Self-aiming dart thrower

Abstract

The application relates to an automatic aiming thrower, which is provided with a damping buffer structure arranged in series between a power source interface and a shoulder support, uses fluid damping to dissipate the recoil energy in the launching moment, improves the mechanical transmission characteristics of the equipment, and improves the safety and stability of operation. Meanwhile, a distance measuring, posture and wind field sensing module is integrated on the gun body, real-time environment data are obtained, optimal trajectory parameters containing cable aerodynamic characteristics are calculated by a processor, and an intuitive guiding feedback signal is output by a human-computer interaction module on the surface of the shell, so that the operator can quickly adjust the posture of the gun body according to the feedback under the non-steady platform, and the hit rate of the throwing under complex sea conditions is improved.

Description

Technical Field

[0001] This application relates to the technical field, and in particular to an automatic aiming and throwing device. Background Technology

[0002] Pneumatic cable throwers are crucial equipment for establishing communication channels in maritime rescue operations. However, existing cable throwing devices suffer from the following major drawbacks in practical applications: First, the flight of the cable-throwing projectile is significantly affected by air resistance and lateral wind fields (i.e., wind deflection effect), and the operator can only aim roughly based on experience, resulting in an extremely low first-shot hit rate in complex sea conditions.

[0003] Secondly, rescue vessels are often in a swaying and rocking state, and traditional mechanical or optical sights have a narrow field of view, making it difficult for operators to quickly acquire targets and maintain stability.

[0004] Furthermore, in order to ensure the range, the instantaneous impact force at the time of firing is relatively large, but existing equipment mostly uses rigid connections or simple rubber pads, which cannot effectively buffer the recoil, easily causing operator fatigue or even injury, and affecting the stability of firing. Utility Model Content

[0005] To address the aforementioned problems, this application provides an automatic aiming and throwing device with good operational safety.

[0006] To achieve the above objectives, in a first aspect, embodiments of this application provide an automatic aiming and throwing device, comprising: a gun body for providing structural support and firing power, the gun body including a barrel, a trigger for controlling firing, a gas cylinder interface component for connecting to a power source, and a shoulder stock; an aiming system disposed above the gun body, including a housing and a main control circuit board housed within the housing; the main control circuit board integrating a processor, and a ranging module, a micro inertial navigation system, a wind field sensing module, and a human-machine interaction module electrically connected to the processor; a buffer disposed between the gas cylinder interface component and the shoulder stock for connecting the firing part of the gun body and the shoulder stock; a rope bucket installed below the gun body for storing a rescue cable; and a cable throwing projectile slidably mounted inside the barrel, the tail of the cable throwing projectile being connected to one end of the rescue cable; The ranging module's sensing end is positioned along the axis of the gun barrel; the micro inertial navigation system is fixedly installed inside the housing or on the main control circuit board; the wind field sensing module's sensing part is connected to the external environment of the housing; and the human-machine interaction module is located on the surface of the housing and is used to output guidance feedback signals and present device status information.

[0007] Preferably, the human-computer interaction module includes: a display screen, embedded in the surface of the housing facing the operator, for displaying guidance feedback signals and device status information in character or graphic form; an LED indicator array, disposed around the display screen, the LED indicator array including horizontal indicator groups arranged in a horizontal direction and vertical indicator groups arranged in a vertical direction; a tactile feedback unit and / or an auditory feedback unit, housed inside the housing and electrically connected to the processor; wherein the processor is configured to control the lighting state of the LED indicator array and the action of the tactile feedback unit.

[0008] Preferably, the buffer is a hydraulic damping buffer structure, comprising: an inner tube, which is a hollow tubular structure with one end open, filled with damping fluid, and the inner wall of the inner tube is provided with a throttling structure; a piston rod, one end of which extends into the inner tube and cooperates with the damping fluid, and the other end is connected to the gas cylinder interface component; and a reset elastic element, sleeved outside the piston rod or disposed inside the inner tube; wherein, when the gun body recoils, the piston rod moves relative to the inner tube and squeezes the damping fluid through the throttling structure.

[0009] Preferably, the aiming system is fixed to the gun body by a quick-release mounting bracket; the quick-release mounting bracket includes a bracket base fixed to the barrel and a bracket boss fixed to the bottom of the outer casing, as well as a knob locking member; the bracket base is provided with a dovetail groove extending along the barrel axis, and the bracket boss is slidably fitted in the dovetail groove; the knob locking member is used to lock the position of the bracket boss in the dovetail groove.

[0010] Preferably, the aiming system further includes a laser pointer electrically connected to the processor, the laser pointer being mounted on the front end or side of the housing, and the projection optical axis of the laser pointer being parallel to the sensing direction of the ranging module.

[0011] Secondly, embodiments of this application provide an aiming control method for an automatic aiming launcher applied to any embodiment of the first aspect, comprising the following steps: S1. Activate the aiming system, obtain the target distance through the ranging module, obtain the real-time elevation angle and real-time azimuth angle of the gun body through the micro inertial navigation system, and obtain the ambient wind speed and wind direction data through the wind field sensing module; S2. Based on the target distance, ambient wind speed, wind direction data, and preset aerodynamic parameters of the cable-launching projectile, the processor calculates the launch elevation angle and launch azimuth angle required to hit the target using a preset ballistic model. S3. Compare the calculated launch elevation angle and launch azimuth angle with the real-time elevation angle and real-time azimuth angle, generate a guidance feedback signal based on the angle deviation value generated by the comparison, and output it through the human-computer interaction module; S4. When the angle deviation value is less than the preset launch window threshold, control the human-computer interaction module to issue a launch permission prompt signal.

[0012] Preferably, in step S3, the interactive guidance specifically includes: establishing coordinate mapping: decomposing the angle deviation value into a horizontal deviation component and a vertical deviation component; visual guidance: the processor drives the horizontal indicator group in the LED indicator array included in the human-computer interaction module to flow and light up or change color in the corresponding direction according to the sign and magnitude of the horizontal deviation component, and at the same time drives the vertical indicator group in the LED indicator array to flow and light up or change color in the corresponding direction according to the sign and magnitude of the vertical deviation component; dynamic feedback: as the gun body posture is adjusted, causing the deviation component to decrease, the number of LEDs lit in the horizontal indicator group and the vertical indicator group is controlled to decrease step by step or the flashing frequency is reduced step by step.

[0013] Preferably, in step S2, the ballistic model is a three-dimensional differential equation system of motion of a point mass that includes the effects of gravity, air resistance, and wind. The differential equation system includes a drag term, which is proportional to the square of the velocity of the projectile and is associated with air density, the cross-sectional area of ​​the projectile, and the drag coefficient. The differential equation system also includes a wind term, which is calculated based on the relative velocity vector of the projectile relative to the air, and the relative velocity vector is the difference between the velocity vector of the projectile and the ambient wind speed vector.

[0014] Preferably, the ballistic calculation specifically includes: initialization: setting the initial velocity magnitude, initial position coordinates, and tentative launch angle of the projectile; iterative calculation: using the fourth-order Runge-Kutta method, performing step integration on the three-dimensional particle motion differential equation system at a preset time step, updating the velocity vector and position coordinates at each time step, until the calculated vertical height is less than or equal to zero, thereby obtaining the virtual impact point; error determination: calculating the distance error between the virtual impact point and the target position.

[0015] Preferably, step S2 further includes a parameter optimization step based on the constraint method: based on an ideal parabolic model under windless and drag-free conditions, the initial launch angle is calculated as the initial value for iteration; a constraint search interval is set with the initial value for iteration as the center, and the launch elevation angle and launch azimuth angle are changed within the search interval, and the iterative calculation step is repeated; the distance error obtained from each iteration is compared, and the launch elevation angle and launch azimuth angle corresponding to the minimum distance error are selected as the launch elevation angle and launch azimuth angle.

[0016] The automatic aiming and launching device designed in this application improves the mechanical transmission characteristics of the device and enhances operational safety and stability by utilizing a damping buffer structure connected in series between the power source interface and the shoulder stock, thereby dissipating the recoil energy at the moment of launch through fluid damping. Simultaneously, rangefinding, attitude, and wind field sensing modules are integrated into the launcher body to acquire environmental data in real time. The processor then calculates the optimal ballistic parameters, including the aerodynamic characteristics of the cable. Combined with the human-machine interface module on the outer shell, which outputs intuitive guidance feedback signals, the operator can quickly adjust the launcher's attitude based on the feedback in unsteady conditions, improving the launching accuracy in complex sea conditions. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the automatic aiming and throwing device provided in the embodiments of this application.

[0018] Figure 2 This is a schematic diagram of the human-computer interaction module provided in the embodiments of this application.

[0019] Figure 3 This is a structural schematic diagram of the quick-release mounting bracket provided in the embodiments of this application.

[0020] Figure 4 This is a structural block diagram of the aiming system provided in the embodiments of this application.

[0021] Figure 5 This is a flowchart illustrating the aiming control method for the automatic aiming thrower provided in this application embodiment.

[0022] The components include: gun body 1, barrel 11, trigger 12, gas cylinder interface component 13, shoulder stock 14, aiming system 2, outer shell 20, processor 24, ranging module 21, micro inertial navigation system 22, wind field sensing module 23, human-computer interaction module 25, display screen 251, LED indicator array 252, tactile feedback unit 253, auditory feedback unit 254, buffer 3, piston rod, inner tube, quick-release mounting bracket 6, bracket base 61, bracket boss 62, knob locking component 63, laser pointer 26, rope canister 4, and cable-throwing projectile 5. Detailed Implementation

[0023] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0024] In a first aspect, embodiments of this application provide an automatic aiming and throwing device, the overall structure of which is as follows: Figure 1 As shown, it mainly includes the gun body 1, aiming system 2, buffer 3, rope barrel 4, and cable-throwing projectile 5.

[0025] Specifically, the gun body 1 serves as the skeleton of the device, providing structural support and firing power. For example... Figure 1 As shown, the gun body 1 includes a barrel 11, a trigger 12, a gas cylinder interface component 13, and a shoulder stock 14. The barrel 11 is located at the front end of the gun body 1 and is used to provide a firing guide for the cable-throwing projectile 5. The trigger 12 is located in the middle of the gun body 1 and is used to control the opening of the gas circuit to trigger firing. The gas cylinder interface component 13 is located at the rear of the gun body 1 and can specifically adopt, for example, a threaded metal pipe interface, for connecting a power source such as a compressed air cylinder or a CO2 cylinder. The shoulder stock 14 is located at the far end of the gun body 1 and is used to support the operator's shoulder to maintain a firing posture.

[0026] The rope barrel 4 is installed below the gun body 1, for example, by means of a clip to the handguard under the barrel 11. The rope barrel 4 has a rescue cable neatly coiled inside. One end of the cable leads out and connects to the tail of the cable-throwing projectile 5. At the same time, the cable-throwing projectile 5 is slidably mounted inside the barrel 11. When a compressed air cylinder or CO2 cylinder is used as a power source to release high-pressure gas, it can push the cable-throwing projectile 5 out and drag the cable toward the target.

[0027] In this embodiment, a buffer 3 is connected in series between the gas cylinder interface component 13 and the shoulder support 14. The buffer 3 adopts a hydraulic damping buffer structure. Specifically, the buffer 3 includes an inner tube, a piston rod, and a reset elastic element. The inner tube is a hollow tubular structure with one end open, fixedly connected to one side of the shoulder support 14. Its interior is filled with a special damping fluid such as silicone oil, and the inner wall of the inner tube is provided with a throttling structure such as a throttling orifice or annular slit. One end of the piston rod extends into the inner tube and is immersed in the damping fluid, while the other end extends out and connects to the gas cylinder interface component 13. In addition, the reset elastic element can be, for example, a high-strength helical spring sleeved outside the piston rod or built into the inner tube, to provide a restoring force after buffering.

[0028] When the gun body 1 fires and generates recoil, it drives the piston rod to move backward. The piston rod compresses the damping fluid in the inner tube, forcing the fluid to flow from the high-pressure area to the low-pressure area through a narrow throttling structure. At this time, the viscous resistance of the fluid converts the huge impact kinetic energy into heat energy dissipation, thereby significantly reducing the peak force transmitted to the shoulder stock 14. After firing, the reset elastic element pushes the piston rod to reset.

[0029] The aiming system 2 is positioned above the gun body 1. For example... Figure 4 As shown, the aiming system 2 is fixed to the gun body 1 by a quick-release mounting bracket 6, and includes a housing 20 and a main control circuit board housed within the housing 20. In this embodiment, as... Figure 3As shown, the quick-release mounting bracket 6 includes a bracket base 61 fixed to the barrel 11 and a bracket boss 62 fixed to the bottom of the housing 20, as well as a knob locking member 63. The bracket base 61 is provided with a dovetail groove extending along the barrel axis. The bracket boss 62 is slidably fitted in the dovetail groove and is locked by the knob locking member 63 (such as a side bolt), realizing the quick disassembly and assembly and stable connection of the aiming system 2.

[0030] The main control circuit board integrates a high-performance processor 24 (MCU) and various functional modules that are electrically or communicatively connected to the processor 24. Range measuring module 21: preferably a laser rangefinder, whose sensing end is set along the axis of the gun barrel 11, for accurately measuring the straight-line distance of the target.

[0031] Micro inertial navigation system 22: such as MEMS gyroscope or IMU inertial measurement unit, which is fixedly installed inside the housing 20 or directly soldered to the main control circuit board, and is used to monitor the pitch and azimuth angles of the gun body 1 in real time.

[0032] Wind field sensing module 23: preferably an ultrasonic anemometer, whose sensing part (probe) is connected to the environment outside the housing 20, for example, extending to the top of the housing 20, for real-time acquisition of environmental wind speed and direction data at the device.

[0033] Laser pointer 26: mounted on the front or side of housing 20, its projected green optical axis is parallel to the sensing direction of ranging module 21, and is used to provide a rough visual alignment reference.

[0034] Human-computer interaction module 25: disposed on the surface of the housing 20, used to output guidance feedback signals and present device status information. Specifically includes: Display screen 251: preferably an OLED screen, embedded in the side of the housing 20 facing the operator, i.e. the eyepiece end, for displaying status information such as measured distance, wind speed, power consumption and current working mode in digital or icon form.

[0035] LED indicator array 252: disposed around the periphery of display screen 251. Preferably, the LED indicator array 252 includes horizontal indicator groups arranged horizontally on the screen / below and vertically on the left / right sides of the screen. This cross-shaped layout can intuitively correspond to the left-right translation and up-down pitch of the gun muzzle. The horizontal and vertical indicator groups are controlled by processor 24.

[0036] Haptic feedback unit 253 and / or auditory feedback unit 254: housed inside the housing 20 and electrically connected to the processor 24. Haptic feedback unit 253 is a vibration motor, and auditory feedback unit 254 is a buzzer, both controlled by the processor 24.

[0037] The processor 24 is configured to control the lighting state of the LED indicator array 252 and the operation of the haptic feedback unit 253.

[0038] Secondly, this embodiment provides an aiming control method applied to the above-mentioned automatic aiming launcher, which is executed by the processor 24 in the aiming system 2. For example... Figure 5 As shown, the control logic flow of this method is as follows: S1. Environmental perception and data acquisition.

[0039] The aiming system 2 is activated, and all sensors enter working mode. The ranging module 21 continuously measures the target distance, while the micro inertial navigation system 22 acquires the real-time elevation and azimuth angles of the gun body 1, and the wind field sensing module 23 acquires the current environmental wind speed and direction data. All data is converged to the processor 24 via a bus.

[0040] S2. Ballistics calculation.

[0041] Based on the acquired sensor data, namely the target distance, ambient wind speed, wind direction data, and preset aerodynamic parameters of the cable-launching projectile, the processor 24 uses a preset ballistic model to calculate the optimal launch elevation angle and optimal launch azimuth angle required to hit the target.

[0042] The specific solution process is as follows: First, a ballistic model is established, which is a three-dimensional system of differential equations of motion for a point mass that includes the effects of gravity, air resistance, and wind. This system includes: Drag term: This drag term is proportional to the square of the velocity of the projectile and is related to air density, projectile cross-sectional area and drag coefficient. Wind Term: This wind term is calculated based on the relative velocity vector of the projectile relative to the air, which is the difference between the projectile's velocity vector and the ambient wind speed vector. This accurately simulates the effect of crosswinds on the trajectory deviation.

[0043] Then, the ballistics calculation is performed: Initialization: Set the initial velocity magnitude, initial position coordinates, and tentative launch angle of the cable-launching projectile. In practice, based on an ideal parabolic model under windless and drag-free conditions, calculate the initial launch angle as the initial value for iteration. That is, in the assumed windless and drag-free environment, use the ideal parabolic equation to quickly calculate a theoretical launch angle as the initial value for iteration.

[0044] Iterative calculation: Centered on the initial value of the iteration, a limited range of constraint search interval is set, and within this interval, the fourth-order Runge-Kutta method is used to perform step integration on the three-dimensional particle motion differential equation system at a preset time step, updating the velocity vector and position coordinates at each time step. That is, the velocity and displacement of the cable-launched projectile in the X, Y, and Z directions are gradually calculated at the preset time step until the calculated vertical height is less than or equal to zero, thereby obtaining the virtual landing point.

[0045] Error determination: Calculate the distance error between the virtual landing point and the target position. In specific implementation, a constraint search interval is set with the initial iteration value as the center. Within the search interval, the launch elevation angle and launch azimuth angle are changed, and the iterative calculation steps are repeated. Then, the distance errors obtained from each iteration are compared, and the launch elevation angle and launch azimuth angle corresponding to the minimum distance error are selected as the optimal launch elevation angle and optimal launch azimuth angle.

[0046] In a specific example, the calculation logic is as follows: Initial state decomposition.

[0047] First, the processor calculates the initial velocity component (v0) of the cable-launched projectile in the world coordinate system based on the preset initial velocity V0, the current launch elevation angle α, and the launch azimuth angle β. x ,v y ,v z ): At the same time, the mass m of the cable-launched projectile is calculated based on its gravity G, i.e., m = G / g, where g is the acceleration due to gravity (approximately). 9.81m / s 2 The initial position coordinates are set to (0,0,0).

[0048] Calculation of relative wind speed and drag.

[0049] Within each integration time step, since air resistance is related to the velocity of the cable-launched projectile relative to the air, it is necessary to calculate the magnitude vr of the relative velocity vector. Assume the ambient wind speed is V. w If the wind angle is θ, then the relative velocity is v. r The calculation formula is: in, and These are the relative velocity components of the cable-launching projectile relative to the wind in the X and Y axes of the horizontal plane, respectively.

[0050] The system of differential equations of motion is established based on aerodynamic principles, where the air resistance experienced by the cable-launched projectile during flight is proportional to the square of its velocity. The processor uses the following set of acceleration equations to describe the forces acting on the projectile along three axes: In the above formula: a x ,a y ,a z C represents the instantaneous accelerations in the X, Y, and Z axes, respectively; d ρ is the overall drag coefficient (which can be dynamically corrected according to changes in cable length); A is the windward cross-sectional area of ​​the cable-launching projectile; ρ is the air density.

[0051] The iterative solution and landing point determination processor uses the fourth-order Runge-Kutta algorithm to numerically integrate the above differential equation at a preset time step Δt, such as 0.01s. In each iteration, the velocity and position coordinates for the next moment are updated based on the current acceleration.

[0052] The above calculation steps are executed repeatedly, and the vertical position coordinate pos[2] (i.e., the height of the Z-axis) is continuously detected. When it is determined that pos[2] < 0, the iteration stops, and the coordinates (pos[0], pos[1]) at this time are the virtual landing point coordinates of the cable-throwing projectile.

[0053] S3. Visual interactive guidance.

[0054] After the calculation is completed, the processor 24 compares the calculated launch elevation angle and launch azimuth angle with the real-time elevation angle and real-time azimuth angle, generates a guidance feedback signal based on the angle deviation value generated by the comparison, and outputs it through the human-machine interaction module 25: Establish coordinate mapping: Decompose the angle deviation value into horizontal deviation components (which need to be adjusted to the left / right) and vertical deviation components (which need to be adjusted upwards / downwards).

[0055] Visual guidance: Based on the sign and magnitude of the horizontal deviation component, the processor 24 drives the horizontal indicator lights in the LED indicator array 252 included in the human-computer interaction module 25 to illuminate or change color in the corresponding direction. Simultaneously, based on the sign and magnitude of the vertical deviation component, it drives the vertical indicator lights in the LED indicator array 252 to illuminate or change color in the corresponding direction. For example: if the muzzle needs to be adjusted to the left, the horizontal indicator lights illuminate to the left or the left-side LED turns red; if the muzzle needs to be raised, the vertical indicator lights illuminate upwards or the upper LED turns red.

[0056] Dynamic feedback: As the operator adjusts their posture, the deviation component gradually decreases. Correspondingly, the processor 24 controls the number of LEDs that are lit to decrease step by step, for example, from 5 lights to 1 light, or controls the flashing frequency to decrease step by step, providing the operator with intuitive feedback on approaching the target.

[0057] S4. Launch Decision and Prompt.

[0058] The processor 24 continuously monitors the angle deviation value. When the deviation values ​​in both the horizontal and vertical directions are less than the preset launch window threshold, such as ±1.5 degrees, which can be adaptively adjusted according to the target distance, the system determines that the target has been locked. At this time, the processor 24 controls: the LED indicator array 252 to turn off completely or the central green light to light up, the tactile feedback unit 253 to vibrate, and the auditory feedback unit 254 to emit a "beep" sound.

[0059] The multimodal signal indicates to the operator that the current moment is the optimal time to launch, and that trigger 12 can be pulled to launch.

[0060] The automatic aiming and launching device provided in this application embodiment improves the mechanical transmission characteristics of the device and enhances operational safety and stability by utilizing a damping buffer structure connected in series between the power source interface and the shoulder stock to dissipate recoil energy at the moment of launch through fluid damping. Simultaneously, rangefinding, attitude, and wind field sensing modules are integrated into the launcher body to acquire environmental data in real time. The processor calculates the optimal ballistic parameters, including the aerodynamic characteristics of the cable, and outputs intuitive guidance feedback signals through a human-machine interface module on the outer shell surface. This allows the operator to quickly adjust the launcher's attitude based on feedback on unsteady platforms, improving the launching accuracy in complex sea conditions.

[0061] In the description of this application, it should be noted that the terms "vertical", "up", "down", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0062] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0063] Finally, it should be noted that the above descriptions are merely preferred embodiments of this application and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automatic aiming and throwing device, characterized in that, The system includes: a gun body providing structural support and firing power, comprising a barrel, a trigger for controlling firing, a gas cylinder interface component for connecting to the power source, and a shoulder stock; an aiming system located above the gun body, comprising a housing and a main control circuit board housed within the housing; the main control circuit board integrating a processor, and a ranging module, a micro inertial navigation system, a wind field sensing module, and a human-machine interface module electrically connected to the processor; and a buffer located between the gas cylinder interface component and the shoulder stock for connecting the firing section of the gun body to the shoulder stock. A rope canister, installed below the gun body, is used to store the rescue rope; a cable-throwing cartridge is slidably mounted inside the gun barrel, with the tail of the cartridge connected to one end of the rescue rope. The ranging module's sensing end is positioned along the axis of the gun barrel; the micro inertial navigation system is fixedly installed inside the housing or on the main control circuit board; the wind field sensing module's sensing part is connected to the external environment of the housing; and the human-machine interaction module is located on the surface of the housing and is used to output guidance feedback signals and present device status information.

2. The automatic aiming and throwing device according to claim 1, characterized in that, The human-computer interaction module includes: a display screen, embedded in the surface of the housing facing the operator, for displaying guidance feedback signals and device status information in character or graphic form; an LED indicator array, disposed around the display screen, the LED indicator array including horizontal indicator groups arranged in a horizontal direction and vertical indicator groups arranged in a vertical direction; a tactile feedback unit and / or an auditory feedback unit, housed inside the housing and electrically connected to the processor; wherein the processor is configured to control the lighting state of the LED indicator array and the action of the tactile feedback unit.

3. The automatic aiming and throwing device according to claim 1, characterized in that, The buffer is a hydraulic damping buffer structure, comprising: an inner tube, which is a hollow tubular structure with one end open, filled with damping fluid, and the inner wall of the inner tube is provided with a throttling structure; a piston rod, one end of which extends into the inner tube and cooperates with the damping fluid, and the other end is connected to the gas cylinder interface component; and a reset elastic element, which is sleeved on the piston rod or disposed in the inner tube; wherein, when the gun body recoils, the piston rod moves relative to the inner tube and squeezes the damping fluid through the throttling structure.

4. The automatic aiming and throwing device according to claim 1, characterized in that, The aiming system is fixed to the gun body by a quick-release mounting bracket; the quick-release mounting bracket includes a bracket base fixed to the barrel and a bracket boss fixed to the bottom of the outer shell, as well as a knob locking member; the bracket base is provided with a dovetail groove extending along the barrel axis, and the bracket boss slides in the dovetail groove; the knob locking member is used to lock the position of the bracket boss in the dovetail groove.

5. The automatic aiming and throwing device according to claim 1, characterized in that, The aiming system also includes a laser pointer electrically connected to the processor. The laser pointer is mounted on the front or side of the housing, and the projection optical axis of the laser pointer is parallel to the sensing direction of the ranging module.

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