered, if it is not damaged, it needs to be reassembled for the next trigger. Therefore, the worker can manually open the manual valve to release the gas inside the anti-collision elastic bladder.
[0021] Optionally, the protective pipe is made of PE pipe.
[0022] By adopting the above technical solutions, PE pipes have strong corrosion resistance, wear resistance, toughness and flexibility, strong temperature adaptability, good physical properties and long service life.
[0023] In summary, this application includes at least one of the following beneficial technical effects:
[0024] 1. The AR camera captures the driving route in real time and identifies obstacles in the captured image. It works with LiDAR to calculate the distance between the camera and the obstacles, forming a 3D image to achieve intelligent obstacle avoidance.
[0025] 2. When an obstacle is detected but the control system determines that it is difficult to avoid it in time, the control system opens the solenoid valve, thereby releasing the high pressure in the high-pressure tank immediately. A large amount of gas rushes into the anti-collision elastic bladder, thereby causing the anti-collision elastic bladder to expand rapidly, thus buffering the impact and reducing the damage to the target vehicle.
[0026] 3. When the anti-collision elastic bladder is not in use, it is stored between the elastic band plate and the outer wall of the target vehicle chassis. During the expansion of the anti-collision elastic bladder, its expansion will push the elastic band plate to deform, thereby automatically disengaging the end of the elastic band plate from the insertion slot;
[0027] 4. During the flight of the elastic beam, the protective tube automatically detaches from the target vehicle chassis. The protective tube protects the anti-collision elastic bladder, reducing the possibility of the anti-collision elastic bladder being damaged and leaking air due to accidental scraping when not in use, thereby ensuring its protective performance. Attached Figure Description
[0028] Figure 1 This is a schematic diagram of the structure of the anti-collision elastic bladder in the inflated state in the embodiments of this application.
[0029] Figure 2 This is a cross-sectional view showing the positional relationship between the target vehicle chassis, the high-pressure air tank, and the solenoid valve in an embodiment of this application.
[0030] Figure 3 This is a cross-sectional view of the anti-collision elastic bladder in the retracted state in the embodiment of this application.
[0031] Explanation of reference numerals in the attached diagram: 1. Target vehicle chassis; 101. Insertion slot; 2. LiDAR; 3. AR camera; 4. Main gimbal; 5. Anti-collision elastic bladder; 6. High-pressure gas tank; 9. Solenoid valve; 10. Elastic beam plate; 11. Protective pipe; 12. Exhaust pipe; 13. Manual valve. Detailed Implementation
[0032] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.
[0033] This application discloses an intelligent target vehicle equipped with an obstacle avoidance device.
[0034] Reference Figure 1 The intelligent target vehicle with obstacle avoidance device includes a target vehicle chassis 1, a main gimbal 4 bolted to the target vehicle chassis 1, an AR camera 3 arranged on the main gimbal 4, and a lidar 2 threadedly connected to multiple side walls of the target vehicle chassis 1. The main gimbal 4, the AR camera 3 and the lidar 2 are all electrically connected to the control system.
[0035] Reference Figure 1 During the movement of the target vehicle, AR camera 3 can capture real-time images of the road conditions around the target vehicle and identify obstacles in the captured images.
[0036] The lidar 2 can emit laser pulses towards obstacles and calculate the distance between the target vehicle and the obstacle based on the time it takes for the pulses to return, generating a highly detailed three-dimensional image. Under the control of the system, the target vehicle can achieve intelligent obstacle avoidance.
[0037] The main gimbal 4 can drive the AR camera 3 to rotate horizontally and vertically, which helps to improve the comprehensiveness of the shooting of the surrounding road conditions.
[0038] Reference Figure 1 and Figure 2 Each side of the target vehicle chassis 1 is equipped with an anti-collision elastic bladder 5. A high-pressure gas tank 6 filled with gas is bolted inside the target vehicle chassis 1. A solenoid valve 9 is connected between the high-pressure gas tank 6 and each anti-collision elastic bladder 5. The solenoid valve 9 is electrically connected to the control system.
[0039] Reference Figure 1 and Figure 2 When the control system determines that the target vehicle cannot avoid the obstacle in time, it opens the solenoid valve 9, so that the compressed gas in the high-pressure gas tank 6 will quickly rush into the anti-collision elastic bladder 5. The expansion of the anti-collision elastic bladder 5 plays a buffering role, thereby reducing the damage to the target vehicle chassis 1 when it collides with the obstacle.
[0040] Reference Figure 1 and Figure 2 An exhaust pipe 12 is connected between the solenoid valve 9 and the anti-collision elastic bladder 5. The exhaust pipe 12 extends to the outside of the target vehicle chassis 1, and a manual valve 13 is arranged on the exhaust pipe 12.
[0041] When the anti-collision elastic bladder 5 is triggered, it is often reused if it is not damaged. Therefore, at this time, the worker manually opens the manual valve 13 to release the gas in the anti-collision elastic bladder 5.
[0042] The high-pressure gas tank 6 is threaded with a gas replenishment valve (not shown in the figure). The worker connects the gas replenishment valve to the air pump, so that sufficient gas can be replenished into the high-pressure gas tank 6. The high-pressure gas tank 6 is also threaded with a pressure gauge (not shown in the figure) to display the gas pressure inside the high-pressure gas tank 6 and to avoid overfilling.
[0043] Reference Figure 1 and Figure 3 Multiple arc-shaped elastic band plates 10 are arranged on the outside of the target vehicle chassis 1. Insertion slots 101 are opened on the outer wall of the target vehicle chassis 1. The two ends of the elastic band plates 10 are respectively connected to the insertion slots 101 and are inserted into them. The anti-collision elastic bladder 5 is housed between the elastic band plates 10 and the outer wall of the target vehicle chassis 1.
[0044] Reference Figure 1 and Figure 3 Multiple elastic baffles 10 located on the same side of the target vehicle chassis 1 are bolted together with a protective tube 11 with a semi-circular cross section. The protective tube 11 covers the anti-collision elastic bladder 5, and the ends of two corresponding protective tubes 11 on adjacent sides of the target vehicle chassis 1 are spliced together.
[0045] Reference Figure 1 and Figure 3 The elastic band plate 10 and the protective tube 11 work together to cover and protect the deflated and rolled-up anti-collision elastic bladder 5, avoiding the possibility of the anti-collision elastic bladder 5 being damaged by accidental scraping.
[0046] Reference Figure 3 The protective pipe 11 is made of PE pipe. PE pipe has strong corrosion resistance, wear resistance, toughness and flexibility, strong temperature adaptability, good physical properties and long service life.
[0047] The implementation principle of an intelligent target vehicle with an obstacle avoidance device in this application embodiment is as follows:
[0048] During the target vehicle's movement, AR camera 3 can capture real-time images of the road conditions around the vehicle and identify obstacles in the captured images. LiDAR 2 can emit laser pulses towards obstacles and calculate the distance between the target vehicle and the obstacles based on the time it takes for the pulses to return, generating highly detailed 3D images. Under the control system, the target vehicle can intelligently avoid obstacles.
[0049] When the control system determines that the target vehicle cannot avoid the obstacle in time, it opens the solenoid valve 9, so that the compressed gas in the high-pressure gas tank 6 will quickly rush into the anti-collision elastic bladder 5. The expansion of the anti-collision elastic bladder 5 will push the elastic band plate 10 to deform, so that the end of the elastic band plate 10 will automatically disengage from the insertion slot 101, and the protective tube 11 will be directly ejected. When an impact occurs, the anti-collision elastic bladder 5 will play a buffering role.
[0050] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. An intelligent target vehicle with obstacle avoidance device comprising a target vehicle chassis (1), characterized in that: The target vehicle chassis (1) is provided with a laser radar (2) and an AR camera (3) electrically connected to a control system; The target vehicle chassis (1) is provided with an anti-collision elastic bag (5) outside, and a high-pressure gas tank (6) filled with gas is arranged inside the target vehicle chassis (1), the high-pressure gas tank (6) is provided with a gas supplement valve, the high-pressure gas tank (6) is communicated with the anti-collision elastic bag (5), and an electromagnetic valve (9) electrically connected to the control system is arranged at the communication position; A plurality of elastic beam plates (10) in the shape of a circular arc are arranged outside the target vehicle chassis (1), a plug-in slot (101) is formed in the outer side wall of the target vehicle chassis (1), and the two ends of the elastic beam plate (10) correspond to and are plugged into the plug-in slot (101), respectively, the anti-collision elastic bag (5) is accommodated between the elastic beam plate (10) and the outer wall of the target vehicle chassis (1); A plurality of elastic beam plates (10) located on the same side of the target vehicle chassis (1) are jointly bolted with a protective pipe (11) having a semicircular cross section, and the protective pipe (11) covers the anti-collision elastic bag (5).
2. The intelligent target vehicle with obstacle avoidance device as claimed in claim 1, wherein: The target vehicle chassis (1) is provided with a main holder (4) electrically connected to the control system, and the AR camera (3) is arranged on the main holder (4).
3. The intelligent target vehicle with obstacle avoidance device as claimed in claim 1, wherein: The end portions of the two protective pipes (11) corresponding to the adjacent two sides of the target vehicle chassis (1) are spliced.
4. The intelligent target vehicle with obstacle avoidance device as claimed in claim 1, wherein: The electromagnetic valve (9) and the anti-collision elastic bag (5) are also communicated with an exhaust pipe (12), the exhaust pipe (12) extends to the outside of the target vehicle chassis (1), and a manual valve (13) is arranged on the exhaust pipe (12).
5. The intelligent target vehicle with obstacle avoidance device as claimed in claim 1, wherein: The protective pipe (11) is made of PE pipe.