阅读说明：本技术 测速方法、测速装置、玩具枪、可移动机器人及控制系统 (Speed measuring method, speed measuring device, toy gun, movable robot and control system ) 是由 陶冶 李卓泉 宋强 于 2018-10-26 设计创作，主要内容包括：一种子弹的测速方法、测速装置(40)、玩具枪(20)、可移动机器人(100)和控制系统(1000)。子弹的测速方法用于玩具枪(20),玩具枪(20)包括枪管(30)及间隔设置在枪管(30)上的至少两个收发管(45),测速方法包括：获取任意两个收发管(45)之间的预设距离(S10)；获取子弹经过该任意两个收发管(45)的时间间隔(S20)；及根据预设距离与时间间隔计算子弹的速度(S20)。(A bullet speed measuring method, a speed measuring device (40), a toy gun (20), a movable robot (100) and a control system (1000) are provided. The bullet speed measuring method is used for a toy gun (20), the toy gun (20) comprises a gun barrel (30) and at least two transceiver tubes (45) arranged on the gun barrel (30) at intervals, and the bullet speed measuring method comprises the following steps: acquiring a preset distance (S10) between any two transmitting and receiving pipes (45); acquiring the time interval of the bullet passing through any two receiving and dispatching pipes (45) (S20); and calculating the velocity of the bullet according to the preset distance and the time interval (S20).)

1. A bullet velocity measurement method is used for a toy gun, the toy gun comprises a gun barrel and at least two receiving and transmitting tubes arranged on the gun barrel at intervals, and the bullet velocity measurement method comprises the following steps:

acquiring a preset distance between any two receiving and transmitting tubes;

acquiring the time interval of the bullet passing through any two receiving and dispatching pipes; and

and calculating the speed of the bullet according to the preset distance and the time interval.

2. The method according to claim 1, wherein said at least two transceiver tubes comprise a first transceiver tube and a second transceiver tube;

the acquiring of the preset distance between any two of the transceiver tubes comprises:

acquiring the distance between the first transceiver tube and the second transceiver tube to obtain the preset distance;

the obtaining of the time interval of the bullet passing through any two of the transceiver tubes includes:

acquiring a first moment when the bullet passes through the first receiving and dispatching pipe;

acquiring a second moment when the bullet passes through the second receiving and dispatching pipe; and

and obtaining the time interval according to the first time and the second time.

3. The method according to claim 1, wherein said at least two transceiver tubes comprise a first transceiver tube, a second transceiver tube and a third transceiver tube;

the acquiring of the preset distance between any two of the transceiver tubes comprises:

acquiring the distance between the first transceiver tube and the second transceiver tube and the distance between the second transceiver tube and the third transceiver tube to respectively obtain a first preset distance and a second preset distance, wherein the preset distances comprise the first preset distance and the second preset distance;

the obtaining of the time interval of the bullet passing through any two of the transceiver tubes includes:

acquiring the time when the bullet passes through the first receiving and sending pipe, the second receiving and sending pipe and the third receiving and sending pipe to respectively obtain a first time, a second time and a third time; and

respectively obtaining a first time interval and a second time interval according to the first time and the second time, and the second time and the third time, wherein the time intervals comprise the first time interval and the second time interval;

the calculating the velocity of the bullet according to the preset distance and the time interval comprises:

respectively calculating a first speed and a second speed according to the first preset distance and the first time interval and the second preset distance and the second time interval; and

calculating an average speed of the first speed and the second speed to obtain the speed.

4. The method according to claim 1, wherein said at least two transceiver tubes comprise a first transceiver tube, a second transceiver tube and a third transceiver tube;

the acquiring of the preset distance between any two of the transceiver tubes comprises:

acquiring a distance between the first transceiver tube and the second transceiver tube, a distance between the second transceiver tube and the third transceiver tube, and a distance between the first transceiver tube and the third transceiver tube to respectively obtain a first preset distance, a second preset distance and a third preset distance, wherein the preset distances include the first preset distance, the second preset distance and the third preset distance;

the obtaining of the time interval of the bullet passing through any two of the transceiver tubes includes:

acquiring the time when the bullet passes through the first receiving and sending pipe, the second receiving and sending pipe and the third receiving and sending pipe to respectively obtain a first time, a second time and a third time; and

obtaining a first time interval, a second time interval and a third time interval according to the first time and the second time, the second time and the third time, and the first time and the third time, respectively, wherein the time intervals comprise the first time interval, the second time interval and the third time interval;

the calculating the velocity of the bullet according to the preset distance and the time interval comprises:

respectively calculating a first speed, a second speed and a third speed according to the first preset distance and the first time interval, the second preset distance and the second time interval, and the third preset distance and the third time interval; and

calculating an average speed of the first speed, the second speed, and the third speed to obtain the speed.

5. The bullet speed measuring device is characterized by being used for a toy gun, wherein the toy gun comprises a gun barrel; the speed measuring device comprises a circuit board assembly and at least two transmitting and receiving tubes, and the at least two transmitting and receiving tubes are arranged on the gun barrel at intervals and are electrically connected with the circuit board assembly;

the circuit board assembly is used for acquiring a preset distance between any two receiving and dispatching pipes, acquiring a time interval of the bullet passing through any two receiving and dispatching pipes, and calculating the speed of the bullet according to the preset distance and the time interval.

6. The device according to claim 5, wherein said at least two transceiver tubes comprise a first transceiver tube and a second transceiver tube;

the circuit board assembly is used for:

acquiring the distance between the first transceiver tube and the second transceiver tube to obtain the preset distance;

acquiring a first moment when the bullet passes through the first receiving and dispatching pipe;

acquiring a second moment when the bullet passes through the second receiving and dispatching pipe; and

and obtaining the time interval according to the first time and the second time.

7. The device according to claim 5, wherein said at least two transceiver tubes comprise a first transceiver tube, a second transceiver tube and a third transceiver tube;

the circuit board assembly is used for:

acquiring the distance between the first transceiver tube and the second transceiver tube and the distance between the second transceiver tube and the third transceiver tube to respectively obtain a first preset distance and a second preset distance, wherein the preset distances comprise the first preset distance and the second preset distance;

acquiring the time when the bullet passes through the first receiving and sending pipe, the second receiving and sending pipe and the third receiving and sending pipe to respectively obtain a first time, a second time and a third time; and

respectively obtaining a first time interval and a second time interval according to the first time and the second time, and the second time and the third time, wherein the time intervals comprise the first time interval and the second time interval;

respectively calculating a first speed and a second speed according to the first preset distance and the first time interval and the second preset distance and the second time interval; and

calculating an average speed of the first speed and the second speed to obtain the speed.

8. A device according to claim 5 wherein said at least two transceiver tubes comprise a first transceiver tube, a second transceiver tube and a third transceiver tube;

the circuit board assembly is used for:

acquiring a distance between the first transceiver tube and the second transceiver tube, a distance between the second transceiver tube and the third transceiver tube, and a distance between the first transceiver tube and the third transceiver tube to respectively obtain a first preset distance, a second preset distance and a third preset distance, wherein the preset distances include the first preset distance, the second preset distance and the third preset distance;

acquiring the time when the bullet passes through the first receiving and sending pipe, the second receiving and sending pipe and the third receiving and sending pipe to respectively obtain a first time, a second time and a third time;

obtaining a first time interval, a second time interval and a third time interval according to the first time and the second time, the second time and the third time, and the first time and the third time, respectively, wherein the time intervals comprise the first time interval, the second time interval and the third time interval;

respectively calculating a first speed, a second speed and a third speed according to the first preset distance and the first time interval, the second preset distance and the second time interval, and the third preset distance and the third time interval; and

calculating an average speed of the first speed, the second speed, and the third speed to obtain the speed.

9. A velocimeter according to claim 5, wherein the barrel comprises a tube body and a plurality of first and second locating projections provided on an outer peripheral surface of the tube body, the first and second locating projections being provided on opposite sides of the tube body; the circuit board assembly comprises a transmitting circuit board and a receiving circuit board, the transmitting circuit board is provided with a plurality of first positioning holes, the transmitting circuit board is arranged on the barrel and enables the first positioning bulges to penetrate through the corresponding first positioning holes respectively, the receiving circuit board is provided with a plurality of second positioning holes, the receiving circuit board is arranged on the barrel and enables the second positioning bulges to penetrate through the corresponding second positioning holes respectively, and the transmitting circuit board and the receiving circuit board are arranged oppositely.

10. A tachometer according to claim 9 wherein the first locating boss comprises a first locating post and a first locating boss, the first locating boss extends from the tube body, the first boss comprises a first end surface at an end remote from the tube body, the first locating post extends from the first end surface, and a surface of the transmitting circuit board is attached to the first end surface; the second positioning protrusion comprises a second positioning boss and a second positioning column, the second boss extends from the pipe body, the second boss comprises a second end face located far away from one end of the pipe body, the second positioning column extends from the second end face, and one surface of the receiving circuit board is attached to the second end face.

11. A device according to claim 10 wherein said first and second end surfaces are both planar and parallel.

12. A tachometer device according to claim 9 wherein the circuit board assembly further comprises a flexible circuit board, the flexible circuit board connecting the transmitting circuit board and the receiving circuit board.

13. A velocimeter according to claim 9, wherein the transceiver tube comprises a transmitting tube and a receiving tube, the transmitting tube is disposed on the transmitting circuit board, and the receiving tube is disposed on the receiving circuit board and opposite to the transmitting tube.

14. A device according to claim 13, wherein the barrel further includes a plurality of first mounting seats and a plurality of second mounting seats disposed on the outer peripheral surface of the tube body, the plurality of first mounting seats and the plurality of second mounting seats are disposed on opposite sides of the tube body, respectively, the first mounting seat defines a first mounting hole, the second mounting seat defines a second mounting hole, the first mounting hole is opposite to the second mounting hole, the transmitting tube is disposed in the first mounting hole, and the receiving tube is disposed in the second mounting hole.

15. A tachometer device according to claim 14 wherein the first mounting block comprises a first bearing surface at an end remote from the tube body and the second mounting block comprises a second bearing surface at an end remote from the tube body, the transmitting circuit board being provided on the first bearing surface and the receiving circuit board being provided on the second bearing surface.

16. The device according to claim 5, wherein said receiving/transmitting tube comprises a transmitting tube and a receiving tube, said circuit board assembly comprises a detection circuit, said detection circuit comprises a single chip, said transmitting tube and said receiving tube are connected to said detection circuit, said transmitting tube is capable of transmitting laser to said receiving tube, the resistance value of said receiving tube changes when receiving said laser, said single chip is capable of determining the time when said bullet passes through said receiving/transmitting tube according to the time when said resistance value changes.

17. The apparatus according to claim 16, wherein the single chip microcomputer comprises a plurality of input pins, the detection circuit comprises a plurality of detection sub-circuits, each detection sub-circuit is connected to one of the receiving tubes and one of the input pins, when the resistance value of the receiving tube changes, an electrical signal in the detection sub-circuit changes, and the single chip microcomputer can determine the time when the bullet passes through the receiving tube according to the time when the electrical signal changes.

18. A toy gun, characterized in that the toy gun comprises:

a gun body;

the gun barrel is arranged on the gun body; and

a device as claimed in any one of claims 5 to 17, wherein the device is provided on the barrel.

19. A mobile robot, characterized in that the mobile robot comprises:

a body; and

the toy gun of claim 18, said toy gun being disposed on said body.

20. A control system, comprising:

a display screen; and

the mobile robot of claim 19, said display screen being connected to said speed measuring device, said display screen being adapted to display the speed of said bullet.

Technical Field

The application relates to the technical field of robots, in particular to a speed measuring method, a speed measuring device, a toy gun, a movable robot and a control system.

Background

The bullet to the toy gun is measured, all uses an independent testing arrangement to carry out the speed test to the bullet among the current test equipment, does not have the device that can the lug connection barrel carries out the speed test to launching the bullet, and prior art's testing arrangement is not accurate enough to testing the speed of bullet, has great deviation with the bullet firing condition in the actual operation. The existing testing equipment cannot meet the requirement of real-time speed measurement of a user, and the inaccurate testing result can also generate great adverse effect on the user in games or competitions.

Disclosure of Invention

In view of this, embodiments of the present application provide a speed measurement method, a speed measurement device, a toy gun, a mobile robot, and a control system.

The speed measuring method of the bullet is used for the toy gun, the toy gun comprises a gun barrel and at least two receiving and transmitting tubes arranged on the gun barrel at intervals, and the speed measuring method comprises the following steps:

acquiring a preset distance between any two receiving and transmitting tubes;

acquiring the time interval of the bullet passing through any two receiving and dispatching pipes; and

and calculating the speed of the bullet according to the preset distance and the time interval.

The bullet speed measuring device is used for a toy gun, and the toy gun comprises a gun barrel; the speed measuring device comprises a circuit board assembly and at least two transmitting and receiving tubes, and the at least two transmitting and receiving tubes are arranged on the gun barrel at intervals and are electrically connected with the circuit board assembly;

the circuit board assembly is used for acquiring a preset distance between any two receiving and dispatching pipes, acquiring a time interval of the bullet passing through any two receiving and dispatching pipes, and calculating the speed of the bullet according to the preset distance and the time interval.

The toy gun of this application embodiment includes the rifle body, barrel and speed sensor, the barrel sets up on the rifle body, speed sensor sets up on the barrel.

The mobile robot of this application embodiment includes the fuselage reaches the toy gun, the toy gun sets up on the fuselage.

The control system of this application embodiment includes the display screen and mobile robot, the display screen with speed sensor connects, the display screen is used for showing the speed of bullet.

In the bullet speed measuring method, the speed measuring device, the toy gun, the movable robot and the control system of the bullet, when the bullet passes through the receiving and dispatching tube, the receiving and dispatching tube can accurately detect the time that the bullet passes through the receiving and dispatching tube, and the distance between the receiving and dispatching tubes can be conveniently and accurately measured, so that the speed of the bullet can be accurately measured in real time through the distance between the receiving and dispatching tubes and the time that the bullet passes through the corresponding receiving and dispatching tubes, a user can better pre-judge the flight track and the range of the bullet according to the speed of the bullet, and the control of the user in a game or a competition process can be improved.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a perspective schematic view of a mobile robot of an embodiment of the present application;

FIG. 2 is a partial perspective view of a toy gun of an embodiment of the present application;

FIG. 3 is another perspective view of a portion of a toy gun of an embodiment of the present application;

FIG. 4 is a schematic cross-sectional view of the toy gun of FIG. 3 taken along line IV-IV;

FIG. 5 is a cross-sectional schematic view of another embodiment of the toy gun of the present application;

fig. 6 is a schematic diagram of a detection circuit of the velocity measurement device according to the embodiment of the present application;

fig. 7 is a schematic flow chart of a velocity measurement method according to an embodiment of the present application;

FIG. 8 is a cross-sectional schematic view of another embodiment of the toy gun of the present application;

fig. 9 is a schematic flow chart of a velocity measurement method according to another embodiment of the present application;

FIG. 10 is a cross-sectional schematic view of another embodiment of the toy gun of the present application;

fig. 11 is a schematic flow chart of a velocity measurement method according to another embodiment of the present application;

fig. 12 is a schematic flow chart of a velocity measurement method according to still another embodiment of the present application;

fig. 13 is a schematic diagram of a simulation calculation of a velocity measurement method according to an embodiment of the present application; and

fig. 14 is an application scenario diagram of a control system according to an embodiment of the present application.

Detailed Description

Embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout.

In the description of the present application, it is to be understood that the terms "center," "upper," "lower," "bottom," "inner," "outer," etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "plurality" means two or more in number unless specifically limited otherwise.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Referring to fig. 1, a mobile robot 100 according to an embodiment of the present disclosure includes a body 10 and a toy gun 20. A toy gun 20 is disposed on the body 10. Referring to fig. 2, the toy gun 20 includes a gun body (not shown), a gun barrel 30 and a speed measuring device 40. The gun barrel 30 is arranged on the gun body, and the speed measuring device 40 is arranged on the gun barrel 30.

Specifically, referring to fig. 3-4, barrel 30 includes a tubular body 35, a first positioning protrusion 31, a second positioning protrusion 32, a first mounting seat 33, and a second mounting seat 34. The number of the first positioning protrusions 31, the second positioning protrusions 32, the first mounting seats 33, and the second mounting seats 34 is plural and all set on the outer peripheral surface of the pipe body 35.

Referring to fig. 4, the first positioning protrusion 31 includes a first positioning boss 310 and a first positioning post 311. The first positioning boss 310 extends from the outer circumferential surface of the tube body 35 toward the center away from the tube body 35. The first positioning boss 310 includes a first end surface 312 at an end away from the tube 35, and the first end surface 312 is a flat surface. The first positioning post 311 extends from the first end surface 312 toward a side away from the tube 35. The radial dimension of the first positioning column 311 is smaller than the width dimension and the length dimension of the first positioning boss 310, and the height of the first positioning column 311 is higher than the height of the first positioning boss 310. In this embodiment, the number of the first positioning protrusions 31 is three, the three first positioning protrusions 31 are arranged at intervals and along the axial direction of the tube 35, and the first end surfaces 312 of the three first positioning protrusions 31 are located in the same plane.

The second positioning protrusion 32 and the first positioning protrusion 31 are respectively disposed on two opposite sides of the tube 35. The second positioning protrusion 32 includes a second positioning boss 320 and a second positioning post 321. The second boss extends from the outer peripheral surface of the tube 35 toward the center away from the tube 35. The second positioning boss 320 includes a second end surface 322 at an end away from the tube 35, and the second end surface 322 is a plane and parallel to the first end surface 312. The second positioning post 321 extends from the second end 322 to a side away from the tube 35. The radial dimension of the second positioning post 321 is smaller than the width dimension and the length dimension of the second positioning boss 320, and the height of the second positioning post 321 is higher than the height of the second positioning boss 320. In this embodiment, the number of the second positioning protrusions 32 is three, three second positioning protrusions 32 are arranged at intervals and are arranged along the axial direction of the pipe body 35, each second positioning protrusion 32 is opposite to a corresponding first positioning protrusion 31, and the second end surfaces 322 of the three second positioning protrusions 32 are located in the same plane. It is understood that, in other embodiments, the number of the first positioning protrusions 31 and the number of the second positioning protrusions 32 may be 2, 4, 5, etc., or may be different, for example, the number of the first positioning protrusions 31 is 4, and the number of the second positioning strips 32 is two, which is not limited herein.

Referring to fig. 4, the first mounting seat 33 is disposed on the outer circumferential surface of the tube 35. The first mounting seat 33 is spaced apart from the first positioning protrusion 31. The first mounting seat 33 includes a first supporting surface 330 far from one end of the tube 35, and the first supporting surface 330 is a plane and flush with the first end surface 312. The first supporting surface 330 is provided with a first mounting hole 331, and the first mounting hole 331 is a blind hole. In the present embodiment, the number of the first mounting seats 33 is two, two first mounting seats 33 are arranged at intervals, and three first positioning protrusions 31 are arranged between two first mounting seats 33.

The second mount 34 is provided on the outer peripheral surface of the pipe body 35. The second mounting seat 34 and the first mounting seat 33 are respectively disposed on two opposite sides of the tube 35. In the present embodiment, the number of the second mounting seats 34 is two, each of the second mounting seats 34 is opposed to a corresponding one of the first mounting seats 33, and the second positioning projections 32 are each provided between the two second mounting seats 34. The second mounting seat 34 includes a second supporting surface 340 at an end away from the tube 35, and the second supporting surface 340 is flat and flush with the second end surface 322. The second supporting surface 340 is provided with second mounting holes 341, each second mounting hole 341 is opposite to the corresponding first mounting hole 331, and the second mounting holes 341 are blind holes. It is understood that in other embodiments, the number of the first and second mounting seats 33 and 34 is 3, 4, 5 or more.

Referring to fig. 2 and 4, the speed measuring device 40 includes a circuit board assembly 41 and a transceiver tube 45. The circuit board assembly 41 includes a transmitting circuit board 42, a receiving circuit board 43, and a flexible circuit board 44. The transmitting circuit board 42 is disposed opposite to the receiving circuit board 43, and the flexible circuit board 44 connects the transmitting circuit board 42 and the receiving circuit board 43.

The transmitting circuit board 42 is provided with a plurality of first positioning holes 420, and each first positioning hole 420 corresponds to one first positioning protrusion 31. The transmitting circuit board 42 is disposed on the barrel 30 such that the first positioning protrusions 31 are respectively inserted into the corresponding first positioning holes 420, and a surface of the transmitting circuit board 42 is attached to the first end surface 312 and the first supporting surface 330.

The receiving circuit board 43 is provided with a plurality of second positioning holes 430, and each second positioning hole 430 corresponds to one second positioning protrusion 32. Receiving circuit board 43 is disposed on barrel 30 such that the second positioning protrusions 32 are respectively inserted into the corresponding second positioning holes 430. One surface of the receiving circuit board 43 is attached to the second end surface 322 and the second supporting surface 340.

The number of the transceiver tubes 45 is at least two, and in the present embodiment, the number of the transceiver tubes 45 is two. The transceiver tube 45 includes a transmitting tube 46 and a receiving tube 47. The transmitting tube 46 and the receiving tube 47 may be transistors. The transmitting tubes 46 are disposed on the transmitting circuit board 42, and each transmitting tube 46 is opposed to one of the first mounting holes 331. The receiving tubes 47 are provided on the receiving circuit board 43, and each receiving tube 47 is opposed to one second mounting hole 341. The transmitting tube 46 is capable of transmitting laser light to the receiving tube 47, and the receiving tube 47 is capable of receiving the laser light transmitted from the transmitting tube 46. The resistance value of the receiving tube 47 changes when receiving the laser light, that is, the resistance value of the receiving tube 47 when receiving the laser light is different from the resistance value when not receiving the laser light. In other embodiments, the number of the transceiver tubes 45 may be three or more, and as shown in fig. 5, the number of the transceiver tubes 45 is three.

Referring to fig. 6, the circuit board assembly 41 further includes a detection circuit, and the transmitting tube 46 and the receiving tube 47 are connected to the detection circuit. Wherein, C1, C2, C3, C4 and C5 are power filter capacitors, and R3 is a feedback resistor. The detection circuit includes a single chip microcomputer 48. The single-chip microcomputer 48 includes a plurality of input pins including IN1 and IN 2. The detection circuit comprises a plurality of detection sub-circuits, each detection sub-circuit comprises an output end, each detection sub-circuit is connected with one receiving tube 47 and is connected with one input pin through one output end, and the output ends comprise OUT1 and OUT 2.

When the circuit board assembly 41 is IN operation, the transmitting tube 46 continuously transmits infrared signals to the receiving tube 47, and when the receiving tube 47 continuously receives the infrared signals transmitted by the transmitting tube 46, the receiving tube 47 is always IN a conducting state and outputs a low level, for example, both OUT1 and OUT2 output 0V, and the single chip microcomputer 48 detects that the voltages acquired through IN1 and IN2 are both low levels.

When the bullet passes through the transmitting and receiving tube 45, the infrared signal emitted from the transmitting tube 46 is shielded by the bullet, so that the infrared signal is not received by the receiving tube 47. When the receiving tube 47 does not receive the infrared signal, the resistance value of the receiving tube 47 changes (becomes large), and at this time, the receiving tube 47 is in a non-conducting state, and the output voltage of the output terminal of the detection sub-circuit is high, for example, the voltage of the outputs of OUT1 and OUT2 changes from 0V to 5V. The electric signal (voltage value) of the detection sub-circuit changes, and the single chip microcomputer 48 can determine the time when the bullet passes through the transceiver tubes 45 (or the receiver tubes 47) according to the time when the electric signals of the transceiver tubes 45 (or the receiver tubes 47) change. So, among this application embodiment movable robot, toy gun and speed sensor, when the bullet passed through receiving and dispatching pipe 45, receiving and dispatching pipe 45 can accurately detect the time that the bullet passed through receiving and dispatching pipe 45, and the distance between receiving and dispatching pipe 45 can be convenient, accurately measure and obtain, thereby can be in real time through the distance between receiving and dispatching pipe 45 and the time that the bullet passed through corresponding receiving and dispatching pipe 45, accurately measure the speed that obtains the bullet, the user can predict the flight path and the range of bullet better according to the speed of bullet, thereby can improve the control of user in recreation or match in-process.

Referring to fig. 7, an embodiment of the present application provides a method for measuring a velocity of a bullet. The bullet velocity measuring method is used for a toy gun 20 (see fig. 2), and the toy gun 20 comprises a gun barrel 30 and at least two transceiver tubes 45 (see fig. 4) arranged on the gun barrel 30 at intervals. The speed measurement method comprises the following steps:

s10: acquiring a preset distance between any two transceiver tubes 45;

s20: acquiring the time interval of the bullet passing through any two receiving and dispatching pipes 45; and

s30: and calculating the speed of the bullet according to the preset distance and the time interval.

Referring to fig. 4, the present application provides a velocity measuring device 40 for a bullet. The bullet speed measuring device 40 is used for the toy gun 20, the speed measuring device 40 includes a circuit board assembly 41 (see fig. 2) and at least two transceiver tubes 45, the at least two transceiver tubes 45 are arranged on the gun barrel 30 at intervals and are electrically connected with the circuit board assembly 41; the circuit board assembly 41 is used for acquiring a preset distance between any two of the receiving and dispatching pipes 45, acquiring a time interval of the bullet passing through any two of the receiving and dispatching pipes 45, and calculating the speed of the bullet according to the preset distance and the time interval.

Specifically, when the number of the transceiver tubes 45 is two, as shown in fig. 4, the velocity measuring method calculates the velocity of the bullet according to the preset distance between the two transceiver tubes 45 and the time interval between the passage of the bullet through the two transceiver tubes 45. When the number of the transceiver tubes 45 is three, as shown in fig. 5, the speed measuring method may calculate the bullet speed according to the preset distance between any two adjacent transceiver tubes 45 and the time interval when the bullet passes through the two adjacent transceiver tubes 45, or calculate the bullet speed according to the preset distance between the first and last transceiver tubes 45 and the time interval when the bullet passes through the two transceiver tubes 45.

In the speed measuring method of the bullet of the embodiment of the application, when the bullet passes through the receiving and dispatching tube 45, the receiving and dispatching tube 45 can accurately detect the time when the bullet passes through the receiving and dispatching tube 45, and the distance between the receiving and dispatching tube 45 can be conveniently and accurately measured, so that the speed of the bullet can be accurately measured in real time through the distance between the receiving and dispatching tube 45 and the time when the bullet passes through the corresponding receiving and dispatching tube 45, and a user can better pre-judge the flight track and the range of the bullet according to the speed of the bullet, thereby improving the control of the user in the game or competition process.

Referring to fig. 8 to 9, in some embodiments, the at least two transceiving pipes 45 include a first transceiving pipe 451 and a second transceiving pipe 452.

S10: obtain the preset distance between any two transceiver tubes 45, including:

s110: the distance between the first transceiving pipe 451 and the second transceiving pipe 452 is acquired to obtain a preset distance.

S20: acquiring the time interval of the bullet passing through any two transceiver tubes 45 includes:

s210: acquiring a first moment when the bullet passes through the first transceiving pipe 451;

s211: acquiring a second moment when the bullet passes through the second transceiving pipe 452; and

s212: and obtaining a time interval according to the first time and the second time.

Referring to fig. 10, in some embodiments, the at least two transceiving pipes 45 include a first transceiving pipe 451 and a second transceiving pipe 452. The circuit board assembly 41 is configured to obtain a distance between the first transceiving pipe 451 and the second transceiving pipe 452 to obtain a preset distance, obtain a first time when the bullet passes through the first transceiving pipe 451, obtain a second time when the bullet passes through the second transceiving pipe 452, and obtain a time interval according to the first time and the second time.

Specifically, the speed measurement method comprises the following steps: the circuit board assembly 41 obtains the preset distance S between the first transceiving pipe 451 and the second transceiving pipe 452₁Wherein the preset distance S₁Can be prestored in the singlechip 48; the first moment t when the circuit board assembly 41 acquires the bullet passing through the first transceiving pipe 451 is₁If the signal of the first transceiver tube 451 changes and is detected by the singlechip 48 during the operation of the first transceiver tube 451 (during the continuous laser emission from the emission tube 46 to the receiving tube 47), the singlechip 48 can determine that a bullet passes through the first transceiver tube 451 and record the time t at this moment₁(ii) a Circuit board assembly 41 for obtaining the passage of cartridgesThe second time t of the second transceiver 452 is₂If the signal of the second transceiver tube 452 changes and is detected by the single chip microcomputer 48 during the operation of the second transceiver tube 452, the single chip microcomputer 48 can determine that a bullet passes through the second transceiver tube 452 and record the time t at that moment₂(ii) a The circuit board assembly 41 is set to t according to the first time₁And the second time is t₂Obtaining a time interval of (t)₂-t₁) (ii) a The circuit board assembly 41 passes through the preset distance S₁And the time interval (t)₂-t₁) Calculating the velocity of the bullet as S₁/(t₂-t₁). Therefore, the speed measuring method is simple, the number of speed measuring elements used by the speed measuring device 40 is small, and the complexity of the structure of the speed measuring device 40 is simplified and the cost of the speed measuring device 40 is reduced.

Referring to fig. 11 to 12, in some embodiments, the at least two transceiving pipes 45 include a first transceiving pipe 451, a second transceiving pipe 452, and a third transceiving pipe 453.

S10: obtain the preset distance between any two transceiver tubes 45, including:

s120: the distance between the first transceiving pipe 451 and the second transceiving pipe 452 and the distance between the second transceiving pipe 452 and the third transceiving pipe 453 are obtained to obtain a first preset distance and a second preset distance respectively, and the preset distances include the first preset distance and the second preset distance.

S20: acquiring the time interval of the bullet passing through any two transceiver tubes 45 includes:

s220: acquiring the moments when the bullets pass through the first transceiving pipe 451, the second transceiving pipe 452 and the third transceiving pipe 453 to obtain a first moment, a second moment and a third moment respectively; and

s221: and respectively obtaining a first time interval and a second time interval according to the first time and the second time, and the second time and the third time, wherein the time intervals comprise the first time interval and the second time interval.

S30: calculating the bullet speed according to the preset distance and the time interval, comprising:

s310: respectively calculating a first speed and a second speed according to the first preset distance and the first time interval and the second preset distance and the second time interval; and

s311: an average speed of the first speed and the second speed is calculated to obtain a speed.

Referring to fig. 13, in some embodiments, the at least two transceiving pipes 45 include a first transceiving pipe 451, a second transceiving pipe 452, and a third transceiving pipe 453. The circuit board assembly 41 is configured to obtain a distance between the first transceiving pipe 451 and the second transceiving pipe 452, and a distance between the second transceiving pipe 452 and the third transceiving pipe 453 to obtain a first preset distance and a second preset distance, the preset distances include a first preset distance and a second preset distance, the time when the bullet passes through the first transceiving pipe 451, the second transceiving pipe 452 and the third transceiving pipe 453 is obtained to obtain a first time, a second time and a third time respectively, a first time interval and a second time interval are obtained according to the first time and the second time, the second time and the third time respectively, the time interval comprises a first time interval and a second time interval, a first speed and a second speed are respectively obtained through calculation according to a first preset distance and the first time interval and a second preset distance and the second time interval, and the average speed of the first speed and the second speed is calculated to obtain the speed.

Specifically, the speed measurement method comprises the following steps: the circuit board assembly 41 obtains a first preset distance S between the first transceiving pipe 451 and the second transceiving pipe 452₁(ii) a The circuit board assembly 41 obtains a second preset distance S between the second transceiving pipe 452 and the third transceiving pipe 453₂Wherein the first preset distance S₁And a second predetermined distance S₂All can be prestored in the singlechip 48; the first moment when the circuit board assembly 41 acquires the bullet passing through the first transceiving pipe 451 is t 1; the second moment t when the circuit board assembly 41 acquires the bullet passing through the second transceiving pipe 452 is t²(ii) a The third moment t when the circuit board assembly 41 acquires that the bullet passes through the third transceiving pipe 453 is³(ii) a The circuit board assembly 41 is set to t according to the first time¹And the second time is t²Obtaining a first time interval of (t)₂-t₁) (ii) a The circuit board assembly 41 is set to t according to the second time₂And a third time t₃Obtaining a second time interval of (t)₃-t₂) (ii) a The circuit board assembly 41 passes through the first preset distance S₁At a first time interval (t 2-t)₁) Calculating the first velocity of the bullet as S1/(t2-t 1); the circuit board assembly 41 calculates a second velocity S of the bullet by a second predetermined distance S2 and a second time interval (t3-t2)₂/(t3-t 2); the circuit board assembly 41 is driven according to the first speed S₁/(t₂-t₁) And a second speed S₂/(t₃-t₂) Average velocity in between gives the velocity of the bullet as S₁/(t₂-t₁)+S₂/(t₃-t₂)]/2. Therefore, the speed measuring method is beneficial to reducing the error caused by inaccuracy of single data and improving the speed measuring precision of the speed measuring method and the speed measuring device 40 by measuring a plurality of groups of data and then calculating the average value according to the plurality of groups of data.

To further improve the accuracy of the speed measurement method, referring to fig. 11 and 14, in some embodiments, the at least two transceiver tubes 45 include a first transceiver tube 451, a second transceiver tube 452, and a third transceiver tube 453.

S10: obtain the preset distance between any two transceiver tubes 45, including:

s130: the distance between the first transceiving pipe 451 and the second transceiving pipe 452, the distance between the second transceiving pipe 452 and the third transceiving pipe 453, and the distance between the first transceiving pipe 451 and the third transceiving pipe 453 are obtained to obtain a first preset distance, a second preset distance, and a third preset distance, respectively, where the preset distances include the first preset distance, the second preset distance, and the third preset distance.

S20: acquiring the time interval of the bullet passing through any two transceiver tubes 45 includes:

s230: acquiring the moments when the bullets pass through the first transceiving pipe 451, the second transceiving pipe 452 and the third transceiving pipe 453 to obtain a first moment, a second moment and a third moment respectively; and

s231: and respectively obtaining a first time interval, a second time interval and a third time interval according to the first time and the second time, the second time and the third time, and the first time and the third time, wherein the time intervals comprise the first time interval, the second time interval and the third time interval.

S30: calculating the bullet speed according to the preset distance and the time interval, comprising:

s320: respectively calculating a first speed, a second speed and a third speed according to the first preset distance and the first time interval, the second preset distance and the second time interval, and the third preset distance and the third time interval; and

s321: an average speed of the first speed, the second speed, and the third speed is calculated to obtain a speed.

Referring to fig. 13, in some embodiments, the at least two transceiving pipes 45 include a first transceiving pipe 451, a second transceiving pipe 452, and a third transceiving pipe 453. The circuit board assembly 41 is configured to obtain a distance between the first transceiving pipe 451 and the second transceiving pipe 452, a distance between the second transceiving pipe 452 and the third transceiving pipe 453, and a distance between the first transceiving pipe 451 and the third transceiving pipe 453 to obtain a first preset distance, a second preset distance, and a third preset distance, respectively, where the preset distances include the first preset distance, the second preset distance, and the third preset distance, and obtain a time when the bullet passes through the first transceiving pipe 451, the second transceiving pipe 452, and the third transceiving pipe 453 to obtain a first time, a second time, and a third time, respectively, obtain a first time interval, a second time interval, and a third time interval according to the first time and the second time, and the third time, and the first time and the third time, where the time intervals include the first time interval, the second time interval, and the third time interval, and the first time interval according to the first preset distance, the first time interval, the second time interval, and the third time interval, And respectively calculating a first speed, a second speed and a third speed by the second preset distance and the second time interval and the third preset distance and the third time interval, and calculating the average speed of the first speed, the second speed and the third speed to obtain the speed.

Specifically, the speed measurement method comprises the following steps: the circuit board assembly 41 obtains a first preset distance S between the first transceiving pipe 451 and the second transceiving pipe 452₁(ii) a The circuit board assembly 41 obtains a second preset distance S between the second transceiving pipe 452 and the third transceiving pipe 453₂(ii) a The circuit board assembly 41 obtains the first transceiving pipe 451 and the third transceiving pipe453 is S₃Wherein the first preset distance S₁A second predetermined distance S₂And a third predetermined distance S₃All can be prestored in the singlechip 48; the first moment t when the circuit board assembly 41 acquires the bullet passing through the first transceiving pipe 451 is₁(ii) a The second moment t when the circuit board assembly 41 acquires the bullet passing through the second transceiving pipe 452 is t₂(ii) a The third moment t when the circuit board assembly 41 acquires that the bullet passes through the third transceiving pipe 453 is₃(ii) a The circuit board assembly 41 is set to t according to the first time₁And the second time is t₂Obtaining a first time interval of (t)₂-t₁) (ii) a The circuit board assembly 41 is set to t according to the second time₂And a third time t₃Obtaining a second time interval of (t)₃-t₂) (ii) a The circuit board assembly 41 is set to t according to the first time₁And a third time t₃Obtaining a third time interval of (t)₃-t₁) (ii) a The circuit board assembly 41 passes through the first preset distance S₁At a first time interval (t)₂-t₁) Calculating a first velocity S of the bullet₁/(t₂-t₁) (ii) a The circuit board assembly 41 passes through the second preset distance S₂And a second time interval (t)₃-t₂) Calculating a second velocity of the bullet as S₂/(t₃-t₂) (ii) a The circuit board assembly 41 passes through the third preset distance S₃And a third time interval (t)₃-t₁) Calculating a second velocity of the bullet as S₃/(t₃-t₁) (ii) a The circuit board assembly 41 is driven according to the first speed S₁/(t₂-t₁) A second speed S₂/(t₃-t₂) And a third speed S₃/(t₃Average velocity of the sum of-t 1) gives the velocity of the bullet [ S [ ]₁/(t₂-t₁)+S₂/(t₃-t₂)+S₃/(t₃-t₁)]/3. Therefore, the speed measuring method can further improve the speed measuring precision of the speed measuring method and the speed measuring device 40 by taking the speed of the measuring bullet passing through the head and the tail of the two receiving and sending tubes 45 as compensation data on the basis of measuring the average value of a plurality of groups of data.

Please refer toReferring to fig. 15, in other embodiments, the number of the transceiver tubes 45 may also be more than three, and a plurality of the transceiver tubes 45 are sequentially arranged along the axial direction of the tube body 35 at a predetermined distance, in which case the following formula may be used to calculate the velocity of the bullet:

where v is the velocity of the bullet, n represents the number of the transceiver tubes 45, Sn represents the preset distance between the nth transceiver tube 45 and the 1 st transceiver tube 45, and t_nSn-1 represents the time when the bullet passes through the nth transceiver tube 45, and Sn-1 represents the distance between the nth transceiver tube 45 and the nth-1 transceiver tube 45. For example, when the number of the transceiver tubes 45 is four, n is equal to 4, and the velocity v of the bullet is ═ S₄/(t₄-t₁)+S₃/(t₄-t₃)+S₂/(t₃-t₂)+S₁/(t₂-t₁)]/4。

The control system 1000 according to the embodiment of the present application includes the mobile robot 100 according to the above-described embodiment and the display screen 200. The display screen 200 is wirelessly connected with the speed measuring device 40, and the display screen 200 is used for displaying the speed of the bullet.

In the control system 1000 of the embodiment of the application, when the bullet passes through the receiving and dispatching pipe 45, the receiving and dispatching pipe 45 can accurately detect the time when the bullet passes through the receiving and dispatching pipe 45, and the distance between the receiving and dispatching pipes 45 can be conveniently and accurately measured, so that the speed of the bullet can be measured in real time and accurately by the distance between the receiving and dispatching pipes 45 and the time when the bullet passes through the corresponding receiving and dispatching pipes 45, the user can better pre-judge the flight track and the range of the bullet according to the speed of the bullet, and the control of the user in the game or competition process can be improved.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for performing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried out in the above method may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be executed in the form of hardware or in the form of a software functional module. The integrated module, if executed in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.