CN107877528A - One kind law enforcement technical ability dual training intelligent robot system - Google Patents
One kind law enforcement technical ability dual training intelligent robot system Download PDFInfo
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- CN107877528A CN107877528A CN201711377508.3A CN201711377508A CN107877528A CN 107877528 A CN107877528 A CN 107877528A CN 201711377508 A CN201711377508 A CN 201711377508A CN 107877528 A CN107877528 A CN 107877528A
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- Prior art keywords
- training
- sensor
- robot
- law enforcement
- technical ability
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Abstract
The embodiments of the invention provide one kind law enforcement technical ability dual training intelligent robot system.Including：Robot, data acquisition equipment, training terminal and master controller；The robot includes mobile chassis device, control device and first sensor, the mobile chassis device, the first sensor are connected with the control device respectively, the mobile chassis device is arranged on the predetermined patterns of the robot in the bottom of the robot, the first sensor；The data acquisition equipment and the first sensor are connected with the master controller by communication interface, and the data acquisition equipment is used for the behavioral data for gathering trainer in training process；The hit information that the master controller is used for the robot according to the behavioral data of the trainer and the training terminal-pair generates simulated training evaluation result.The system sensation on the spot in person to trainer, increase the authenticity of simulated training.
Description
【Technical field】
The present invention relates to image simulation technical field, more particularly to a kind of law enforcement technical ability dual training intelligent robot system
System.
【Background technology】
Police, in face of the resistance and attack of violence, can be called a halt and hit using military force in enforcing law.
With the popularization of computer and the development of image processing techniques, more and more it is related to the system of human vision, the sense of hearing and sense organ
It can be completed by computer, therefore, police improves using image simulation police execution training system in some enterprises and institutions
Use ability of the business personnel to alert tool and weapon.
In process of the present invention is realized, the image simulation police execution training system of research and development, is by police service before inventor
The alert being likely encountered in personnel's enforcing law is shot in advance in the form of case, is shown using projector equipment to giant-screen
On, content of the trainer in video judges the developing direction of merit during training, so as to effectively make corresponding reaction.
That is, trainer is to carry out law enforcement to criminal virtual in video, trainer can not be given on the spot in person
Sensation, the authenticity of simulated training is relatively low.
In addition, each equipment in existing image simulation police execution training system needs to be laid in larger training place
In ground, it has not been convenient to which mobile, flexibility is bad, involves great expense, it is important that without decree set of system, multiple departments share, to altogether
Enjoy and have to make other departmental staffs come training court to use because the equipment of large-scale training system be it is fixed can not
With take with.
【The content of the invention】
In view of this, the embodiments of the invention provide one kind enforce the law technical ability dual training intelligent robot system, with so that
Solves above mentioned problem of the prior art less.
A kind of law enforcement technical ability dual training intelligent robot system provided in an embodiment of the present invention, including：
Robot, data acquisition equipment, training terminal and master controller；Wherein,
The robot includes mobile chassis device, control device and first sensor, the mobile chassis device, described
First sensor is connected with the control device respectively, and the mobile chassis device is located at the bottom of the robot, is used for
The robot is driven, the control device is used for the behavior for dominating the robot, and the first sensor is arranged on described
The predetermined patterns of robot, for detecting the hit information of robot described in the training terminal-pair；
The data acquisition equipment and the first sensor are connected with the master controller by communication interface, the number
It is used for the behavioral data for gathering trainer in training process according to collecting device；
The life of master controller robot according to the behavioral data of the trainer and the training terminal-pair
Middle information generates simulated training evaluation result.
Optionally, the robot also includes remote control, and the remote control is used to control the mobile chassis device
Mobile route.
Optionally, the robot also includes positioner, and infrared sensor is provided with the positioner, described red
Outer inductor is used for the positional information for following the trail of the trainer.
Optionally, inertial sensor is provided with the positioner, the inertial sensor is used to position the machine
The positional information of people.
Optionally, simulated training program is previously provided with the control device, the control device is according to the simulation
Training program dominates the behavior operation of the robot.
Optionally, the control device electrically connects with the positioner, and the control device is according to the positioner
The positional information of the trainer of feedback controls the mobile route of the mobile chassis device.
Optionally, the robot also includes second sensor 140, the second sensor 140 and the control device
It is connected, the second sensor 140 is used to detect obstacle information, and the control device is used for according to the obstacle information
Control the mobile route of the mobile chassis device.
Optionally, the training terminal includes training making cartridge rifle, training laser gun, trains and get rid of rod and instruction with flexible
One or more in white silk lacrimation ejector.
Optionally, the first sensor include pressure sensor, vibrating sensor and laser sensor in one or
It is multiple.
Optionally, the second sensor 140 includes optical pick-up apparatus.
Optionally, the portable training box includes the case lid on top and the casing of bottom, and the case lid is provided with a rectangle
Opening, the rectangular aperture is identical with the width of the case lid, and the left and right sides of the rectangular aperture are equipped with along the square
The first slide rail that shape opening anterior-posterior length direction is laid, the case lid are provided with and the rectangular aperture at the rectangular aperture
The installing plate that size is adapted, the front end of the installing plate are provided with rotating shaft, and the left and right sides of the rotating shaft is installed by bearing
There is the first roller, first roller is arranged in first slide rail, and the front and rear sides of the rectangular aperture extend internally and had
Horizontal limiting plate below the installing plate front and back end, wherein the limiting plate positioned at the rectangular aperture is provided with insertion
First screwed hole, the installing plate are provided with the second screwed hole, are provided with the limiting plate and first screwed hole and second
The clamping screw that screwed hole is adapted, one end of the clamping screw pass through first screwed hole and the second screwed hole spiral shell
Line connects, and the second end of the clamping screw is provided with swing handle；The plate face that the installing plate is located in the casing is provided with lifting
Mechanism, lifter plate is installed on the elevating mechanism, the camera device, projection dress are detachably installed on the lifter plate
Put, thermal imaging device.
Optionally, the elevating mechanism includes multigroup the first lifting rod member being connected and the second lifting rod member, and described the
One lifting rod member one end is hinged with the installing plate, and the other end is hinged with the described second lifting rod member, second lifting
Rod member one end with described first lifting rod member be hinged, the other end is slidably connected with the lifter plate, the installing plate provided with
The mounting groove that the first lifting rod member and the second lifting rod member size are adapted, the mounting groove is interior to be provided with the first chute
With the first driving part, the first rack is slidably fitted with first chute, described first driving part one end is fixed, another
End is connected with first rack, and first elevating lever is provided with the first gear being meshed with first rack, described
The other end of first elevating lever is provided with the second chute, and the second rack, first lifting are slidably fitted with second chute
The other end of bar is additionally provided with the second driving part, and described second driving part one end is connected with first elevating lever, another
End is connected with second rack, and second elevating lever is provided with the second gear being meshed with second rack；
When first driving part and second driving part are in the first temperature, first driving part,
Second driving part is the first length, and the first lifting rod member and the second elevating lever are parallel to the installing plate and positioned at described
In mounting groove, when first driving part is in second temperature, second driving part is in the first temperature, described first
Driving part is in the second length, and second driving part is in the first length, and first actuator drives described first
Rack slides, and drives the first gear to rotate so that and the first lifting rod member is perpendicular to the installing plate, and described second
Driving part and first driving part are perpendicular, and first driving part and second driving part are in second
During temperature, first driving part, the second driving part are the second length, and first actuator drives first rack
Slide, and drive the first gear to rotate so that the first lifting rod member is perpendicular to the installing plate, second driving
Part drives second rack to slide, and drives the second gear to rotate so that the second lifting rod member is perpendicular to described
Installing plate.
Optionally, the bottom surface of the lifter plate is provided with the second slide rail, and second elevating lever is provided with and mutually fitted with the slide rail
The second roller matched somebody with somebody.
Optionally, first driving part and second driving part are the shape memory with double-pass memory effect
B alloy wire or shape memory alloy spring.
The present invention can utilize the behavior act of robot simulation's criminal, various crime scenes be built, to training of human
Member's sensation on the spot in person, increase the authenticity of simulated training.In addition, the structure by improving portable training box, is improved
The portability and operability of training system.
【Brief description of the drawings】
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this area
For those of ordinary skill, without having to pay creative labor, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is that a kind of structure for law enforcement technical ability dual training intelligent robot system that the embodiment of the present invention one is provided is shown
It is intended to；
Fig. 2 is the structure chart for the portable training box that the embodiment of the present invention two is provided；
Fig. 3 is the structural representation of installing plate in the portable training box that the embodiment of the present invention two is provided；
Fig. 4 is the structural representation of elevating mechanism in the portable training box that the embodiment of the present invention two is provided.
【Embodiment】
In order to be better understood from technical scheme, the embodiment of the present invention is retouched in detail below in conjunction with the accompanying drawings
State.
It will be appreciated that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
Its embodiment, belongs to the scope of protection of the invention.
The term used in embodiments of the present invention is only merely for the purpose of description specific embodiment, and is not intended to be limiting
The present invention." one kind ", " described " and "the" of singulative used in the embodiment of the present invention and appended claims
It is also intended to including most forms, unless context clearly shows that other implications.
Application scenarios are introduced first, and user carries training terminal, and behaviour area is stood in face of robotic station, carries out accurate
It is standby；When user makes corresponding operation according to the behavior act of robot, and command and transfer body and training terminal, implement
Corresponding safe action and military force means；With the change for the crime scene that robot is built, trainee correspondingly makes newly
Judge, and adjust means and control in time, be finally completed whole simulated training, data acquisition equipment is able to record that user is entirely instructing
Behavior expression during white silk, and evaluation and judgement to behavior expression in user's training process are realized by master controller.
Embodiment one
The embodiment of the present invention one gives a kind of law enforcement technical ability dual training intelligent robot system, refer to Fig. 1, it is
The structural representation for the law enforcement technical ability dual training intelligent robot system that the embodiment of the present invention is provided, as shown in figure 1, described
The items of equipment of system is placed in portable training box when not in use, and items of equipment includes：
Robot 10, data acquisition equipment 20, training terminal 30 and master controller 40；Wherein, the robot 10 includes
Mobile chassis device 110, control device 120 and first sensor 130, the mobile chassis device 110, the first sensor
130 are connected with the control device 120 respectively, and the mobile chassis device 110 is in the bottom of the robot 10, for institute
The movement of robot 10 is stated, the control device 120 is used for the behavior for dominating the robot 10, the first sensor 130
The predetermined patterns of the robot 10 are arranged on, for detecting hit information of the training terminal 30 to the robot 10；
The data acquisition equipment 20 and the first sensor 130 are connected with the master controller 40 by communication interface, the number
It is used for the behavioral data for gathering trainer in training process according to collecting device 20；The master controller 40 is used for according to the instruction
Practice the behavioral data generation simulated training evaluation result of personnel.
Specifically, the mobile chassis device 110 of the bottom of robot 10 is arranged on, the two of robot 10 can be separately mounted to
The bottom of pin, the mobile chassis device 110 can set a groove, be entered by the foot of the groove and robot 10
Row interference connects, and can also attract to carry out the mobile chassis device 110 and the machine by riveting, bolt connection or magnetic force
The connection of people 10, the present invention do not limit herein.The mobile chassis device 110 can be wheel type structure, articulated type or mixed
The forms such as box-like structure, by the mobile chassis device 110, robot 10 is advanced, is retreated, pivot stud etc. it is complete
To movement.
Control device 120 can be arranged on any part of robot 10, and the machine is dominated by the control device 120
The behavior of device people 10, so as to carry out interacting with trainer, wherein, the behavior of the robot 10 includes the robot 10
Transfer route and the robot 10 athletic posture etc., for example, the behavior of simulation criminal, implementing for trainer
Behavior operation should to, run into barrier when be automatically stopped current action or carry out route evade, the control of translational speed etc..
Alternatively, the control device 120 can pre-set simulated training program, and the simulated training program is included respectively
Kind training simulation episode sequence, each training simulation episode sequence include the behavior command of robot 10 when training starts, and
The reflex action that different behavior operations, robot 10 for training policeman's implementation should be carried out instructs.Therefore, robot 10 can
To carry out corresponding behavior act according to selected training simulation episode sequence.Specifically, control device 120 is according to selected instruction
White silk simulated scenario program determines that behavior act instructs, and behavior act instruction is sent to the whole body of robot 10 and moved with described
Corresponding motor, hydraulic system etc. are instructed, so that robot 10 makes the behavior act to match with the action command.
For example, robot 10 can simulate criminal squat down with midstance, left and right lean to one side action, the flat act of both arms, hold high, wave
Dance etc., which act, run, hurrying up etc., to be acted.When trainer operates it for behavior corresponding to the behavior act implementation of robot 10
Afterwards, the control device 120 is operated based on the trainer for behavior corresponding to the behavior act implementation of robot 10,
The reflex action instruction of robot 10 is searched in the training simulation episode sequence, and reflex action instruction is sent to machine
The whole body of device people 10 and the reflex action instruction corresponding motor, hydraulic system etc., warned so that robot 10 makes with training
The reflex action that the behavior operation that member implements is adapted.
In the interaction of the trainer of robot 10, robot 10 may need chased, escaped, hiding obstacle
The behaviors such as thing operate, and above-mentioned function and action belong to the technology category of humanoid robot 10, have been prior art at present, the present invention
Do not repeat.Alternatively, the robot 10 also includes remote control, and the remote control is used to control the mobile chassis to fill
Put 110 mobile route, i.e., chasing route, escape routes or hiding for trainer is chased by remote control control machine people 10
The course of action of obstacle avoidance thing.
Alternatively, the robot 10 also includes positioner, and infrared sensor is provided with the positioner, described
Infrared inductor is used for the positional information for following the trail of the trainer.Specifically, under normal circumstances, people, which knows from experience, outwardly sends ripple
A length of 10 μm of infrared ray, infrared sensor detect the infrared ray that trainer sends, and it is corresponding to produce corresponding signal, so as to
Track the positional information of the trainer.
Alternatively, the control device 120 is connected with the positioner, and the connection can be wired connection,
Can be wireless connection, the control device 120 controls the mobile chassis device according to the positional information of the trainer
110 mobile route, the robot 10 is set to pass through the mobile chassis device 110, the position along the infrared ray
Trainer is chased in direction, is interacted with trainer, and the robot 10 can also be made to pass through the mobile chassis device
110th, escaped along the direction opposite with the infrared ray.
Alternatively, the robot 10 also includes second sensor 140, and the second sensor 140 fills with the control
Put 120 to be connected, the connection can be wired connection or wireless connection, and the second sensor 140 is used to detect
Obstacle information, the control device 120 are used for the movement that the mobile chassis device 110 is controlled according to the obstacle information
Route.
Specifically, the second sensor 140 of setting is passed through, it is possible to achieve the automatic detection barrier of robot 10, and in time
Do some stoppings or avoiding action.Wherein, the second sensor 140 include but is not limited to laser radar sensor, camera,
Ultrasonic sensor, infrared sensor etc., in actual applications, the sensor can be combined to use, so as to
The detection of barrier is more accurately carried out, realizes the self-navigation of robot 10.For example, because laser radar sensor can not
The barrier higher or lower than itself laser radar section is detected, therefore can be installed in laser radar sensor lower part red
Outer sensor and ultrasonic sensor, to detect barrier near the ground；Because ultrasonic sensor has short-distance blind section but can examine
Remote barrier is surveyed, and infrared sensor can detect barrier closely, therefore it is lower in laser radar sensor
Position, ultrasonic sensor and infrared sensor are used cooperatively, reach closely and remote all non-blind areas effect；This
Outside, the view data of current scene is obtained using camera, all shelter information in front of robot 10 can be directly obtained.Institute
The obstacle information that control device 120 detects according to the second sensor 140 received is stated, controls the mobile chassis to fill in time
110 mobile route is put, enables the automatic dodging barrier of robot 10.
Alternatively, inertial sensor is provided with the positioner, the inertial sensor is used to position the machine
The positional information of people 10.
Specifically, the distance that robot 10 passes by unit interval is measured by inertial sensor, and at this
The change of moving direction in the section time, so that it is determined that the positional information of the robot 10.The inertial sensor includes gyro
Instrument and accelerometer, it is first determined robot 10 is training initial position message when starting, and utilizes gyroscope and accelerometer
The specific rotation and rate of acceleration of robot 10 are measured respectively, is integrated to measurement result, so as to solve in the unit interval
The distance and the change in course that inner machine people 10 moves, further according to the rudimentary algorithm of reckoning, try to achieve the robot 10
Relative position information.
In embodiments of the present invention, because some crime scenes may include several criminals, therefore robot 10 can
Including multiple, to be attached between the robot 10 by radio communication, the communication includes but is not limited to
Wifi, bluetooth.Multiple robots 10 can also may be used by wifi or the respective positional information of Bluetooth Synchronous, the inertial sensor
To be attached by communication and the controller, the position of robot 10 described in real-time synchronization in the controller
Confidence cease so that the master controller 40 can according to the positional information of training simulation episode sequence and the robot 10,
More it is accurately controlled the mobile route of the robot 10.
The training terminal 30 includes training making cartridge rifle, training laser gun, trains and used with stretching to get rid of rod and train
One or more in lacrimation ejector.During simulated training, trainer can be according to the behavior or anti-of robot 10
Different military force means should be used, and after corresponding military force means are implemented, then observe and determined according to behavior person's development next
The action of step, for example, language is interactive, is sprayed using lacrimation ejector, is split using flexible stick and hit, open fire.Therefore, in institute
The predetermined patterns for stating robot 10 set first sensor 130, for detecting the training terminal 30 to the robot 10
Hit information.Wherein, the predetermined patterns can be the significant points with robot 10, such as head, four limbs, cardia
Deng the hit information type and target site including training terminal 30 etc..Passed when any the first of these predetermined patterns
After sensor 130 detects hit information, by the connection with the control device 120 by the information transfer of hitting to the control
Device 120 processed, wherein, the connection can be wired connection or wireless connection, and the present invention is not limited herein.Institute
Control device 120 is stated according to hit information, anti-corresponding to current training simulation episode sequence selection robot 10 next step
Answer behavior command.
Further, the first sensor 130 includes one in pressure sensor, vibrating sensor and laser sensor
Individual or multiple, different sensors is used for the hit information for detecting different training terminals 30, therefore can be hit according to detecting
The sensor type of information come determine train terminal 30 type.For example, when trainer uses training making cartridge rifle or instruction
Practice with it is flexible get rid of rod impact robot 10 when, can produce and vibrate on the surface of robot 10, therefore can be pre- by being set in advance in
If the pressure sensor at position detects hit information.When trainer uses training with lacrimation ejector jetting machine people 10
When, injection liquid can produce pressure on robot 10 surface, therefore can be by being set in advance in the pressure sensings of predetermined patterns
Device detects hit information.When trainer hits robot 10 using training with laser gun, due to swashing for laser gun transmitting
Light is near infrared light, human eye None- identified near infrared light, and laser sensor can identify the near infrared light, therefore can be led to
Cross and be set in advance in the laser sensors of predetermined patterns to detect hit information.
It is alternatively possible to different marks is added for the first sensor 130 of different parts, when some first sensor
After 130 detect hit information, identified according to corresponding to the first sensor 130 to determine target site.Furthermore, it is necessary to illustrate
, the first sensor 130 is connected by communication interface with the master controller 40, believed above-mentioned hit by the interface
Breath is sent to the master controller 40.
In embodiments of the present invention, the data acquisition device can include camera device, and the camera device is used to adopt
The behavioral data of the trainer during collection training, because the trainer can also be by language come same robot 10
Interact, therefore behavioral data includes action data and speech data, the behavioral data can be entered by way of video
Row collection, the data acquisition equipment 20 are connected with the master controller 40 by communication interface, the data acquisition equipment 20
The action data of trainer and voice data transmission will be gathered in training process to the master controller 40, the master controller
40 generate simulation according to the behavioral data and the training terminal 30 of the trainer to the hit information of the robot 10
Evaluation of training result, determine the performance level of trainer in the training process.
Alternatively, the system also includes display, and the display electrically connects with the master controller 40, the display
Device is used for the behavior of the trainer described in real-time display training process in a manner of video, while can also show the master control
The simulated training evaluation result that device 40 processed generates, is easy to examiner, the personnel of viewing and emulating to be observed.
Alternatively, the robot 10, data acquisition equipment 20, training terminal 30, master controller 40 and display terminal exist
It can be placed in non-training process in safety box, the robot 10, data acquisition equipment are provided with the safety box
20th, the fixed position of terminal 30, master controller 40 and display terminal is trained.Because the space shared by safety box is smaller and is easy to
Carry, simulated training can be carried out anywhere or anytime, improve the preparation efficiency before training.
The embodiments of the invention provide one kind law enforcement technical ability dual training intelligent robot system, including：Robot 10, number
According to collecting device 20, training terminal 30 and master controller 40；Wherein, the robot 10 includes mobile chassis device 110, control
Device 120 and sensor, the mobile chassis device 110, the sensor are connected with the control device 120 respectively, institute
Mobile chassis device 110 is stated in the bottom of the robot 10, for the movement of the robot 10, the control device 120
For dominating the behavior of the robot 10, the sensor is arranged on the predetermined patterns of the robot 10, for detecting
State hit information of the training terminal 30 to the robot 10；The data acquisition equipment 20 and the sensor and the master control
Device 40 processed is connected by communication interface, and the data acquisition equipment 20 is used for the behavior number for gathering trainer in training process
According to；Life of the master controller 40 according to the behavioral data of the trainer and the training terminal 30 to the robot 10
Middle information generates simulated training evaluation result.By the system, robot 10 can be utilized to simulate the behavior of criminal and moved
Make, build various crime scenes, the sensation on the spot in person to trainer, increase the authenticity of simulated training.
Embodiment two
Second embodiment of the invention is further improved the body structure of portable training box.The reason for improvement
It is, training machine people can be not only accommodated in training box, camera device, projection arrangement, thermal imaging device can also be included
Deng training electronic equipment, these equipment generally require to expose casing ability normal use, but directly opening up through hole can cause
Some pollutions and it is safe the problem of, if therefore the technical scheme that provides of the present embodiment in casing need not open up dry system lens opening, energy
Enough prevent that internal device temperature is too high, and used highly with certain, it is easy to operate, improve the safety of portable training box
Performance, and height regulation can be carried out by the way that elevating mechanism and lifter plate are further to the said equipment, each make can be met
With the demand of scene.In addition, by the way that the height of lifter plate is adjusted, driving part need to be only heated to by heater
Assigned temperature can be without manually, and multistage can adjust, and meets use demand, and by above-mentioned driving part and elevating lever
Part is hidden in the mounting groove of installing plate, can further reduce installing space.
With reference to shown in accompanying drawing 2-4, specific improvement is as follows.
Portable training box includes the case lid 170 on top and the casing 180 of bottom, and case lid 170 is provided with a rectangular aperture
190, rectangular aperture 190 is identical with the width of case lid 170, and the left and right sides of rectangular aperture 190 are equipped with along rectangular aperture 190
The first slide rail 200 that anterior-posterior length direction is laid, case lid 170 are provided with and the size phase of rectangular aperture 190 at rectangular aperture 190
The installing plate 210 of adaptation, the front end of installing plate 210 are provided with rotating shaft 220, and the left and right sides of rotating shaft 220 is provided with by bearing
First roller 230, the first roller 230 are arranged in first slide rail 200, and the front and rear sides of rectangular aperture 190 extend internally
There is the horizontal limiting plate 240 below the front and back end of installing plate 210, wherein the limiting plate 240 positioned at the rectangular aperture 190
The first screwed hole 250 provided with insertion, installing plate are provided with the second screwed hole 260, are provided with and the first screwed hole on limiting plate 240
250 and second clamping screw 270 that is adapted of screwed hole 260, one end of clamping screw 270 passes through the first screwed hole 250 and
Two screwed holes 260 are threadedly coupled, and the second end of clamping screw is provided with swing handle, can lock or beat by swing handle rotation lock bolt
Open the connection between installing plate and case lid 170.It is located at the plate face in the casing in installing plate and elevating mechanism, the liter is installed
Lifter plate 300 is installed, lifter plate 300 is dimensioned slightly smaller than installing plate 210, avoids influenceing clamping screw 270 and the on descending mechanism
The cooperation of two screwed holes 260, the electronics such as camera device, projection arrangement, thermal imaging device are detachably installed on lifter plate 300 and set
It is standby, in the case of being necessary certainly, can also mounting robot or other equipment, be so more convenient for robot or other equipment
Pick and place.
The electronic equipments such as camera device, projection arrangement, thermal imaging device are arranged on the installing plate on case lid by said structure
On, when it is desired to be used, by releasing the connection of clamping screw and the second screwed hole, and then allow installing plate by first
Roller is slided on the first slide rail, most installing plate upset and push-and-pull is to certain position at last, and the upper and lower surface of installing plate is replaced,
So that the said equipment is above casing, can after installing plate upset between installing plate and rectangular aperture reserved part
Airspace, internal device temperature is reduced, extend the service life of each equipment, if the structure in casing not only without opening up
Dry system lens opening, and used highly with certain, it is easy to operate, improve the security performance of portable training box, Er Qieke
To pass through elevating mechanism and the lifter plate need for carrying out height regulation, each usage scenario being met further to the said equipment
Ask, in addition, prevent that temperature is too high outside casing when camera device, projection arrangement, thermal imaging device use, and can also
Enough improve the inner ventilation performance of portable training box, to inside other structures can be good ventilation and heat, avoid casing
Interior temperature is too high and equipment is lost.
In addition, inventor also found, existing elevating mechanism is not only complicated, and volume is larger, and due to this hair
Bright portable training box itself small volume and internal unit is more, it takes a large amount of installing spaces, therefore existing liter
Descending mechanism is the use demand that can not meet, therefore inventor is improved to elevating mechanism, and descending mechanism includes multigroup be connected
The the first lifting rod member 280 and second connect lifts rod member 290, and first lifting one end of rod member 280 is hinged with installing plate 210, separately
One end is hinged with the second lifting rod member 290, and second lifting one end of rod member 290 is hinged with the first lifting rod member 280, the other end
It is slidably connected with lifter plate 300, installing plate 210 is provided with big with the described first lifting lifting of rod member 280 and second size of rod member 290
The small mounting groove 310 being adapted, is provided with the first chute 320 and the first driving part 330 in mounting groove 310, in the first chute 320
The first rack 340 is slidably fitted with, the one end of the first driving part 330 is fixed, and the other end is connected with the first rack 340, and first
Elevating lever 280 is provided with the first gear 350 being meshed with the first rack, and the other end of the first elevating lever 280 is provided with the second chute
360, the second rack 370 is slidably fitted with the second chute 360, and the other end of the first elevating lever 280 is additionally provided with the second drive division
Part 380, the one end of the second driving part 380 are connected with the first elevating lever 280, and the other end is connected with second rack 370,
Second elevating lever 290 is provided with the second gear 390 being meshed with the second rack 370.
When the first driving part 330 and the second driving part 380 are in the first temperature, the first driving part 330,
Two driving parts 380 are the first length, and the first lifting elevating lever 290 of rod member 280 and second is parallel to installing plate 210 and positioned at peace
In tankage 310, now lifter plate 300 is in non-propradation.
When the first driving part 330 is in second temperature, the second driving part 380 is in the first temperature, the first driving
Part 330 is in the second length, and the second driving part 380 is in the first length, and the first actuator 330 drives the first rack 340
Slide, and drive first gear 350 to rotate so that the first lifting rod member 280 is perpendicular to installing plate 210, the second driving part 380
Perpendicular with the first driving part 330, the first order for completing lifter plate 300 rises.
When the first driving part 330 and the second driving part 380 are in second temperature, the first driving part 330,
For two driving parts 380 to be the second length, the first actuator 330 drives the first rack 340 to slide, and drives first gear
350 rotate so that the first lifting rod member 280 is perpendicular to installing plate 201, and similarly, the second actuator 380 drives the second rack 370
Slide, and drive second gear 390 to rotate so that the second lifting rod member is also perpendicularly to installing plate 210, completes lifter plate 300
The second level rises.
The first length and the second length of certain above-mentioned first driving part and the second driving part can may not be used with identical yet
Together, merely just for convenience of explanation, and the number of driving part and lifting rod member can be adjusted as needed.It is preferred that
, first driving part and the second driving part of the present embodiment are shape-memory alloy wire or shape with double-pass memory effect
Shape memory alloys spring, it is not only simple in structure, and is denatured rapid, reply stabilization.
The height of lifter plate is adjusted by said structure, need to will only be driven by heater (such as heater strip)
Part is heated to assigned temperature can be without manually, and multistage can adjust, and meets use demand, and by above-mentioned drive division
Part and lifting rod member are hidden in the mounting groove of installing plate, can further reduce installing space, volume reduction rate is substantially excellent
In existing elevating mechanism.
In addition, the bottom surface of the lifter plate 300 of the present embodiment is provided with the second slide rail (not shown), the second elevating lever is provided with and institute
State the second roller (not shown) that slide rail is adapted.Said structure is in lifting process because the cooperation of roller and slide rail will not produce
Raw resistance to sliding, lifting process are smooth and gentle.
The alternative embodiment of the present invention is the foregoing is only, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements done etc., should be included within the scope of protection of the invention with principle.
Claims (10)
1. one kind law enforcement technical ability dual training intelligent robot system, it is characterised in that including：
Portable training box, robot, data acquisition equipment, training terminal and master controller, set in the portable training box
It is equipped with the space for accommodating and fixing the robot, data acquisition equipment, training terminal and master controller；
Wherein,
The robot includes mobile chassis device, control device and first sensor, the mobile chassis device, described first
Sensor is connected with the control device respectively, and the mobile chassis device is located at the bottom of the robot, for driving
The robot, the first sensor are arranged on the predetermined position of the robot, for detecting the training terminal-pair institute
The hit information of robot is stated, the control device controls the action of the mobile chassis device, and the hit information is led to
Cross communication interface and be sent to master controller；
The data acquisition equipment is connected with the master controller by the communication interface, and the data acquisition equipment is used to adopt
The behavioral data of trainer during collection training；
The hit letter of master controller robot according to the behavioral data of the trainer and the training terminal-pair
Breath generation simulated training evaluation result.
A kind of 2. law enforcement technical ability dual training intelligent robot system according to claim 1, it is characterised in that the machine
Device people also includes remote control, and the remote control is used for the mobile route for controlling the mobile chassis device.
A kind of 3. law enforcement technical ability dual training intelligent robot system according to claim 1, it is characterised in that the machine
Device people also includes positioner, and infrared sensor is provided with the positioner, and the infrared inductor is described for following the trail of
The positional information of trainer.
4. a kind of law enforcement technical ability dual training intelligent robot system according to claim 3, it is characterised in that described fixed
Inertial sensor is provided with the device of position, the inertial sensor is used for the positional information for positioning the robot.
A kind of 5. law enforcement technical ability dual training intelligent robot system according to claim 1, it is characterised in that the control
Simulated training program is previously provided with device processed, the control device dominates the robot according to the simulated training program
Behavior operation.
A kind of 6. law enforcement technical ability dual training intelligent robot system according to claim 3, it is characterised in that the control
Device processed electrically connects with the positioner, the position letter for the trainer that the control device feeds back according to the positioner
Breath controls the mobile route of the mobile chassis device.
A kind of 7. law enforcement technical ability dual training intelligent robot system according to claim 1, it is characterised in that the machine
Device people also includes second sensor, and the second sensor is connected with the control device, and the second sensor is used to examine
Obstacle information is surveyed, the control device is used for the mobile road that the mobile chassis device is controlled according to the obstacle information
Line.
A kind of 8. law enforcement technical ability dual training intelligent robot system according to claim 1, it is characterised in that the instruction
Practicing terminal includes training making cartridge rifle, training laser gun, trains one for using and stretching and getting rid of in rod and training lacrimation ejector
Kind is a variety of.
9. a kind of law enforcement technical ability dual training intelligent robot system according to claim 8, it is characterised in that described the
One sensor includes one or more of pressure sensor, vibrating sensor and laser sensor.
10. a kind of law enforcement technical ability dual training intelligent robot system according to claim 7, it is characterised in that described
Second sensor includes optical pick-up apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711377508.3A CN107877528A (en) | 2017-12-19 | 2017-12-19 | One kind law enforcement technical ability dual training intelligent robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711377508.3A CN107877528A (en) | 2017-12-19 | 2017-12-19 | One kind law enforcement technical ability dual training intelligent robot system |
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| CN107877528A true CN107877528A (en) | 2018-04-06 |
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| CN201711377508.3A Pending CN107877528A (en) | 2017-12-19 | 2017-12-19 | One kind law enforcement technical ability dual training intelligent robot system |
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| CN112534366A (en) * | 2018-10-11 | 2021-03-19 | 欧姆龙株式会社 | Simulation device, simulation method, and simulation program |
| CN110466647B (en) * | 2019-09-10 | 2024-05-10 | 中国矿业大学 | Dredging robot for leachate grating plate of garbage pool of garbage power plant and working method |
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