CN115014129B - Lifting target control method - Google Patents
Lifting target control method Download PDFInfo
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- CN115014129B CN115014129B CN202210868081.1A CN202210868081A CN115014129B CN 115014129 B CN115014129 B CN 115014129B CN 202210868081 A CN202210868081 A CN 202210868081A CN 115014129 B CN115014129 B CN 115014129B
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- lifting
- target
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 13
- 238000010304 firing Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
- F41J7/06—Bobbing targets, i.e. targets intermittently or unexpectedly appearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/14—Apparatus for signalling hits or scores to the shooter, e.g. manually operated, or for communication between target and shooter; Apparatus for recording hits or scores
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a control method of a lifting target, which comprises the following steps of S1, selecting a corresponding lifting target and a control mode thereof by a user; s2, selecting and identifying that the current control mode is a manual mode, and controlling a lifting motor of a lifting target to control lifting operation by a user by pressing a lifting key, a descending key or an automatic lifting key on a controller; s3, selecting and identifying the current control mode as a stop mode, and controlling a lifting motor of the lifting target to stop working by a controller; s4, selecting and identifying that the current control mode is a wireless remote control mode, and connecting the wireless control terminal with the controller through a wireless communication signal to control the lifting target to lift or collect hit data on the lifting target and feed back the hit data. The invention integrates the functions of manual key control, wireless remote control and automatic target reporting, and when the wireless remote control is used, the control of a plurality of lifting targets can be realized only by one person at the wireless control end.
Description
Technical Field
The invention relates to the technical field of target equipment, in particular to a lifting target control method.
Background
The lifting target is applied to a firing practice firing range with marking pit outdoors, and the lifting mechanism is driven by controlling the forward and reverse rotation of the motor to realize the display and the hiding of the target. Meanwhile, the signal of the hit target plate of the bullet is detected, the hit times, the number of loops, the azimuth and other hit results are calculated, and then the result data is reported to a main control computer through a wireless module to realize automation, and meanwhile, the main control computer can issue a control command to realize remote control of lifting and lowering, so that the target is displayed and hidden.
The lifting target in the current market can only realize the display and the hidden of the target by controlling the lifting and the falling through manual keys, can not automatically report the target, and can not realize the display and the hidden of the target by remotely controlling the lifting and the falling. Each lifting target is required to be matched with an operator to carry out manual key control on the lifting targets in marking pit, and the application integrates the functions of manual key control, wireless remote control and automatic target reporting.
Disclosure of Invention
The invention aims to provide a control method for a lifting target.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
A lift target control method comprising:
s1, powering up a lifting target and a controller thereof, selecting a corresponding lifting target by a user, and selecting and identifying the current control mode as one of a manual mode, a stop mode or a wireless remote control mode through the controller;
s2, selecting and identifying that the current control mode is a manual mode, controlling a lifting motor of a lifting target to control lifting operation by a user by pressing a lifting key or a lowering key on the controller, and controlling the lifting motor of the lifting target to automatically lift or lower by pressing an automatic lifting key on the controller;
S3, selecting and identifying the current control mode as a stop mode, and controlling a lifting motor of the lifting target to stop working by a controller;
S4, selecting and identifying that the current control mode is a wireless remote control mode, connecting the wireless control terminal with the controller through a wireless communication signal, remotely sending a control signal to the controller, controlling the lifting target to lift or collecting hit data on the lifting target according to the control signal, and sending the hit data to the wireless control terminal through the wireless communication signal.
Further, the lifting target is provided with a lifting motor for controlling the lifting of the lifting target, an output part of the lifting motor is installed with a lifting control device of the lifting target, the controller outputs a forward signal to control the lifting motor to forward rotate the lifting target, and outputs a reverse signal to control the lifting motor to reverse rotate the lifting target.
Further, the lifting motor detects whether the lifting target is limited or the lifting target is limited currently and sends a signal to the controller, the lifting motor outputs forward rotation/reverse rotation under a lifting target/lifting target instruction of the controller, when the lifting target is in a lifting target highest state/a lifting target lowest state, a lifting target limiting signal/a lifting target limiting signal is fed back to the controller, and the controller controls the controller to stop rotating.
Further, the step S2 specifically includes the following steps:
s21, a user dials a mode switching switch on the controller and selects a control mode to be a manual mode;
S22, detecting and identifying one of an up key, a down key or an automatic up key which is currently pressed;
S23, when a lifting key is pressed, in a state that a lifting target limiting signal is not detected, when the lifting key is pressed for a short time, the controller controls the lifting motor to rotate forward and drive the lifting target to lift the target, after the lifting key is released, the controller controls the lifting motor to stop rotating and the lifting target to stop lifting the target, when the lifting key is pressed for a long time, the controller controls the lifting motor to rotate forward and drive the lifting target to lift the target, and after the lifting target limiting signal is detected, the lifting target stops lifting the target;
S24, when a descending button is pressed, in a state that a descending target limiting signal is not detected, when the descending button is pressed for a short time, the controller controls the lifting motor to reversely rotate and drive the lifting target to descend, after the descending button is released, the controller controls the lifting motor to stop rotating and the lifting target to stop descending the target, when the descending button is pressed for a long time, the controller controls the lifting motor to reversely rotate and drive the lifting target to descend the target, and after the descending target limiting signal is detected, the lifting target stops rotating;
And S25, when an automatic lifting key is pressed, the controller controls the lifting motor to reversely drive the lifting target to drop the target, when the lifting target is at the lowest point and a target-drop limiting signal is detected, the controller controls the lifting motor to positively drive the lifting target to lift the target until the lifting target is at the highest point and the target-drop limiting signal is detected, and after the controller controls the lifting motor to reversely drive the lifting target to drop the target, the lifting target is repeatedly and circularly controlled to ascend and descend.
Further, the step S3 specifically includes the following steps:
s31, a user dials a mode switching switch on the controller and selects a control mode as a stop mode;
s32, the controller outputs a stop instruction to the lifting motor, and the priority of the stop instruction is higher than that of each key operation instruction and the wireless remote control mode instruction.
Further, the step S4 specifically includes the following steps:
s41, a user dials a mode switching switch on the controller and selects a control mode as a wireless remote control mode;
s42, a user sends a wireless communication signal to the controller through the wireless control terminal, and the controller controls the lifting motor, the hit data detector and the light controller according to a control instruction of the wireless communication signal;
S43, the control instruction is a lifting instruction/a descending instruction/an automatic lifting instruction, and the controller controls the lifting motor to drive the lifting target to lift/lower the target/reciprocate between the highest point and the lowest point;
S44, the control instruction is a hit data acquisition instruction, and the controller acquires the hit number on the lifting target plate, the hit ring number of each hit point and the hit direction of each hit point detected by the hit data detector and transmits the hit number and the hit direction to the wireless control terminal;
S45, the control instruction is a light control instruction, and the controller controls the brightness and flicker frequency of each lamp tube on the lifting target by controlling the light controller on the lifting target.
Further, the hit data detector is connected with a conductive target plate arranged on the target plate, 5 rings, 6 rings, 7 rings, 8 rings, 9 rings, 10 rings and 6 pins corresponding to the rings are arranged on the conductive target plate, and 8 pins corresponding to the rings are arranged in the directions of the rings, the upper, the lower, the left, the right, the upper left, the upper right, the lower left, the lower right and the lower right.
After the technical scheme is adopted, compared with the background technology, the invention has the following advantages:
According to the invention, 3 different control modes are respectively a manual mode, a stop mode and a wireless control mode, the control of the manual key on the lifting target is realized by utilizing the manual mode and key control operation thereof, the stop mode stops the lifting movement of the lifting target, the key control and the wireless remote control cannot interfere with the lifting target, the lifting operation of the lifting target is remotely controlled by utilizing the wireless remote control mode, hit data on a target board are collected and automatically reported, the on-site observation before the person arrives at the lifting target is not needed, and the control of the lifting target and the hit data acquisition are realized by a person at the wireless control terminal.
Drawings
Fig. 1 is a flow chart of the operation of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Examples
Referring to fig. 1, the invention discloses a control method of a lifting target, comprising the following steps:
S1, powering up the lifting target and a controller thereof, selecting a corresponding lifting target by a user, and selecting and identifying the current control mode as one of a manual mode, a stop mode or a wireless remote control mode through the controller.
S2, selecting and identifying that the current control mode is a manual mode, controlling a lifting motor of the lifting target to control lifting operation by a user by pressing a lifting key or a lowering key on the controller, and controlling the lifting motor of the lifting target to automatically lift or lower by pressing an automatic lifting key on the controller.
S3, selecting and identifying the current control mode as a stop mode, and controlling the lifting motor of the lifting target to stop working by the controller.
S4, selecting and identifying that the current control mode is a wireless remote control mode, connecting the wireless control terminal with the controller through a wireless communication signal, remotely sending a control signal to the controller, controlling the lifting target to lift or collecting hit data on the lifting target according to the control signal, and sending the hit data to the wireless control terminal through the wireless communication signal.
The preferred single-chip microcomputer of the controller of the embodiment is a control chip STM8S207R8T6, and the controller is provided with a control system comprising a mode change-over switch, a target lifting/target lowering limiting signal detection module, a lifting key, a lowering key, an automatic lifting key, a conductive target plate, a hit data detector, a wireless transceiver module and a light controller, wherein the hit data detector comprises a hit signal, a ring number and an azimuth signal which are collected on the conductive target plate, and the wireless transceiver module is used for receiving a control instruction of a wireless control terminal and feeding back corresponding data.
The lifting target is provided with a frame body for installing the target plate, the frame body is provided with a lifting assembly for controlling the target plate to move up and down on the lifting frame, the lifting assembly is driven by a lifting motor, the specific structural part is in the prior art, and the embodiment is not limited.
The lifting target is provided with a lifting motor for controlling the lifting of the lifting target, the output part of the lifting motor is installed with a lifting control device of the lifting target, the controller outputs a forward signal to control the lifting motor to forward rotate the lifting target, and outputs a reverse signal to control the lifting motor to reverse rotate the lifting target.
The lifting motor detects whether the lifting target is at the limit or the limit of target falling at present and sends a signal to the controller, the lifting motor outputs forward rotation/reverse rotation under the target lifting/target falling instruction of the controller, when the lifting target is at the highest target lifting state/lowest target falling state, a target lifting limit signal/target falling limit signal is fed back to the controller, and the controller controls the controller to stop rotating.
The step S2 specifically includes the following steps:
S21, a user dials a mode switching switch on the controller and selects a control mode to be a manual mode.
S22, detecting and identifying that one of an up key, a down key or an automatic up key is pressed currently.
S23, when the lifting button is pressed, in the state that the lifting target limiting signal is not detected, when the lifting button is pressed for a short time, the controller controls the lifting motor to rotate forward and drive the lifting target to lift the target, after the lifting button is released, the controller controls the lifting motor to stop rotating and the lifting target to stop lifting the target, when the lifting button is pressed for a long time, the controller controls the lifting motor to rotate forward and drive the lifting target to lift the target, and after the lifting target limiting signal is detected, the rotation is stopped, and the lifting target stops lifting the target.
S24, when the descending button is pressed, in the state that the descending target limiting signal is not detected, when the descending button is pressed for a short time, the controller controls the lifting motor to reversely rotate and drive the lifting target to descend, after the descending button is released, the controller controls the lifting motor to stop rotating and the lifting target to stop descending the target, when the descending button is pressed for a long time, the controller controls the lifting motor to reversely rotate and drive the lifting target to descend the target, and after the descending target limiting signal is detected, the lifting target stops rotating.
And S25, when an automatic lifting key is pressed, the controller controls the lifting motor to reversely drive the lifting target to drop the target, when the lifting target is at the lowest point and a target-drop limiting signal is detected, the controller controls the lifting motor to positively drive the lifting target to lift the target until the lifting target is at the highest point and the target-drop limiting signal is detected, and after the controller controls the lifting motor to reversely drive the lifting target to drop the target, the lifting target is repeatedly and circularly controlled to ascend and descend.
Target lifting limit signal: when the controller (single-chip microcomputer program) controls the lifting motor to rotate positively, and when the lifting motor rotates to enable the target plate to be in a target lifting state and to be at the highest point, the motor stops rotating, and at the moment, a target lifting limiting signal is needed, namely, when the single-chip microcomputer program detects that a pin for limiting the target lifting is at a low level (at ordinary times, at high level), the single-chip microcomputer program controls the lifting motor control pin to output a lifting motor stop signal.
Otherwise, the same principle is applied to the target-lowering limiting signal: when the singlechip program controls the motor to rotate reversely, when the lifting motor rotates to a position where the target plate is in a target lowering state and is at the lowest point, the lifting motor stops rotating, and a target lowering limiting signal is needed at the moment, namely, when the singlechip program detects that a pin for lowering the target is at a low level (at ordinary times, at high level), the singlechip program outputs a motor stopping signal through the lifting motor control pin.
When the switch is switched to the manual mode, the pin (singlechip pin) of the corresponding controller connected with the mode switching key is changed from high level to low level. When the controller detects that the pin is at a low level, the mode is set to a manual mode, and the up key, the down key and the automatic up and down key are effective in the mode.
When the switch is switched to the wireless remote control mode, the corresponding pin of the corresponding controller connection is changed from a high level to a low level. When the controller detects that the pin is at a low level, the mode is set to be a wireless remote control mode, and in the mode, the lifting key, the descending key and the automatic lifting key are invalid, and only the operations of lifting, descending and the like can be controlled through wireless remote control.
When the switch is turned on to the stop mode, the corresponding pin of the controller connection is changed from the high level to the low level. When the controller detects that the pin is at a low level, the mode is set to be a stop mode, and the singlechip controls the motor to stop rotating in the mode, so that the key operation and the wireless remote control are invalid.
The step S3 specifically includes the following steps:
s31, a user dials a mode switching switch on the controller and selects a control mode as a stop mode.
S32, the controller outputs a stop instruction to the lifting motor, and the priority of the stop instruction is higher than that of each key operation instruction and the wireless remote control mode instruction.
The step S4 specifically includes the following steps:
s41, a user dials a mode switching switch on the controller and selects a control mode to be a wireless remote control mode.
S42, the user sends a wireless communication signal to the controller through the wireless control terminal, and the controller controls the lifting motor, the hit data detector and the light controller according to a control instruction of the wireless communication signal.
S43, the control instruction is a lifting instruction/descending instruction/automatic lifting instruction, and the controller controls the lifting motor to drive the lifting target to lift/lower the target/lift reciprocally between the highest point and the lowest point.
S44, the control instruction is a hit data acquisition instruction, and the controller acquires the hit number on the lifting target plate, the hit ring number of each hit point and the hit direction of each hit point detected by the hit data detector and transmits the hit number and the hit direction to the wireless control terminal;
S45, the control instruction is a light control instruction, and the controller controls the brightness and flicker frequency of each lamp tube on the lifting target by controlling the light controller on the lifting target.
The hit data detector can be a hit data processing module of the controller and is electrically connected with a target plate on the lifting target to acquire hit conditions on the target plate, and a hit trigger identification plate for bullets is arranged on the target plate.
When the wireless remote control mode is started, the hit data detector is started together, and can transmit hit data in real time or transmit the hit data to the wireless control terminal according to the hit data acquisition instruction at the required timing.
The hit data detector is connected with a conductive target plate arranged on the target plate, 5 rings, 6 rings, 7 rings, 8 rings, 9 rings and 10 rings and 6 pins corresponding to the rings are arranged on the conductive target plate, and 8 pins corresponding to the rings are arranged in the directions of the rings, the lower part, the left part, the right part, the upper right part, the lower left part, the lower right part and the 8 pins corresponding to the rings.
When the bullet hits the conductive target plate, the level of a hit pin corresponding to the singlechip of the controller is changed from high level to low level, and when the singlechip program detects that the hit signal is low level, the target plate is considered to be hit.
When the hit detector detects the hit signal, the hit times are calculated, and the hit times are sent to the wireless transceiver module by the serial port, and are uploaded to a remote wireless control terminal by the wireless transceiver module.
When the hit detector detects the ring number and the azimuth signal, the hit ring number and the azimuth are calculated, the ring number and the azimuth data are sent to the wireless transceiver module through the serial port, and the wireless transceiver module uploads the ring number and the azimuth data to a remote wireless control terminal.
The wireless control terminal may be a mobile device terminal such as a main control computer, a tablet, a mobile phone, etc. with a wireless transceiver function, which is not limited in this embodiment.
The controller receives a lamplight adjusting instruction from the wireless control terminal: the controller outputs corresponding duty ratio through the PWM pins to realize brightness change and flickering signals, so as to control the light controller to adjust the light brightness and flickering frequency of the corresponding lamp tube.
The controller of this embodiment can also control the number of times of displaying and hiding the lifting target and the time of displaying the target/vanishing target, and by presetting different control schemes, the lifting control time of the lifting motor, the stop time at a certain height and the lifting speed are controlled, when the target board of the lifting target is at a height (the height can be 1 meter, 0.5 meter or the lowest point according to the specific situation) which can not be captured in the visual field, the lifting target board is in vanishing target state, and when the target board of the lifting target is at a height which can be captured in the visual field, the lifting target board is in vanishing target state.
According to the embodiment, 3 different control modes are set, namely a manual mode, a stop mode and a wireless control mode, the control of a manual key to a lifting target is realized by utilizing the manual mode and key control operation thereof, the lifting activity of the lifting target is stopped by the stop mode, the lifting target cannot be interfered by key control and wireless remote control, the lifting operation of the lifting target is remotely controlled by utilizing the wireless remote control mode, hit data on a target board are collected and automatically reported, the on-site observation before the target is manually achieved, and a person realizes the control of the lifting target and the acquisition of the hit data at a wireless control terminal.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (5)
1. A method for controlling a lift target, comprising:
s1, powering up a lifting target and a controller thereof, selecting a corresponding lifting target by a user, and selecting and identifying the current control mode as one of a manual mode, a stop mode or a wireless remote control mode through the controller;
s2, selecting and identifying that the current control mode is a manual mode, controlling a lifting motor of a lifting target to control lifting operation by a user by pressing a lifting key or a lowering key on the controller, and controlling the lifting motor of the lifting target to automatically lift or lower by pressing an automatic lifting key on the controller;
S3, selecting and identifying the current control mode as a stop mode, and controlling a lifting motor of the lifting target to stop working by a controller;
s4, selecting and identifying that the current control mode is a wireless remote control mode, connecting the wireless control terminal with the controller through a wireless communication signal, remotely sending a control signal to the controller, controlling the lifting target to lift or collecting hit data on the lifting target according to the control signal, and sending the hit data to the wireless control terminal through the wireless communication signal;
The step S2 specifically includes the following steps:
s21, a user dials a mode switching switch on the controller and selects a control mode to be a manual mode;
S22, detecting and identifying one of an up key, a down key or an automatic up key which is currently pressed;
S23, when a lifting key is pressed, in a state that a lifting target limiting signal is not detected, when the lifting key is pressed for a short time, the controller controls the lifting motor to rotate forward and drive the lifting target to lift the target, after the lifting key is released, the controller controls the lifting motor to stop rotating and the lifting target to stop lifting the target, when the lifting key is pressed for a long time, the controller controls the lifting motor to rotate forward and drive the lifting target to lift the target, and after the lifting target limiting signal is detected, the lifting target stops lifting the target;
S24, when a descending button is pressed, in a state that a descending target limiting signal is not detected, when the descending button is pressed for a short time, the controller controls the lifting motor to reversely rotate and drive the lifting target to descend, after the descending button is released, the controller controls the lifting motor to stop rotating and the lifting target to stop descending the target, when the descending button is pressed for a long time, the controller controls the lifting motor to reversely rotate and drive the lifting target to descend the target, and after the descending target limiting signal is detected, the lifting target stops rotating;
S25, when an automatic lifting key is pressed, the controller controls the lifting motor to reversely drive the lifting target to drop the target, when the lifting target is at the lowest point and a target-drop limiting signal is detected, the controller controls the lifting motor to positively drive the lifting target to lift the target until the lifting target is at the highest point and the target-drop limiting signal is detected, the controller controls the lifting motor to reversely drive the lifting target to drop the target, and the lifting target is repeatedly and circularly controlled to ascend and descend;
the step S3 specifically includes the following steps:
s31, a user dials a mode switching switch on the controller and selects a control mode as a stop mode;
s32, the controller outputs a stop instruction to the lifting motor, and the priority of the stop instruction is higher than that of each key operation instruction and the wireless remote control mode instruction.
2. A method of controlling a lift target as set forth in claim 1, wherein: the lifting target is provided with a lifting motor for controlling the lifting of the lifting target, the output part of the lifting motor is installed with a lifting control device of the lifting target, the controller outputs a forward signal to control the lifting motor to forward rotate the lifting target, and outputs a reverse signal to control the lifting motor to reverse rotate the lifting target.
3. A method of controlling a lift target as set forth in claim 2, wherein: the lifting motor detects whether the lifting target is at the limit or the limit of target falling at present and sends a signal to the controller, the lifting motor outputs forward rotation/reverse rotation under the target lifting/target falling instruction of the controller, when the lifting target is at the highest target lifting state/lowest target falling state, a target lifting limit signal/target falling limit signal is fed back to the controller, and the controller controls the controller to stop rotating.
4. A method of controlling a lift target as set forth in claim 3, wherein: the step S4 specifically includes the following steps:
s41, a user dials a mode switching switch on the controller and selects a control mode as a wireless remote control mode;
s42, a user sends a wireless communication signal to the controller through the wireless control terminal, and the controller controls the lifting motor, the hit data detector and the light controller according to a control instruction of the wireless communication signal;
S43, the control instruction is a lifting instruction/a descending instruction/an automatic lifting instruction, and the controller controls the lifting motor to drive the lifting target to lift/lower the target/reciprocate between the highest point and the lowest point;
S44, the control instruction is a hit data acquisition instruction, and the controller acquires the hit number on the lifting target plate, the hit ring number of each hit point and the hit direction of each hit point detected by the hit data detector and transmits the hit number and the hit direction to the wireless control terminal;
S45, the control instruction is a light control instruction, and the controller controls the brightness and flicker frequency of each lamp tube on the lifting target by controlling the light controller on the lifting target.
5. The lift target control method of claim 4, wherein: the hit data detector is connected with a conductive target plate arranged on the target plate, 5 rings, 6 rings, 7 rings, 8 rings, 9 rings and 10 rings and 6 pins corresponding to the rings are arranged on the conductive target plate, and 8 pins corresponding to the rings are arranged in the directions of the rings, the upper, the lower, the left, the right, the upper left, the upper right, the lower left and the lower right.
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| CN202210868081.1A CN115014129B (en) | 2022-07-22 | 2022-07-22 | Lifting target control method |
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| CN202210868081.1A CN115014129B (en) | 2022-07-22 | 2022-07-22 | Lifting target control method |
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| CN115014129B true CN115014129B (en) | 2024-05-28 |
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| CN208869238U (en) * | 2018-08-02 | 2019-05-17 | 上海建工集团股份有限公司 | A kind of hydraulic elevating platform system |
| CN214426554U (en) * | 2021-01-19 | 2021-10-19 | 华晟智诚(北京)科技有限公司 | Automatic target changing machine |
| CN215177292U (en) * | 2021-01-21 | 2021-12-14 | 中国人民解放军总参谋部第六十研究所 | Wireless hit detection target |
| CN215572469U (en) * | 2021-07-06 | 2022-01-18 | 吉林祥钰科技有限公司 | Program-controlled lifting target drone |
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| CN115014129A (en) | 2022-09-06 |
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