CN103851962A - Automatic target-scoring robot - Google Patents
Automatic target-scoring robot Download PDFInfo
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- CN103851962A CN103851962A CN201210498287.6A CN201210498287A CN103851962A CN 103851962 A CN103851962 A CN 103851962A CN 201210498287 A CN201210498287 A CN 201210498287A CN 103851962 A CN103851962 A CN 103851962A
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- 230000033001 locomotion Effects 0.000 claims abstract description 31
- 238000012549 training Methods 0.000 claims abstract description 22
- 230000000630 rising effect Effects 0.000 claims abstract description 3
- 238000004891 communication Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 239000004973 liquid crystal related substance Substances 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims description 2
- 230000007175 bidirectional communication Effects 0.000 abstract 1
- 238000013139 quantization Methods 0.000 abstract 1
- 238000010304 firing Methods 0.000 description 5
- 238000004088 simulation Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
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Abstract
The invention discloses an automatic target-scoring robot, comprising a robot body and a remote controller. The robot remotely controls displaying, hiding and variable-speed curve operation of a target in a wireless bidirectional communication manner, the control of a target area without support personnel and independent of site facilities is achieved, and the long plagued problem of personnel safety when troops are in live-fire training is solved; the target has the functions of automatic displaying and hiding and curved variable-speed operation so as to be perfectly true to a real target, and thus modern shooting training requirements of the troops are met; a function of presetting a shooting training scheme is provided, so that intelligent control on the motion trail and the displaying and hiding time of the target is achieved. In addition, the automatic target-scoring robot has the functions of automatic target scoring, automatically storing scores and presetting target rising and falling times, so that the problems of rapid response and score quantization in the live-fire training of the troops are solved.
Description
Technical field
The present invention relates to a kind of ball firing robot target, particularly a kind of automatic target-indicating robot that can Remote.
Background technology
In current anti-terrorism, anti-riotly become a kind of new operation pattern, there is very strong particularity, need to implement fast various ways target, accurately fire assault.Statistics according to People's Armed Police to accident, anti-terrorism case: moving target shooting reaches 34.3%, disappearing target shooting reaches 37.1%, and static object shooting is only 2.2%.
The evaluation regulation of U.S. army to small arms ball firing: infantry's leap time is in 10 seconds, and the disappearing target time is in 5 seconds, avoiding regular motion, quick hidden keeping away is modern war distinguishing feature.At current anti-terrorism small arms ball firing training under the new situation, arranging of goal must meet demand under battle conditions.Target need have irregular high speed curvilinear motion, fast disappearing function.
The target disappearing system of small arms range, is underground reinforced concrete covered works at present, adopt manually or mechanical system display-object more; Motion target adopts the closed shooting lane of track straight line, only can realize straight line, uniform motion.Whole place auxiliary facility is various, and cost is high, maintaining complexity.The data of searching at present according to us: only see the simulation S of German army curvilinear motion target drone, this target drone is rail mounted, rectilinear motion+revoliving arm translation target drone, target simulation S curvilinear motion.This target drone can not realistic simulation real goal curve, variable motion.
For meeting the training demand under new anti-terrorism situation, the invention provides a kind of automatic target-indicating robot, can realize the demonstration of long-distance remote control target, hidden and motion, the motion of realistic simulation real goal, is that the training cartridge of anti-terrorism under the new situation, anti-riot gunnery training urgent need is standby.
Summary of the invention
The technical problem to be solved in the present invention is: for the demand of current anti-terrorism gunnery training, provide a kind of automatic target-indicating robot, can realize the demonstration of long-distance remote control target, hidden and motion, the motion of realistic simulation real goal, and indication of shots that can be real-time.
Technical solution of the present invention is: a kind of automatic target-indicating robot, comprises robot body and remote manipulator.Robot body comprises car body 3, main motion drive unit, steer-drive, target Xian Yin mechanism, control system 20, battery 21; Remote manipulator comprises shell 34, display screen 32, sound equipment 29, control panel 30, button 31, battery, charging inlet, remote control control module, data transmission module, antenna 33.
Target Xian Yin mechanism comprises motor 12, decelerator 10, crank 18, aobvious hidden rocking bar 19, connecting rod 7, aobvious hidden rotating shaft 8, target installing rack 9.Motor 12 and decelerator 10 are fixed on car body 3; Connecting rod 7 is fixing with aobvious hidden rotating shaft 8, and aobvious hidden rotating shaft 8 is fixed on car body 3 by bearing bracket stand; Connecting rod 7 is hinged with aobvious hidden rocking bar 19, and aobvious hidden rocking bar 19 is hinged with crank 18, adopts key to connect between crank 18 and decelerator 10 output shafts.Target installing rack 9 is fixed on one end of aobvious hidden rotating shaft 8, and the part that target fixed mount 9 is connected with target 14 has U-shaped socket, when use, as long as the partial insertion U-shaped socket that target 14 is connected with fixed mount 9 uses pin 11 fixing, is convenient for changing target 14.The aobvious hidden of target 14 is mainly to drive target rotating shaft 8 to rotate to realize around the support of bearing by crank and rocker mechanism.Target 14 mainly contains report round target and hits two kinds of targets.
The present invention adopts wireless two-way communication mode, and the aobvious hidden time of movement locus and the target of target robot also can be set by remote controller, realizes the aobvious hidden and speed change curve motion of long-distance remote control target.Before training, setting scheme numbering, selects to set running orbit, and the aobvious vanishing target time is set.When training, as long as choose training program numbering, by starting to train button, target can move by default track, by the default bobbing target time play target, target falls.
The technological merit that the present invention realizes is: the demonstration, the hidden and speed change curve motion that adopt wireless two-way communication mode long-distance remote control target, realize and do not relied on site facility, do not need support personnel to manipulate in target area, the personal security problem while having solved long-term puzzlement army ball firing training; Automatically aobvious hidden, the curve variable motion function of target, perfect true to nature in real goal, meet army's modernization gunnery training demand.Target curvilinear motion turns to and adopts stepper motor to drive, and turns to automatically and precisely resets, and steering manipulation is easy, precisely reliable.Adopt fuzzy control technology, realized the low inertia of motion target target, high accuracy and high reliability operation; Gunnery training scheme arranges function, has realized target motion track and has automatically controlled; The aobvious hidden time of target is controlled automatically.Automatic target-indicating (hit position, impact time shows in real time) function, achievement autostore function, the target time preset function that rises and falls, has solved army's ball firing training, and fast reaction achievement quantizes a difficult problem.
Brief description of the drawings
The component devices figure of Tu1Shi Intelligent target robot
Fig. 2 is that robot architecture schemes
Fig. 3 is remote controller structure
Wherein: 1. aobvious hidden rocking bar 20. control system 21. battery 22. stepper motor 23. front rod 24. rocking bar 25. pole 26. driving crank 27. gripper shoe 28. vehicle body hanger 29. sound equipment 30. control panel 31. button 32. display screen 33. antenna 34. housings of remote controller 2. robot 3. car body 4. front-wheel rotating shaft 5. front-wheel 6. front axle aobvious hidden rotating shaft 9. target installing rack 10. decelerator 11. pin 12. motor 13. trailing wheel 14. target 15. rotating shaft 16. gear reduction box 17. direct current generator 18. crank 19. of 7. crank 8.
(note: the inner composition of remote controller does not outpour).
Detailed description of the invention
The present invention includes as shown in the figure robot body 2 and remote manipulator 1; The present invention adopts fuzzy control technology, has realized the low inertia of motion target target, high accuracy and high reliability operation.Realize the preset function of gunnery training scheme simultaneously, realized target motion track Based Intelligent Control and the target Based Intelligent Control of aobvious hidden time.
The key technical indexes of the present invention is: wireless two-way communication message transmission rate: 19200bit/s; Turn to 20 ° of hard-overs; Main driving DC speed-regulating motor speed adjustable range: 0～4 meter per second; Adopt special target plate, gather and hit signal, hit in position, impact time 60 milliseconds of data and transfer to main control end (hand-held liquid crystal remote controller); 1 meter of running orbit deviation ﹤.Target disappearing set of time scope 1～99 second, target speed≤0.7 second of rising and falling.
The present invention adopts wireless two-way communication mode, and the aobvious hidden time of movement locus and the target of target robot also can be set by remote controller, realizes the aobvious hidden and speed change curve motion of long-distance remote control target.Before training, setting scheme numbering, selects to set running orbit, and the aobvious vanishing target time is set.When training, as long as choose training program numbering, by starting to train button, target can move by default track, by the default bobbing target time play target, target falls.
Claims (10)
1. an automatic target-indicating robot, comprises robot body (2) and remote manipulator (1); It is characterized in that: aobvious hidden time of target and target motion track can be realized automatically and controlling.
2. automatic target-indicating according to claim 1 robot, is characterized in that: robot body (2) comprises car body (3), main motion drive unit, steer-drive, target Xian Yin mechanism, control system (20), battery (21).
3. automatic target-indicating according to claim 1 robot, is characterized in that: remote manipulator (1) comprises shell (34), display screen (32), sound equipment (29), control panel (30), button (31), battery, charging inlet, remote control control module, data transmission module, antenna (33).
4. automatic target-indicating according to claim 1 robot, is characterized in that: robot body (2) main motion drive unit comprises one group of trailing wheel (13), rotating shaft (15), gear reduction box (16), DC speed-regulating motor (17); DC speed-regulating motor (17) and gear-box (16) are fixed on car body (3); It is upper that rotating shaft (15) is connected to car body (3) by bearing, and shaft gear engages to transmit the torque of DC speed-regulating motor (17) output with gear reduction box (16) output shaft gear, and then drive wheel (13) to rotate main motion; Between trailing wheel (13) and rotating shaft (15), adopt key to be connected.
5. automatic target-indicating according to claim 1 robot, is characterized in that: robot body (2) steer-drive comprises one group of front-wheel (5), front axle (6), front-wheel rotating shaft (4), pole (25), gripper shoe (27), front rod (23), rocking bar (24), driving crank (26), stepper motor (22); Front axle (6) is fixed in front-wheel rotating shaft (4), front-wheel (5) is connected with front axle (6) by bearing, front-wheel rotating shaft (4) is hinged in vehicle body hanger (28), front rod (23) is fixing with front-wheel rotating shaft (4), and guarantee can drive front-wheel rotating shaft (4) to rotate; Driving crank (26) is two ends symmetric design, and one end and the near front wheel rocking bar (24) are hinged, and the other end and off-front wheel rocking bar are hinged; Hinged between rocking bar (24) and front rod (23); Stepper motor (22) is fixed in the gripper shoe (27) on pole (25) by the pole (25) being fixed on car body, and output shaft is downward, between front crank (26) and motor (22) axle, adopts key to be connected; Turning to of front-wheel (5) is mainly to drive front-wheel rotating shaft 4 to rotate and realize around vehicle body hanger (28) by crank and rocker mechanism, the symmetric design of front crank (26) and front and back are arranged can ensure the synchronism that two-wheeled turns to, adopt stepper motor (22) to realize to turn to automatically precisely reset, manipulate easy, precisely reliable.
6. automatic target-indicating according to claim 1 robot, is characterized in that target Xian Yin mechanism comprises motor (12), decelerator (10), crank (18), aobvious hidden rocking bar (19), connecting rod (7), aobvious hidden rotating shaft (8), target installing rack (9); Motor (12) and decelerator (10) are fixed on car body (3); Connecting rod (7) is fixing with aobvious hidden rotating shaft (8), and aobvious hidden rotating shaft (8) is fixed on car body (3) by bearing bracket stand; Connecting rod (7) is hinged with aobvious hidden rocking bar (19), and aobvious hidden rocking bar (19) is hinged with crank (18), adopts key to connect between crank (18) and decelerator (10) output shaft; Target installing rack (9) is fixed on one end of aobvious hidden rotating shaft (8), target fixed mount (9) has U-shaped socket with the part that target (14) is connected, when use, need only the partial insertion U-shaped socket that target (14) is connected with fixed mount (9), use pin (11) fixing, be convenient for changing target (14); The aobvious hidden of target (14) is mainly to drive target rotating shaft (8) to rotate to realize around the support of bearing by crank and rocker mechanism; Target (14) mainly contains report round target and hits two kinds of targets.
7. automatic target-indicating according to claim 1 robot; it is characterized in that battery (21) and control system (20) are arranged on car body (3) upper, control system (20) mainly comprises main drive control module, turns to drive control module, target signal receiving module, signal transmission module, aobvious hidden mechanism controls module; The signal that signal receiving module collects project training passes to remote manipulator through signal transmission system after processing, remote manipulator just can be by voice module via sound equipment (29) indication of shots in real time, and the time showing of shooting is upper at display screen (32), and can autostore design information.
8. automatic target-indicating according to claim 1 robot, is characterized in that adopting wireless two-way communication mode.
9. automatic target-indicating according to claim 1 robot, is characterized in that the key technical indexes is: wireless two-way communication message transmission rate: 19200bit/s; Turn to 20 ° of hard-overs; Main driving DC speed-regulating motor speed adjustable range: 0～4 meter per second; Adopt special target plate, gather and hit signal, hit in position, impact time 60 milliseconds of data and transfer to main control end (hand-held liquid crystal remote controller); 1 meter of running orbit deviation ﹤; Target disappearing set of time scope 1～99 second, target speed≤0.7 second of rising and falling.
10. automatic target-indicating according to claim 1 robot, is characterized in that before training, and setting scheme numbering is selected to set running orbit, and the aobvious vanishing target time is set; When training, as long as choose training program numbering, by starting to train button, target can move by default track, by the default bobbing target time play target, target falls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210498287.6A CN103851962A (en) | 2012-11-29 | 2012-11-29 | Automatic target-scoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210498287.6A CN103851962A (en) | 2012-11-29 | 2012-11-29 | Automatic target-scoring robot |
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| CN103851962A true CN103851962A (en) | 2014-06-11 |
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| CN201210498287.6A Pending CN103851962A (en) | 2012-11-29 | 2012-11-29 | Automatic target-scoring robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2667132C1 (en) * | 2017-03-06 | 2018-09-14 | Открытое акционерное общество "Завод им. В.А. Дегтярева" | Robotic modular self-contained range equipment |
| CN108594805A (en) * | 2018-03-26 | 2018-09-28 | 福建（泉州）哈工大工程技术研究院 | A kind of control method of target practice image training robot that capableing of remote control |
| CN113469543A (en) * | 2021-07-12 | 2021-10-01 | 河北砺兵科技有限责任公司 | System and method for evaluating effect of ball firing training |
| CN114280986A (en) * | 2021-12-13 | 2022-04-05 | 北京昆仑卫士智能科技有限公司 | Intelligent target reporting device |
-
2012
- 2012-11-29 CN CN201210498287.6A patent/CN103851962A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2667132C1 (en) * | 2017-03-06 | 2018-09-14 | Открытое акционерное общество "Завод им. В.А. Дегтярева" | Robotic modular self-contained range equipment |
| CN108594805A (en) * | 2018-03-26 | 2018-09-28 | 福建（泉州）哈工大工程技术研究院 | A kind of control method of target practice image training robot that capableing of remote control |
| CN113469543A (en) * | 2021-07-12 | 2021-10-01 | 河北砺兵科技有限责任公司 | System and method for evaluating effect of ball firing training |
| CN114280986A (en) * | 2021-12-13 | 2022-04-05 | 北京昆仑卫士智能科技有限公司 | Intelligent target reporting device |
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Application publication date: 20140611 |