阅读说明：本技术 移动靶车系统 (Moving target car system ) 是由 沈志航 李晗 李楠 何旭 孙海铭 于 2020-08-27 设计创作，主要内容包括：本公开提供了一种移动靶车,其包括：靶车、中间车和牵引车。靶车包括：靶车本体和设于该靶车本体上的靶标组件。牵引车、中间车和靶车依次可拆卸连接。牵引车、中间车和靶车均为无轨道行驶车辆,可直接在打靶场地面行驶,其行驶路线不受轨道的限制,能够实现路线的灵活变更,进而满足打靶运动灵活性的要求。另外,由于无需铺设轨道,能够节省基建成本,对打靶场地的适应性也强。此外,采用中间车牵引靶车能够拉远牵引车与靶车之间的距离,防止打靶时对牵引车的损害,有利于实现重复利用。(The present disclosure provides a mobile target car, which includes: target car, intermediate car and tractor. The target car includes: the target car body and locate the target subassembly on this target car body. The tractor, the intermediate vehicle and the target vehicle are sequentially detachably connected. The tractor, the intermediate vehicle and the target vehicle are trackless running vehicles, can directly run on the ground of a shooting range, are not limited by tracks, can realize flexible change of the routes, and further meet the requirement of flexibility of shooting movement. In addition, because the track does not need to be laid, the capital construction cost can be saved, and the adaptability to the target practice site is strong. In addition, the distance between the tractor and the target vehicle can be increased by adopting the intermediate vehicle to pull the target vehicle, so that the damage to the tractor during target shooting is prevented, and the realization of reutilization is facilitated.)

1. A moving target vehicle system, characterized by: it includes:

the target car includes: the target vehicle comprises a target vehicle body and a target assembly arranged on the target vehicle body;

the intermediate vehicle is detachably connected with the target vehicle body; and

the tractor is detachably connected with the intermediate vehicle;

the tractor, the intermediate vehicle and the target vehicle are trackless running vehicles.

2. The moving target vehicle system of claim 1, wherein:

the tractor includes:

the storage module is used for storing more than one preset path information in advance;

the input module receives path information selected by a user;

the first communication module at least acquires corresponding preset path information from the storage module according to the selected path information;

the positioning module is used for acquiring real-time positioning information of the tractor;

the program control module at least acquires the preset path information sent by the first communication module and the real-time positioning information sent by the positioning module and generates a driving instruction; and

and a running mechanism running according to the running instruction.

3. The moving target vehicle system of claim 2, wherein: the tractor includes:

the monitoring module is used for acquiring real-time image information in front of the tractor;

the calculation module is used for acquiring the size information of the obstacle when the real-time image information contains the obstacle, and calculating the information of the deviated path according to the selected preset path information and the size information; and

the second communication module at least sends the deviation path information to the program control module;

when the deviation path information is received, the program control module generates a deviation driving instruction according to the deviation path information and the real-time positioning information sent by the positioning module, and the driving mechanism drives according to the deviation driving instruction.

4. The moving target vehicle system of claim 2, wherein: the tractor includes:

a remote control mechanism; and

the third communication module at least receives the real-time direction information sent by the remote control mechanism and sends the real-time direction information to the program control module;

when the real-time direction information is received, the program control module generates a real-time driving instruction according to the real-time direction information and the real-time positioning information sent by the positioning module, and the driving mechanism drives according to the real-time driving instruction.

5. The mobile cart system of any of claims 1 to 4, wherein: the shell of the tractor is an explosion-proof shell.

6. The mobile cart system of any of claims 1 to 4, wherein: the tractor, the intermediate vehicle and the target vehicle are connected in sequence through hooks.

7. The mobile cart system of any of claims 1 to 4, wherein: the positioning module is a differential GPS.

8. The mobile cart system of any of claims 1 to 4, wherein: the preset path information is any one of a linear type, an S type, a broken line type and a rectangle.

9. A method for moving a target vehicle system is characterized in that: the method comprises the following steps:

(1) receiving path information selected by a user by using an input module;

(2) acquiring corresponding preset path information from a storage module by using a first communication module according to the path information; acquiring real-time positioning information of a tractor in the moving target car by using a positioning module;

(3) acquiring the preset path information sent by the first communication module and the real-time positioning information sent by the positioning module by using a program control module to generate a driving instruction;

(4) and running according to the running instruction by using a running mechanism.

10. The method of claim 9, wherein: which comprises the following steps:

in the step (3), simultaneously acquiring real-time image information in front of the tractor by using a monitoring module;

when the real-time image information does not contain the obstacle, executing the step (4);

when the real-time image information contains an obstacle, acquiring the size information of the obstacle by using a calculation module, calculating deviated path information according to the selected preset path information and the size information, and simultaneously sending the deviated path information to the program control module by using a second communication module;

and when the program control module receives the deviated path information, generating a deviated driving instruction according to the deviated path information and the real-time positioning information sent by the positioning module by using the program control module, and driving according to the deviated driving instruction by using the driving mechanism.

Technical Field

The disclosure belongs to the field of robots, and relates to a mobile target car system.

Background

The movable target car is more and more paid attention to as an instrument for national defense training. At present, most of target vehicles at home and abroad are based on traditional rail type mobile target vehicles, and the motion rails of the mobile target vehicles are mainly divided into two types, namely aerial suspension type and ground laying type.

No matter the target vehicle is in an air suspension type or a ground laying type, the track is a straight track, and the target vehicle can only move linearly according to the track. If according to actual need, want to change the movement route and just need lay the track again, spend long time, with high costs, and have the hidden danger of bouncing, this makes traditional removal target car can not satisfy the shooting demand of modernization.

In addition, the moving target vehicle is often impacted by bullets, is easily damaged, cannot be reused, and has high replacement cost, which limits the application range.

Disclosure of Invention

In order to solve at least one of the above technical problems, the present disclosure provides a mobile target car, which adopts the following technical solutions or combinations thereof:

the present disclosure provides a mobile drone vehicle system that can be applied to a number of situations such as weapon strike testing, troop training, military exercises, and the like. This moving target car system includes: target car, intermediate car and tractor. The towing vehicle, the intermediate vehicle and the target vehicle are trackless running vehicles.

Wherein, the target car includes again: the target car body and locate the target subassembly on this target car body. The intermediate car is detachably connected with the target car body. The tractor is detachably connected with the intermediate vehicle.

In some embodiments of the present disclosure, the tractor further comprises: the device comprises a storage module, an input module, a first communication module, a positioning module, a program control module, a running mechanism and the like.

The storage module is responsible for pre-storing more than one preset path information.

The input module is responsible for receiving path information selected by a user.

The first communication module is responsible for acquiring corresponding preset path information from the storage module at least according to the selected path information.

The positioning module is responsible for acquiring real-time positioning information of the tractor.

The program control module is responsible for at least acquiring preset path information sent by the first communication module and real-time positioning information sent by the positioning module and generating a driving instruction.

And the running mechanism is responsible for running according to the running instruction.

In this embodiment, the method for moving the target vehicle system includes the following steps:

(1) receiving path information selected by a user by using an input module;

(2) acquiring corresponding preset path information from the storage module by using the first communication module according to the path information; acquiring real-time positioning information of a tractor in the moving target car by using a positioning module;

(3) acquiring preset path information sent by the first communication module and real-time positioning information sent by the positioning module by using the program control module to generate a driving instruction;

(4) and running according to the running command by using the running mechanism.

In some further embodiments of the present disclosure, the tractor further comprises: the device comprises a monitoring module, a calculating module and a second communication module.

The monitoring module is responsible for acquiring real-time image information in front of the tractor.

And the calculation module is responsible for obstacle avoidance calculation. When the real-time image information contains an obstacle, the calculation module acquires the size information of the obstacle and calculates the deviated path information according to the selected preset path information and the size information.

The second communication module is responsible for at least sending the deviation path information to the program control module. When the program control module receives the information of the deviated path, the program control module generates a deviated driving instruction according to the information of the deviated path and the real-time positioning information sent by the positioning module, and the driving mechanism drives according to the deviated driving instruction. When the real-time image information does not contain the obstacle any more (namely the tractor guides the target car to successfully avoid the obstacle), the program control module sends the original driving instruction to the driving mechanism, and the driving mechanism drives according to the original driving instruction.

In this embodiment, the method for moving the target vehicle system includes the following steps:

in the step (3), real-time image information in front of the tractor is acquired by using the monitoring module;

when the real-time image information does not contain the obstacle, executing the step (4);

when the real-time image information contains an obstacle, acquiring the size information of the obstacle by using a calculation module, calculating deviated path information according to the selected preset path information and the size information, and simultaneously sending the deviated path information to a program control module by using a second communication module;

when the program control module receives the information of the deviated path, the program control module generates a deviated driving instruction according to the information of the deviated path and the real-time positioning information sent by the positioning module, and a driving mechanism is used for driving according to the deviated driving instruction. And (4) when the real-time image information does not contain the obstacle, returning to execute the step (4).

In some other embodiments of the present disclosure, the tractor further comprises: a remote control mechanism and a third communication module.

The remote control mechanism is used for a user to perform remote control operation, such as controlling the driving direction and the driving speed of the tractor.

The third communication module is in charge of at least receiving the real-time direction information sent by the remote control mechanism and sending the real-time direction information to the program control module. When the program control module receives the real-time direction information, the program control module generates a real-time driving instruction according to the real-time direction information and the real-time positioning information sent by the positioning module, and the driving mechanism drives according to the real-time driving instruction. Therefore, the remote control driving of the tractor by the user is realized.

In some embodiments of the present disclosure, the housing of the towing vehicle is explosion proof to prevent damage to delicate machinery within the towing vehicle from a bullet penetrating the towing vehicle.

In some embodiments of the present disclosure, the towing vehicle, the intermediate vehicle and the target vehicle are connected in sequence by a hitch.

In some embodiments of the present disclosure, the positioning module within the tractor is a differential GPS.

In some embodiments of the present disclosure, the predetermined path information is any one of a straight line type, an S-type, a broken line type, and a rectangle. Of course, the present invention is not limited to the above, and may be designed in advance according to the topography of the firing ground.

Due to the adoption of the technical scheme, the method at least achieves the following technical effects:

in the moving target vehicle system, the tractor, the intermediate vehicle and the target vehicle are connected in a pulling manner in sequence, and the target vehicle is pulled to run by the tractor through the intermediate vehicle.

Firstly, the tractor, the intermediate vehicle and the target vehicle are trackless running vehicles or hoisting-free running vehicles, can directly run on the ground of a shooting range, and the running routes are not limited by tracks or hoisting cables, so that flexible route change can be realized, and the requirement of flexibility of shooting movement is further met.

Secondly, because the trackless running vehicle need not to lay the track, and no hoist and mount running vehicle need not to erect the hoist and mount cable, can save the capital construction cost greatly, and the adaptability to the target practice place is also strong simultaneously.

In addition, the intermediate vehicle is adopted to assist in drawing the target vehicle, so that the distance between the tractor and the target vehicle can be increased, the damage of the tractor during target shooting can be prevented as far as possible, and the recycling of the tractor is facilitated.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural diagram of a moving target car in an embodiment of the present disclosure.

Reference numerals:

the moving target vehicle 1, the intermediate vehicle 2 and the target vehicle 3.

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.