Semi-closed acoustoelectric positioning target scoring system
阅读说明：本技术 半封闭式声电定位报靶系统 (Semi-closed acoustoelectric positioning target scoring system ) 是由 张劲松 朱英勋 于 2020-05-18 设计创作，主要内容包括：本发明公开了半封闭式声电定位报靶系统,由EVA靶面、塑料靶杆、激波传感器、传感器支架、温度传感器、半封闭激波罩、激波罩插槽、电源电气舱、靶机底座、通信电台、USB接口线和显示控制计算机组成；传感器支架上安装有水平布置的三个激波传感器和一个温度传感器,激波传感器的传感平面正对于靶面中心,且传感平面的中心位置在同一直线上；半封闭式激波罩由EVA材料粘接形成上部开口的半封闭罩,可阻挡弹道激波信号。本发明半封闭式声电报靶系统既具有开放式声电定位靶靶面耗材成本低的优点,又具备对手枪等低速弹丸进行精确报靶的能力,同时还具有整体重量轻,易更换靶面等优点,既可以用于精度射击训练,也可以用于应用射击训练。(The invention discloses a semi-closed acoustoelectric positioning target-reporting system, which consists of an EVA (ethylene vinyl acetate) target surface, a plastic target rod, a shock wave sensor, a sensor bracket, a temperature sensor, a semi-closed shock wave cover, a shock wave cover slot, a power supply electric cabin, a target drone base, a communication radio station, a USB (universal serial bus) interface line and a display control computer; three shock wave sensors and a temperature sensor which are horizontally arranged are arranged on the sensor bracket, the sensing plane of the shock wave sensor is right opposite to the center of the target surface, and the center positions of the sensing planes are on the same straight line; the semi-closed shock wave cover is formed by bonding EVA materials, and the semi-closed shock wave cover with an opening at the upper part can block ballistic shock wave signals. The semi-closed acousto-electric target scoring system has the advantages of low consumable material cost of the target surface of the open acousto-electric positioning target, the capability of accurately scoring low-speed pills such as pistols and the like, light overall weight, easiness in replacing the target surface and the like, and can be used for precision shooting training and application shooting training.)
1. The semi-closed acoustoelectric positioning target-scoring system is characterized by consisting of an EVA target surface, a plastic target rod, a shock wave sensor, a sensor bracket, a temperature sensor, a semi-closed shock wave cover, a shock wave cover slot, a power supply electric cabin, a target drone base, a communication radio station, a USB interface line and a display control computer; the target drone base is used for bearing a target rod, a target surface, a power supply electric cabin, a shock wave cover slot and a sensor bracket; the laser cover slot is used for supporting the sensor bracket, is inserted with the laser cover and is connected with the power supply electric cabin; the sensor support is fixed inside the shock wave cover slot, three shock wave sensors and a temperature sensor which are horizontally arranged are arranged on the support, the sensing plane of each shock wave sensor is right opposite to the center of the target surface, and the center positions of the sensing planes are on the same straight line; the semi-closed shock wave cover is formed by bonding EVA materials, has an opening at the upper part, is inserted into the shock wave cover slot and can block ballistic shock wave signals; the shock wave sensor and the temperature sensor are connected with the signal processor through cables; the signal processor collects the shot shock wave signal, calculates the shot landing coordinates through signal processing and positioning algorithms, transmits the coordinate information to the communication radio station through a wireless link by the communication module, and transmits the coordinate information to the display control computer through a USB interface line of the communication radio station; the display control computer runs display control software and can display, prompt by voice, store, count and print the impact point information.
2. The semi-enclosed acousto-electric positioning target-scoring system according to claim 1, characterized in that the target drone pedestal is welded by arc-drawing square steel, and the shock wave shield slot is formed by bending and welding stainless steel plates.
3. The semi-enclosed acousto-electric positioning target scoring system according to claim 1, characterized in that the electric power supply compartment is a sealed metal casing formed by bending and welding stainless steel plates.
4. The semi-enclosed acousto-electric locating target scoring system according to claim 1, characterized in that the semi-enclosed laser shield is located below the target surface, which is supported by a plastic target rod and can withstand penetration of bullets.
5. The semi-enclosed acousto-electric location target scoring system according to claim 1, characterized in that the semi-enclosed laser cover is made of EVA elastic material, and the bullet hole can be contracted after the bullet is hit.
Technical Field
The invention belongs to the technical field of automatic target scoring systems, and particularly relates to a semi-closed acoustoelectric positioning target scoring system.
Background
1) Background of the invention
The precision target scoring technology mainly comprises a laser receiving and transmitting array, an image recognition technology and an acoustoelectric positioning technology, wherein the laser receiving and transmitting array technology has high cost and higher requirements on the use environment, is generally used for shot characteristic detection of a professional target range and is not used for training; the image recognition technology is mainly used in indoor constant environment and cannot recognize repeated single holes; the acoustoelectric positioning technology has the advantages of strong environmental adaptability, high precision, recognizable heavy holes and the like, and is most applied to actual army training at present. The acoustoelectric positioning target scoring technology mainly comprises an open type and a closed type.
2) Open acoustoelectric positioning target-scoring technology
The open type acoustoelectric target scoring technology mainly utilizes the numerical relation between the time of shock waves generated when supersonic speed projectiles move and reaching a sound pressure sensor and the geometric distribution of the sensor to calculate the impact point position.
The geometrical distribution of the sensors having various forms, e.g. "T" type[1]Double triangle type[2](L) type[3]And the like, which is commonly used in China at present, is T-shaped. The principle is shown in figure 1:
m is a point on the trajectory line, N is a target surface impact point, B is a sensor placement point, MN is perpendicular to NB, and NB is d in length. When the bullet velocity V is greater than the local sound velocity C, there is a point a that produces the shortest time required for the sound wave to reach point B. Point a is called the shock burst point. Distance of burst point from target surface:
the structure of the "T" layout open type acoustoelectric positioning precision target is shown in figure 2:
the mathematical model is as follows:
the impact point location can be resolved from the model.
3) Closed acoustoelectric positioning target-reporting technology
The closed acoustoelectric positioning precision target structure is shown in figure 3. A closed acoustic cavity is sleeved on the three horizontal array sensors. The main function of the acoustic cavity is to isolate the shock waves excited by the projectile on the trajectory outside the target surface, so that only the shock waves emitted when the projectile enters the cavity can be received by the sensor.
The distribution of the three horizontally arrayed sensors is shown in fig. 4. S1，S2，S3The positions of three sensors are arranged, the distance between the sensors is L, P (x, y) is the position of an impact point, and T1，T2，T3The absolute times of arrival of the shock waves from point P at the three sensors, respectively. When Δ T1＝T2-T1，ΔT2＝T3-T2When determined, P points should coincide with S at the same time2，S2And with S2，S3The two ellipses are positioned at the intersection point of the two ellipses in the sealed cavity, namely the impact point position.
The open type acoustoelectric positioning high-precision target adopts a multi-sensor space positioning algorithm to simultaneously calculate the coordinate, the speed, the angle and other information of a shot point, and according to the formula (1), when the speed of a shot is lower, the distance between the shot point and the target surface is xminThe shock wave signal propagated from the burst point to the sensor is relatively weak, and the shock wave intensity is not high due to the low speed of the shot, so that the measurement error is large, and the automatic target reporting device is difficult to adapt to automatic gun shooting in practical application.
The cavity type high-precision acoustoelectric positioning target adopts an acoustic cavity to isolate external interference, and a 3-sensor plane positioning algorithm is suitable for projectiles with various calibers, but has the defects that the cavity is heavy, the material consumption cost is high, and when the cavity type high-precision acoustoelectric positioning target is used as a tilting precision target, the tilting moment requirement on a target drone is very high, so that the target surface of a product on the market is lower than the ground, and the standing shooting requirement cannot be met. Furthermore, the requirement for target surface replacement by shooting cannot be met.
Disclosure of Invention
The invention solves the problems of 1) high cost of consumable materials such as a target plate, 2) large lifting moment and large falling moment of the lifting and falling precision target, low height of a target surface from the ground and 3) small shot, low bullet speed and large target-scoring deviation of a pistol and a sport rifle in the existing precision target-scoring system.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: the semi-closed acoustoelectric positioning target-scoring system consists of an EVA target surface, a plastic target rod, a shock wave sensor, a sensor bracket, a temperature sensor, a semi-closed shock wave cover, a shock wave cover slot, a power supply electric cabin, a target machine base, a communication radio station, a USB interface line and a display control computer; the target drone base is used for bearing a target rod, a target surface, a power supply electric cabin, a shock wave cover slot and a sensor bracket; the laser cover slot is used for supporting the sensor bracket, is inserted with the laser cover and is connected with the power supply electric cabin; the sensor support is fixed inside the shock wave cover slot, three shock wave sensors and a temperature sensor which are horizontally arranged are arranged on the support, the sensing plane of each shock wave sensor is right opposite to the center of the target surface, and the center positions of the sensing planes are on the same straight line; the semi-closed shock wave cover is formed by bonding EVA materials, has an opening at the upper part, is inserted into the shock wave cover slot and can block ballistic shock wave signals; the shock wave sensor and the temperature sensor are connected with the signal processor through cables; the signal processor collects the shot shock wave signal, calculates the shot landing coordinates through signal processing and positioning algorithms, transmits the coordinate information to the communication radio station through a wireless link by the communication module, and transmits the coordinate information to the display control computer through a USB interface line of the communication radio station; the display control computer runs display control software and can display, prompt by voice, store, count and print the impact point information.
Preferably, the target drone base is formed by welding arc-drawing square steel, and the shock wave cover slot is formed by bending and welding stainless steel iron plates.
Preferably, the electric power supply cabin is a sealed metal shell formed by bending and welding stainless steel plates.
Preferably, the semi-closed shock wave cover is positioned below the target surface, and the target surface is supported by a plastic target rod and can bear penetration of bullets.
Preferably, the semi-closed laser cover is made of elastic materials such as EVA and the like, and the bullet hole can be contracted after the bullet is hit.
The semi-closed acousto-electric target scoring system has the advantages of low consumable material cost of the target surface of the open acousto-electric positioning target, the capability of accurately scoring low-speed pills such as pistols and the like, light overall weight, easiness in replacing the target surface and the like, and can be used for precision shooting training and application shooting training.
Drawings
Fig. 1 is a diagram of a ballistic model of an open acoustic-electric target-reporting technique.
FIG. 2 is a structural diagram of a "T" layout high precision acousto-electric positioning precision target.
FIG. 3 is a block diagram of an enclosed electro-acoustic positioning accuracy target.
FIG. 4 is a sensor layout of a sealed acoustic-electric positioning accuracy target.
Fig. 5 is a schematic structural diagram of a semi-closed acoustoelectric positioning target scoring system.
Fig. 6 is a component diagram of a semi-enclosed acousto-electric localization target scoring system.
Figure 7 is a diagram of a ballistic model of the invention.
Figure 8 is a diagram of an increase laser mask blocking a burst point shock signal.
Fig. 9 is a schematic diagram of the target-scoring of the semi-enclosed acousto-electric target-scoring system.
Fig. 10 is a system work flow diagram.
In the figure: 11-EVA target surface, 12-shock wave sensor, 13-temperature sensor, 14-shock wave cover slot, 15-target machine base, 16-power supply electric cabin, 17-sensor support, 18-semi-closed shock wave cover and 19-plastic target rod.
Detailed Description
First, system composition and structural function
As shown in figure 5, the semi-closed acoustoelectric positioning target scoring system is mainly used for shooting training of direct aiming light arms in indoor and outdoor shooting ranges and is suitable for various firearms such as pistols, automatic rifles, sniper rifles, light guns and the like with the bullet diameter of less than or equal to 12.7mm and the bullet speed of less than or equal to 1000 m/s.
The system consists of an EVA target surface, a plastic target rod, a shock wave sensor, a sensor bracket, a temperature sensor, a semi-closed shock wave cover, a shock wave cover slot, a power supply electric cabin (containing a signal processor, a communication module and a lithium polymer battery), a target machine base, a communication radio station, a USB interface line and a display control computer. The target drone base is formed by welding arc-drawing square steel and is used for bearing a target rod, a target surface, a power supply electric cabin, a shock wave cover slot and a sensor bracket. The shock wave cover slot is formed by bending and welding a stainless steel iron plate and is used for supporting the sensor bracket, inserting the shock wave cover and connecting the power supply electric cabin. The sensor support is fixed inside the shock wave cover slot, three shock wave sensors and a temperature sensor which are horizontally arranged are arranged on the support, the sensing plane of each shock wave sensor is right opposite to the center of the target surface, and the center positions of the sensing planes are on the same straight line. The semi-closed shock wave cover is formed by bonding EVA materials, has an upper opening, is inserted into the shock wave cover slot and can block ballistic shock wave signals. The electric power supply cabin is a sealed metal shell formed by bending and welding stainless steel plates, the lower part of a shock wave cover slot is installed through screws, a signal processor, a communication module and a lithium polymer battery are installed in the electric power supply cabin, and a shock wave sensor and a temperature sensor are connected with the signal processor through cables. The signal processor collects the shot shock wave signal, calculates the shot landing coordinates through signal processing and positioning algorithms, transmits the coordinate information to the communication radio station through a wireless link by the communication module, and transmits the coordinate information to the display control computer through a USB interface line of the communication radio station. The display control computer runs display control software and can display, prompt by voice, store, count and print the impact point information.
Second, description of target-reporting principle
The supersonic projectile on the ballistic line continuously impacts and compresses air to generate shock waves in the advancing process, and a point sound source moving at supersonic speed is formed. In fig. 7, N is a target surface impact point, a trajectory line MN is perpendicular to the target surface, B is a sensor placement point, and is located right below the target surface and in the same plane as the target surface, and a distance d from the target surface impact point N. According to the ballistic model, there is a point a on the ballistic line, so that the shock wave emitted by point a reaches the sensor first. A is called the burst point of the projectile, and the minimum value of the point A reaching the target surface is as follows:
in the above formula, the slower the bullet velocity V is, xminThe larger the AB distance is, so that the attenuation of the shock wave signal reaching the point B from the point A is increased, the quality of the signal received by the sensor is reduced, and the target scoring accuracy is influenced.
In order to increase the signal receiving intensity of the shock wave sensor, the sensor is covered by a semi-closed cover, so that shock waves except the part right above the target surface on the ballistic line are blocked from being transmitted into the sensor, as shown in fig. 8.
According to the principle, a semi-open type acoustoelectric positioning precision target scoring system is designed, as shown in fig. 9, a sensor support is covered by a shock wave cover with an opening on the upper surface, and the sensor only receives shock wave signals from the position right above the sensor. Suppose a sensor S1、S2、S3Arranged horizontally in a line with S2Is taken as the origin point of the image,
(x+L)2+y2＝(T1C)2＝[T2C+(T1-T2)C]2＝(T2C+ΔT1C)2(1)
x2+y2＝(T2C)2(2)
(x-L)2+y2＝(T3C)2＝[T2C+(T3-T2)C]2＝(T2C+ΔT2C)2(3)
Wherein Δ T1＝T1-T2，ΔT2＝T3-T2And can be measured by a sensor. The local sound velocity C is calculated from an empirical formula according to the temperature value. Three equations, x, y, T, of the formulae (1), (2) and (3)2Three quantities are unknowns, from which the values of the P-point coordinates x, y can be calculated.
Third, target reporting workflow
After receiving shock wave signals, the three shock wave sensors respectively enter a first-stage amplifier for amplification, enter a second-stage amplifier for amplification after being filtered by a filter, and then enter a comparator to form digital pulse signals which are collected by an FPGA signal processor. And timing the digital pulse signals output by the three comparators in the FPGA signal processor to obtain delta T1 and delta T2. The signal processor transmits delta T1 and delta T2 to the controller by using a serial interface, the controller performs calculation by combining the acquired numerical value of the temperature sensor to obtain coordinate values x and y, the coordinate values x and y are wirelessly transmitted to a main control end communication radio station through a communication module, and the impact point information is stored, counted, displayed, printed, reported by voice and the like through display control software of a main control computer.
Semi-enclosed sound and electricity newspaper target system has open sound and electricity location target surface consumptive material advantage with low costs promptly, possesses the ability of carrying out accurate newspaper target to low-speed shots such as pistol again, still has whole light in weight simultaneously, easily changes advantages such as target surface, can be used for precision shooting training, also can be used to the application shooting training.
The target scoring device can be arranged on movement mechanisms such as lifting, rotating, lifting, rail cars, self-seeking cars and the like, and all target scoring systems arranged on the device belong to the protection range.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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