CN116697819B - A follow-up target placement system and method - Google Patents
A follow-up target placement system and methodInfo
- Publication number
- CN116697819B CN116697819B CN202310607367.9A CN202310607367A CN116697819B CN 116697819 B CN116697819 B CN 116697819B CN 202310607367 A CN202310607367 A CN 202310607367A CN 116697819 B CN116697819 B CN 116697819B
- Authority
- CN
- China
- Prior art keywords
- target
- control unit
- main control
- distance
- command
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J7/00—Movable targets which are stationary when fired at
- F41J7/04—Movable targets which are stationary when fired at disappearing or moving when hit
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明提供了一种跟随式布靶系统及方法，包括靶标端和代步工具端，能够简单、便捷、快速地移动靶标。靶标端包括靶标、主控制单元、微控制单元、第一定位测量单元、测距单元和移动平台；代步工具端包括代步工具和第二定位测量单元；两者上都设有通讯设备。本发明可以精确地使移动靶标跟随代步工具，通过对左右移动和前后移动的判断，实现移动靶标的自动跟随，避免了机械搬运的过程，提高工作效率，缩短工作周期；采用蓝牙设备传输速度、磁力计数据和位置，简洁高效；采用激光测距单元测量距离，准确性较高。
This invention provides a following target placement system and method, comprising a target end and a mobility tool end, enabling simple, convenient, and rapid target movement. The target end includes a target, a main control unit, a microcontroller unit, a first positioning and measurement unit, a ranging unit, and a moving platform; the mobility tool end includes a mobility tool and a second positioning and measurement unit; both are equipped with communication devices. This invention can accurately make the moving target follow the mobility tool. By judging left-right and forward-backward movements, it achieves automatic target following, avoiding mechanical handling, improving work efficiency, and shortening the work cycle. It uses Bluetooth to transmit speed, magnetometer data, and position, which is simple and efficient; and it uses a laser ranging unit to measure distance, ensuring high accuracy.
Description
Technical Field
The invention relates to the technical field of moving target following type target distribution, in particular to a following type target distribution system and method.
Background
The mobile target is used for shooting training of armies or armies, and the mobile target consists of a mobile platform and a lifting target, and can reach 60kg in weight. The existing method for placing the mobile target at the preset position is to mechanically convey the mobile target to the preset position and then perform task operation, and the conveying process of the method is complex and has low efficiency.
Therefore, a method for moving the target is needed to achieve the purpose simply and conveniently.
Disclosure of Invention
In view of the above, the present invention provides a following type target distribution system and method, which can simply, conveniently and rapidly move a target.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
A following type target distribution system comprises a target end and a walking tool end.
In the walking tool end:
the second positioning measuring unit measures the speed and magnetometer data of the walking tool and transmits the data to the main control unit.
Target end:
The target moving platform is used for bearing the movement of the target, the main control unit, the micro control unit, the first positioning measuring unit and the ranging unit.
The distance measuring unit measures the distance between the target and the walking aid and transmits the distance to the main control unit.
The first positioning measurement unit measures the speed of the target and magnetometer data and transmits to the main control unit.
The main control unit judges whether the speed of the walking tool is 0 or not, if not, the main control unit judges whether the distance is not greater than the safety threshold value or not, if so, the main control unit sends a forward instruction to the micro control unit, and if not, a backward instruction is sent.
When the target is 0, calculating the course angles of the target and the walking aid relative to the ground, and not sending a steering instruction when the course angles of the target and the walking aid are positioned on the same straight line, otherwise judging that the course angle of the target is far left or far right, sending a right steering instruction when the course angle of the target is far left, and sending a left steering instruction when the course angle of the target is far right; meanwhile, whether the distance is within the error range or not is judged, a forward command is sent when the distance is larger, a backward command is sent when the distance is smaller, and a stop command is sent when the distance is within the error range.
And the micro control unit controls the movement of the mobile platform according to the instruction of the main control unit.
Further, the ranging unit is a laser ranging unit.
Further, the first positioning measurement unit and the second positioning measurement unit are IMU units for acquiring speed and magnetometer data.
Further, the device also comprises communication equipment positioned on the mobile platform and the walking tool and used for transmitting the speed and magnetometer data of the target and the walking tool.
Further, the communication device is a bluetooth device or an antenna.
A following type target distribution method is used for the system, and comprises the following specific steps:
step 1, a distance measuring unit measures the distance between a target and a walking tool, a first positioning measuring unit obtains the speed and magnetometer data of the target, and the speed and magnetometer data are sent to a main control unit through communication equipment.
Step 2, the main control unit calculates the course angle according to the magnetic force count, the main control unit judges whether the speed of the walking tool is 0, if yes, the step 3 is executed, if not, the main control unit judges whether the distance does not exceed the safety threshold A, if yes, the main control unit sends a forward instruction, otherwise, a backward instruction is sent, and the step 1 is returned to be executed continuously.
And 3, judging whether the distance meets the lower error limit N and is less than or equal to the upper error limit M, if so, sending a stop instruction, and when the distance is more than M, sending a forward instruction by the main control unit, and when the distance is less than N, sending a backward instruction by the main control unit.
And (2) simultaneously, the main control unit judges whether the course angles are positioned on the same straight line, if so, no steering instruction is sent, otherwise, the course angles of the targets are judged to be leftwards or rightwards, if so, a right turning instruction is sent, and if so, a left turning instruction is sent, and the step (1) is returned to continue to execute.
Further, the communication device is a bluetooth device or an antenna.
The beneficial effects are that:
1. the invention provides a following type target distribution system, which can accurately enable a moving target to follow a walking tool, and can realize automatic following of the moving target through judging left-right movement and front-back movement, thereby avoiding the mechanical carrying process, improving the working efficiency and shortening the working period.
2. The system judges whether the walking tool reaches a target position according to the speed of the walking tool, and the walking tool is controlled by the micro control unit through the matching of the main control unit and the two positioning measurement units during the moving to the target position, so that the safety of work is ensured, and after the walking tool moves to the target position, the main control unit moves the target to a designated position through the micro control unit according to the speed and the course angle, and meanwhile, the target is moved to an area within an error range according to the distance, so that the work safety and the work efficiency are improved.
3. The system adopts Bluetooth or antenna equipment for communication, and is simple and efficient.
4. The system adopts the laser ranging unit to measure the distance, and has higher accuracy.
5. The invention provides a following type target distribution method, which can accurately lead a moving target to follow a walking tool, realizes the automatic following of the moving target through judging the left-right movement and the front-back movement, avoids the mechanical carrying process, improves the working efficiency and shortens the working period.
6. The method judges whether the walking tool reaches a target position according to the speed of the walking tool, and the walking tool is controlled by the micro control unit through the matching of the main control unit and the two positioning measurement units during the moving to the target position, so that the safety of work is ensured, and after the walking tool moves to the target position, the main control unit moves the target to a designated position through the micro control unit according to the speed and the course angle, and meanwhile, the target is moved to an area within an error range according to the distance, so that the work safety and the work efficiency are improved.
7. The method adopts Bluetooth or antenna equipment for communication, and is simple and efficient.
Drawings
FIG. 1 is a diagram of the system of the present invention.
Fig. 2 is a flow chart of the method of the present invention.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
As shown in fig. 1, the invention provides a following type target distribution system, which comprises a target end and a walking tool end of a target distribution person.
The target end comprises a target, a main control unit, a micro control unit, a first positioning measurement unit, a ranging unit and a mobile platform, the walking tool end comprises a walking tool and a second positioning measurement unit, and communication equipment such as Bluetooth and an antenna are arranged on the mobile target and the walking tool end. The invention selects a laser ranging unit to measure the distance, and selects an IMU unit (inertial measurement unit) for positioning measurement.
The mobile platform carries a target, a main control unit, a micro control unit, a first positioning measurement unit, a distance measurement unit and communication equipment to move together, and the mobility aid carries a second positioning measurement unit and communication equipment.
The second positioning measuring unit is used for measuring the speed and magnetometer data of the walking tool and transmitting the data to the main control unit in real time.
The laser ranging unit measures the distance between the target and the walking tool and transmits the distance to the main control unit.
The second positioning measurement unit is used for measuring the speed and magnetometer data of the walking tool, and the speed and magnetometer data are transmitted to the main control unit;
The main control unit judges whether the speed of the walking tool is 0 or not, if not, the main control unit judges whether the distance is not greater than a safety threshold value or not, if yes, a forward instruction is sent to the micro control unit, and if not, a backward instruction is sent;
When the target is 0, calculating the course angles of the target and the walking aid relative to the ground, and not sending a steering instruction when the course angles of the target and the walking aid are positioned on the same straight line, otherwise judging that the course angle of the target is far left or far right, sending a right steering instruction when the course angle of the target is far left, and sending a left steering instruction when the course angle of the target is far right; meanwhile, whether the distance is within the error range or not is judged, a forward command is sent when the distance is larger, a backward command is sent when the distance is smaller, and a stop command is sent when the distance is within the error range.
And the micro control unit controls the movement of the mobile platform according to the instruction of the main control unit.
As shown in fig. 2, the present invention provides a following type target distribution method, which specifically includes the steps of:
step 1, a distance measuring unit measures the distance delta d between a target and a walking tool, a first positioning measuring unit obtains IMU information of the moving target, and the IMU information is sent to a main control unit through communication equipment.
Step 2, the main control unit calculates a course angle according to the magnetic force data, the main control unit judges whether the speed of the walking tool is 0 (when the speed of the target distribution person is 0, the target distribution person is indicated to reach a set position to stop moving), if yes, the step 3 is executed, if not, the main control unit judges whether the distance meets the Δd not less than the safety threshold A, if yes, the main control unit sends a forward instruction, otherwise, sends a backward instruction, and returns to the step 1 to continue executing.
Step 3, judging whether the distance meets the lower error limit N and the upper error limit M (when N < = delta d < = M, the moving target reaches the set position within the error allowable range) or not, if so, sending a stop instruction, when the distance is more than M, sending a forward instruction by the main control unit, and when the distance is less than N, sending a backward instruction by the main control unit;
And (2) simultaneously, the main control unit judges whether the course angles are positioned in the same straight line, if so, the steering instruction is not sent, otherwise, the course angles of the targets are judged to be leftwards or rightwards, if so, the right-turning instruction is sent, and if so, the left-turning instruction is sent, and the step (1) is returned to continue to be executed until the targets move to the error range and do not need to be turned any more.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310607367.9A CN116697819B (en) | 2023-05-26 | 2023-05-26 | A follow-up target placement system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310607367.9A CN116697819B (en) | 2023-05-26 | 2023-05-26 | A follow-up target placement system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116697819A CN116697819A (en) | 2023-09-05 |
| CN116697819B true CN116697819B (en) | 2025-11-25 |
Family
ID=87824920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310607367.9A Active CN116697819B (en) | 2023-05-26 | 2023-05-26 | A follow-up target placement system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116697819B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112461054A (en) * | 2019-09-09 | 2021-03-09 | 北醒（北京）光子科技有限公司 | Laser radar-based moving target vehicle motion control system |
| CN112665464A (en) * | 2020-12-21 | 2021-04-16 | 军鹏特种装备股份公司 | Crawler-type individual soldier intelligent movement target |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5200980B2 (en) * | 2009-02-13 | 2013-06-05 | 日産自動車株式会社 | Tracking control device and tracking control method |
| JP7460328B2 (en) * | 2019-03-20 | 2024-04-02 | Thk株式会社 | Mobile robot, mobile robot control system, and mobile robot control method |
| CN116045736B (en) * | 2022-07-26 | 2025-09-05 | 河北汉光重工有限责任公司 | A fully automatic target reporting system for mobile simulated targets |
-
2023
- 2023-05-26 CN CN202310607367.9A patent/CN116697819B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112461054A (en) * | 2019-09-09 | 2021-03-09 | 北醒（北京）光子科技有限公司 | Laser radar-based moving target vehicle motion control system |
| CN112665464A (en) * | 2020-12-21 | 2021-04-16 | 军鹏特种装备股份公司 | Crawler-type individual soldier intelligent movement target |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116697819A (en) | 2023-09-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111386504B (en) | Self-driving golf cart system based on accurate position information and golf cart control method utilizing the system | |
| US6629028B2 (en) | Method and system of optical guidance of mobile body | |
| EP2357486B1 (en) | Position detecting device and method of concrete pump vehicle and concrete pump vehicle | |
| US20140195075A1 (en) | System and Method for Testing Crash Avoidance Technologies | |
| JP2013101100A (en) | Method for controlling relative position between vehicles using mobile reference station and system for the same | |
| CN104750115B (en) | A kind of laser active type navigation system of mobile device and air navigation aid | |
| KR20160140787A (en) | Control device for work vehicle | |
| CN105573342B (en) | Based on BEI-DOU position system to the evaluation system and method for winged control hand flight reappearance | |
| CN109407653B (en) | Indoor general multi-mobile-robot algorithm verification system | |
| KR20140112824A (en) | Leader-Follower Formation Device, Method and Mobile robot using Backstepping Method | |
| CN104280740A (en) | Device for jointly positioning blast hole based on camera and laser distance measuring sensor and positioning method | |
| CN107544534A (en) | A kind of plant protection unmanned plane automatic fine operation and barrier-avoiding method based on BDS, INS | |
| CN113190004A (en) | Unmanned vehicle collision avoidance path planning method based on algorithm fusion | |
| KR101555840B1 (en) | Mobile-type golf ball position-guiding system interworked with a screen golf | |
| CN205563277U (en) | Evaluation system based on compass positioning system is to flying to control hand flight quality | |
| CN107272690B (en) | Inertial guided vehicle navigation method based on binocular stereoscopic vision and inertial guided vehicle | |
| KR101094465B1 (en) | Method and apparatus for simultaneous operation of multiple moving objects and recording medium storing computer readable program for performing the same | |
| CN116697819B (en) | A follow-up target placement system and method | |
| TWI773947B (en) | Control device, exoskeleton system and control method | |
| CN106502244A (en) | A kind of navigation positioning system of automatic guided vehicle | |
| CN110471430B (en) | A local high-precision positioning and navigation device for AGV | |
| WO2022099756A1 (en) | Automatic charging method and system for robot, and robot and storage medium | |
| CN204086539U (en) | A kind of device based on video camera and laser range sensor co-located blast hole | |
| CN108027614B (en) | Method and device for operating a motor vehicle without a driver in a parking lot | |
| CN114147723B (en) | Automatic lofting robot system and operation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |