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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- 238000012549 training Methods 0.000 title claims abstract description 135
- 230000009977 dual effect Effects 0.000 title abstract 2
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- 230000008569 process Effects 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000011156 evaluation Methods 0.000 claims abstract description 9
- 238000004088 simulation Methods 0.000 claims description 24
- 230000009471 action Effects 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 7
- 239000003550 marker Substances 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000003542 behavioural effect Effects 0.000 abstract description 3
- 230000035807 sensation Effects 0.000 abstract description 2
- 230000006399 behavior Effects 0.000 description 39
- 238000006243 chemical reaction Methods 0.000 description 10
- 238000009434 installation Methods 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000001931 thermography Methods 0.000 description 5
- 238000010438 heat treatment Methods 0.000 description 4
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 4
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- 238000009423 ventilation Methods 0.000 description 3
- 238000013480 data collection Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003446 memory effect Effects 0.000 description 2
- 206010023644 Lacrimation increased Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000011038 discontinuous diafiltration by volume reduction Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004317 lacrimation Effects 0.000 description 1
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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
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- 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
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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 ] A method for producing a semiconductor device
The invention relates to the technical field of image simulation, in particular to an intelligent robot system for law enforcement skill confrontation training.
[ background of the invention ]
In the law enforcement process, police officers can use force to stop and attack in the face of violence resistance and attack. With the popularization of computers and the development of image processing technology, more and more systems related to human vision, hearing and perception can be completed by the computers, so that some enterprises and public institutions adopt an image simulation police law enforcement training system to improve the using capacity of police officers for police instruments and weapons.
In the process of implementing the invention, the image simulation police enforcement training system developed by the inventor before is characterized in that the police conditions possibly encountered in the police enforcement process are shot in advance in a case form and are displayed on a large screen by using a projection device, and the trainees judge the development direction of case conditions according to the contents in the video during training, so that corresponding reactions are effectively made. That is to say, the training personnel can not give the training personnel a feeling of being personally on the scene by performing law enforcement action on virtual criminals in the video, and the reality of the simulated training is low.
In addition, each device in the existing image simulation police service law enforcement training system needs to be arranged in a large training field, is inconvenient to move, has poor flexibility and high manufacturing cost, and importantly, a plurality of departments of one set of system cannot share the device.
[ summary of the invention ]
In view of the above, embodiments of the present invention provide an intelligent robot system for law enforcement skill confrontation training, which at least solves the above problems in the prior art.
The embodiment of the invention provides an intelligent robot system for law enforcement skill confrontation training, which comprises:
the system comprises a robot, data acquisition equipment, a training terminal and a main controller; wherein,
the robot comprises a mobile chassis device, a control device and a first sensor, wherein the mobile chassis device and the first sensor are respectively connected with the control device, the mobile chassis device is positioned at the bottom of the robot and used for driving the robot, the control device is used for controlling the behavior of the robot, and the first sensor is arranged at a preset part of the robot and used for detecting the hit information of the training terminal on the robot;
the data acquisition equipment and the first sensor are connected with the main controller through a communication interface, and the data acquisition equipment is used for acquiring behavior data of training personnel in a training process;
and the master controller generates a simulation training evaluation result according to the behavior data of the training personnel and the hit information of the training terminal on the robot.
Optionally, the robot further comprises a remote control device, and the remote control device is used for controlling the moving route of the moving chassis device.
Optionally, the robot further comprises a positioning device, an infrared sensor is arranged in the positioning device, and the infrared sensor is used for tracking the position information of the training personnel.
Optionally, an inertial sensor is disposed in the positioning device, and the inertial sensor is used to position the position information of the robot.
Optionally, a simulation training program is preset in the control device, and the control device governs behavior operation of the robot according to the simulation training program.
Optionally, the control device is electrically connected to the positioning device, and the control device controls the moving route of the moving chassis device according to the position information of the trainee fed back by the positioning device.
Optionally, the robot further includes a second sensor 140, the second sensor 140 is connected to the control device, the second sensor 140 is configured to detect obstacle information, and the control device is configured to control a moving route of the moving chassis device according to the obstacle information.
Optionally, the training terminal includes one or more of a marker bullet gun for training, a laser gun for training, a telescopic baton for training, and a lacrimation sprayer for training.
Optionally, the first sensor comprises one or more of a pressure sensor, a vibration sensor and a laser sensor.
Optionally, the second sensor 140 includes an optical camera.
Optionally, the portable training box comprises a box cover at the upper part and a box body at the lower part, the box cover is provided with a rectangular opening, the rectangular opening is the same as the width of the box cover, the left and right sides of the rectangular opening are provided with first slide rails arranged along the length direction of the rectangular opening, the box cover is provided with a mounting plate matched with the rectangular opening in size, the front end of the mounting plate is provided with a rotating shaft, the left and right sides of the rotating shaft are provided with first rollers through bearings, the first rollers are mounted in the first slide rails, the front and back sides of the rectangular opening are inwardly extended with horizontal limiting plates positioned below the front and back ends of the mounting plate, wherein the limiting plates positioned at the rectangular opening are provided with a first threaded hole which is through, the mounting plate is provided with a second threaded hole, and the limiting plates are provided with locking bolts matched with the first threaded hole and the second threaded hole, one end of the locking bolt is in threaded connection with the second threaded hole through the first threaded hole, and a rotating handle is arranged at the second end of the locking bolt; the mounting panel is located elevating system is installed to the face in the box, the last lifter plate of installing of elevating system, demountable installation is on the lifter plate have camera device, projection arrangement, thermal imaging device.
Optionally, the lifting mechanism includes a plurality of groups of first lifting rod members and second lifting rod members connected with each other, one end of each first lifting rod member is hinged to the mounting plate, the other end of each first lifting rod member is hinged to the corresponding second lifting rod member, one end of each second lifting rod member is hinged to the corresponding first lifting rod member, the other end of each second lifting rod member is connected with the corresponding lifting plate in a sliding manner, the mounting plate is provided with a mounting groove matched with the first lifting rod member and the second lifting rod member in size, a first sliding groove and a first driving part are arranged in the mounting groove, a first rack is slidably mounted in the first sliding groove, one end of the first driving part is fixed, the other end of the first driving part is connected with the first rack, the first lifting rod is provided with a first gear meshed with the first rack, the other end of the first lifting rod is provided with a second sliding groove, and a second rack is slidably, the other end of the first lifting rod is also provided with a second driving part, one end of the second driving part is connected with the first lifting rod, the other end of the second driving part is connected with the second rack, and the second lifting rod is provided with a second gear meshed with the second rack;
when the first driving part and the second driving part are both at a first temperature, the first driving part and the second driving part are at a first length, the first lifting rod piece and the second lifting rod piece are parallel to the mounting plate and are positioned in the mounting groove, when the first driving part is at a second temperature and the second driving part is at the first temperature, the first driving part is at a second length, the second driving part is at the first length, the first driving piece drives the first rack to slide and drives the first gear to rotate, so that the first lifting rod piece is perpendicular to the mounting plate, the second driving part is perpendicular to the first driving part, when the first driving part and the second driving part are both at the second temperature, the first driving part and the second driving part are at the second length, the first driving piece drives the first rack to slide and drives the first gear to rotate, so that the first lifting rod piece is perpendicular to the mounting plate, and the second driving piece drives the second rack to slide and drives the second rack to rotate, so that the second lifting rod piece is perpendicular to the mounting plate.
Optionally, the bottom surface of the lifting plate is provided with a second slide rail, and the second lifting rod is provided with a second roller matched with the slide rail.
Optionally, the first drive member and the second drive member are shape memory alloy wires or shape memory alloy springs having a two-way memory effect.
The invention can simulate the behavior of criminals by using the robot, create various crime scenes, bring the training personnel a sense of being personally on the scene and increase the reality of simulated training. In addition, by improving the structure of the portable training box, the portability and operability of the training system are improved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a schematic structural diagram of an intelligent robot system for law enforcement skill confrontation training according to an embodiment of the present invention;
FIG. 2 is a block diagram of a portable training case provided in accordance with a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a mounting plate in a portable training case according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a lifting mechanism in a portable training box according to a second embodiment of the present invention.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
Firstly, introducing an application scene, wherein a user carries a training terminal to stand in an active area for preparing when facing a robot; when the user makes corresponding reaction operation according to the behavior action of the robot, the user instructs to mobilize the body and train the terminal, and corresponding safe action and force means are implemented; with the change of the crime scene created by the robot, the trainee correspondingly makes new judgment, the adjustment means is controlled in time, the whole simulation training is finally completed, the data acquisition equipment can record the behavior of the user in the whole training process, and the evaluation and judgment of the behavior of the user in the training process are realized through the main controller.
Example one
Referring to fig. 1, which is a schematic structural diagram of an intelligent robot system for law enforcement skill counter training provided in an embodiment of the present invention, as shown in fig. 1, when not in use, the devices of the system are placed in a portable training box, and the devices include:
robot 10, data acquisition device 20, training terminal 30, and master controller 40; the robot 10 comprises a mobile chassis device 110, a control device 120 and a first sensor 130, wherein the mobile chassis device 110 and the first sensor 130 are respectively connected with the control device 120, the mobile chassis device 110 is arranged at the bottom of the robot 10 and is used for the movement of the robot 10, the control device 120 is used for governing the behavior of the robot 10, and the first sensor 130 is arranged at a preset position of the robot 10 and is used for detecting the hit information of the training terminal 30 on the robot 10; the data acquisition device 20 and the first sensor 130 are connected with the main controller 40 through a communication interface, and the data acquisition device 20 is used for acquiring behavior data of a trainer in a training process; the main controller 40 is used for generating a simulation training evaluation result according to the behavior data of the trainee.
Specifically, the mobile chassis device 110 disposed at the bottom of the robot 10 may be respectively installed at the bottoms of two feet of the robot 10, and the mobile chassis device 110 may be provided with a groove, and the groove may be in interference connection with the feet of the robot 10, or the mobile chassis device 110 may be connected with the robot 10 by riveting, bolting, or magnetic attraction, which is not limited herein. The moving chassis device 110 may have a wheel type structure, an articulated type structure, a hybrid type structure, or the like, and the robot 10 can move in all directions such as forward, backward, pivot steering, or the like by the moving chassis device 110.
The control device 120 may be provided at any position of the robot 10, and the control device 120 may control the behavior of the robot 10, such as a transfer path of the robot 10, a motion posture of the robot 10, and the like, to interact with a trainee, for example, to simulate a crime person's behavior, to cope with a behavior operation performed by the trainee, to automatically stop a current operation when an obstacle is encountered, to perform a path, or to control a moving speed.
Alternatively, the control device 120 may preset a simulation training program, where the simulation training program includes various training simulation scenario programs, and each training simulation scenario program includes a behavior instruction of the robot 10 at the beginning of training, and a reaction behavior instruction that the robot 10 should perform for different behavior operations performed by a training police officer. Accordingly, the robot 10 may perform corresponding behavioral actions according to the selected training simulation scenario program. Specifically, the control device 120 determines a behavior action command according to the selected training simulation scene program, and sends the behavior action command to a motor, a hydraulic system, and the like corresponding to the action command on the whole body of the robot 10, so that the robot 10 performs a behavior action matching the action command. For example, the robot 10 may simulate the criminal's squat and standing posture, side-to-side motion, flat-lift, high-lift, waving, etc. motions, running, fast-walking, etc. After the trainee performs the corresponding behavior operation with respect to the behavior of the robot 10, the control device 120 searches the reaction behavior instruction of the robot 10 in the training simulation scene program based on the behavior operation performed with respect to the behavior of the robot 10 by the trainee, and sends the reaction behavior instruction to the motor, the hydraulic system, and the like corresponding to the reaction behavior instruction throughout the body of the robot 10, so that the robot 10 performs the reaction behavior suitable for the behavior operation performed by the trainee.
In the interaction process of the robot 10 training personnel, the robot 10 may need to perform actions such as pursuing, escaping, avoiding obstacles, and the like, and the above functions and actions belong to the technical scope of the human robot 10, which is the prior art at present, and are not described in detail herein. Optionally, the robot 10 further comprises a remote control device for controlling the moving route of the moving chassis device 110, i.e. a pursuit route, a fleeing route or an action route for avoiding obstacles, by controlling the robot 10 through the remote control device.
Optionally, the robot 10 further includes a positioning device, and an infrared sensor is disposed in the positioning device and used for tracking the position information of the trainee. Specifically, under normal conditions, a human body emits infrared rays with a wavelength of 10 μm to the outside, and the infrared sensor detects the infrared rays emitted by the trainee and generates corresponding signals, so that the position information of the trainee is tracked.
Alternatively, the control device 120 is connected to the positioning device, the connection may be a wired connection or a wireless connection, and the control device 120 controls the moving route of the moving chassis device 110 according to the position information of the trainee, so that the robot 10 can follow the trainee along the position direction of the infrared ray through the moving chassis device 110 to interact with the trainee, or the robot 10 can escape through the moving chassis device 110 along the direction opposite to the infrared ray.
Optionally, the robot 10 further includes a second sensor 140, the second sensor 140 is connected to the control device 120, the connection may be a wired connection or a wireless connection, the second sensor 140 is configured to detect obstacle information, and the control device 120 is configured to control a moving route of the moving chassis device 110 according to the obstacle information.
Specifically, the second sensor 140 is provided to enable the robot 10 to automatically detect obstacles and timely perform some stopping or evasive actions. In practical applications, the second sensor 140 may be used in combination with a laser radar sensor, a camera, an ultrasonic sensor, an infrared sensor, etc., so as to detect an obstacle more accurately and realize automatic navigation of the robot 10. For example, since the lidar sensor cannot detect an obstacle higher or lower than the laser radar section of the lidar sensor, an infrared sensor and an ultrasonic sensor can be installed at the lower part of the lidar sensor to detect an obstacle near the ground; because the ultrasonic sensor has a close-range blind area but can detect a long-range obstacle, and the infrared sensor can detect a close-range obstacle, the ultrasonic sensor and the infrared sensor are matched to use at a lower part of the laser radar sensor, so that the effect of no blind area at close range and long range is achieved; in addition, the camera is used to acquire the image data of the current scene, so that the information of all the obstacles in front of the robot 10 can be directly obtained. The control device 120 timely controls the moving path of the mobile chassis device 110 according to the received obstacle information detected by the second sensor 140, so that the robot 10 can automatically avoid the obstacle.
Optionally, an inertial sensor is disposed in the positioning device, and the inertial sensor is used for positioning the position information of the robot 10.
Specifically, the distance traveled by the robot 10 at the unit time interval and the change in the movement direction during this time are measured by the inertial sensor, thereby determining the position information of the robot 10. The inertial sensor comprises a gyroscope and an accelerometer, initial position information of the robot 10 at the beginning of training is determined, the gyroscope and the accelerometer are used for measuring the rotation rate and the acceleration rate of the robot 10 respectively, the measurement results are integrated, the moving distance and the course change of the robot 10 in unit time are solved, and then the relative position information of the robot 10 is solved according to a basic algorithm of dead reckoning.
In the embodiment of the present invention, because some criminal scenes may include multiple criminals, the robots 10 may include multiple robots, and the robots 10 are connected through wireless communication, which includes but is not limited to wifi and bluetooth. A plurality of robots 10 can be through wifi or the respective positional information of bluetooth synchronization, inertial sensor also can through wireless communication mode with the controller is connected real-time synchronization in the controller the positional information of robot 10, thereby make main control unit 40 can be according to training simulation scene program with the positional information of robot 10, more accurate control the line of movement of robot 10.
The training terminal 30 includes one or more of a marker bullet gun for training, a laser gun for training, a telescopic baton for training, and a lachrymatory ejector for training. In the course of the simulated training, the trainee may adopt different force means according to the behavior or reaction of the robot 10, and after implementing the corresponding force means, observe and determine the next action according to the reaction of the trainee, for example, language interaction, jetting using lachrymatory ejector, splitting using telescopic stick, shooting with gun, etc. Therefore, a first sensor 130 is disposed at a predetermined position of the robot 10 for detecting the hit information of the training terminal 30 to the robot 10. The preset portion may be an important portion of the robot 10, such as a head, a limb, a heart, etc., and the hit information includes the type of the training terminal 30, the hit portion, etc. When the first sensor 130 at any of these predetermined locations detects hit information, the hit information is transmitted to the control device 120 through a connection with the control device 120, where the connection may be a wired connection or a wireless connection, and the invention is not limited herein. The control device 120 selects a corresponding reaction behavior instruction of the robot 10 in the next step in the current training simulation scene program according to the hit information.
Further, the first sensor 130 includes one or more of a pressure sensor, a vibration sensor, and a laser sensor, and different sensors are used to detect hit information of different training terminals 30, so that the type of the training terminal 30 can be determined according to the type of the sensor that detects the hit information. For example, when a trainer strikes the robot 10 with a marker bullet gun for training or a telescopic stick for training, vibration is generated on the surface of the robot 10, and therefore, the hit information can be detected by a pressure sensor provided in a predetermined position in advance. When the training person sprays the robot 10 using the lachrymatory ejector for training, the sprayed liquid generates pressure on the surface of the robot 10, and therefore, the hit information can be detected by the pressure sensor provided in advance at the predetermined position. When a trainer hits the robot 10 with a laser gun for training, the laser emitted by the laser gun is near-infrared light, so that human eyes cannot recognize the near-infrared light, and the laser sensor can recognize the near-infrared light, so that hit information can be detected by the laser sensor arranged at a preset position in advance.
Alternatively, different identifiers may be added to the first sensors 130 at different positions, and when one of the first sensors 130 detects hit information, the hit position is determined according to the identifier corresponding to the first sensor 130. In addition, the first sensor 130 is connected to the main controller 40 through a communication interface, and the hit information is transmitted to the main controller 40 through the communication interface.
In an embodiment of the present invention, the data acquisition device may include a camera device, the camera device is configured to acquire behavior data of the trainee during the training process, the trainee may interact with the robot 10 through a language, the behavior data includes action data and voice data, the behavior data may be acquired in a video mode, the data acquisition device 20 is connected to the main controller 40 through a communication interface, the data acquisition device 20 transmits the collected action data and voice data of the trainee during the training process to the main controller 40, and the main controller 40 generates a simulated training evaluation result according to the behavior data of the trainee and the hit information of the training terminal 30 on the robot 10, and determines the performance level of the trainee during the training process.
Optionally, the system further includes a display, the display is electrically connected to the main controller 40, and the display is used for displaying the behavior of the trainee in the training process in real time in a video mode, and simultaneously displaying the evaluation result of the simulated training generated by the main controller 40, so that the trainee and the observer can observe the evaluation result conveniently.
Optionally, the robot 10, the data collection device 20, the training terminal 30, the main controller 40, and the display terminal may be placed in a safety box in a non-training process, and the fixing positions of the robot 10, the data collection device 20, the training terminal 30, the main controller 40, and the display terminal are set in the safety box. Because the space that the safety box occupied is less and portable, can be anytime and anywhere simulate the training, improved the preparation work efficiency before the training.
The embodiment of the invention provides an intelligent robot system for law enforcement skill confrontation training, which comprises: robot 10, data acquisition device 20, training terminal 30, and master controller 40; the robot 10 comprises a mobile chassis device 110, a control device 120 and a sensor, wherein the mobile chassis device 110 and the sensor are respectively connected with the control device 120, the mobile chassis device 110 is arranged at the bottom of the robot 10 and used for moving the robot 10, the control device 120 is used for dominating the behavior of the robot 10, and the sensor is arranged at a preset part of the robot 10 and used for detecting the hit information of the training terminal 30 on the robot 10; the data acquisition equipment 20 and the sensors are connected with the main controller 40 through communication interfaces, and the data acquisition equipment 20 is used for acquiring behavior data of training personnel in a training process; the main controller 40 generates a simulation training evaluation result according to the behavior data of the trainee and the hit information of the training terminal 30 on the robot 10. Through the system, can utilize robot 10 simulation criminal personnel's action, build various crime scenes, give training personnel's sensation of being personally on the scene, increase the authenticity of simulation training.
Example two
The second embodiment of the invention further improves the box body structure of the portable training box. The reason for the improvement lies in, not only can hold the robot for the training in the training case, can also include camera device, projection arrangement, electronic equipment for the training such as thermal imaging device, these equipment often need expose the box and just can normal use, but directly set up the through-hole and can lead to some pollution and safe problem, therefore the technical scheme that this embodiment provided need not to set up a plurality of camera lens openings at the box, can prevent that the internal plant high temperature, and certain service height has, high durability and convenient operation, the security performance of portable training case has been improved, and can further carry out altitude mixture control to above-mentioned equipment through elevating system and lifter plate, can satisfy the demand of each use scene. In addition, through highly adjusting the lifter plate, only need through heating device with the driver part heating to the assigned temperature can need not manually, can multistage adjustment moreover, satisfy the user demand, all hide above-mentioned driver part and lifter bar in the mounting groove of mounting panel in addition, can further reduce installation space.
The specific modifications are as follows, as shown in the accompanying fig. 2-4.
The portable training box comprises a box cover 170 at the upper part and a box body 180 at the lower part, the box cover 170 is provided with a rectangular opening 190, the width of the rectangular opening 190 is the same as that of the box cover 170, the left side and the right side of the rectangular opening 190 are respectively provided with a first slide rail 200 arranged along the front and the rear length directions of the rectangular opening 190, the box cover 170 is provided with a mounting plate 210 matched with the rectangular opening 190 in size at the position of the rectangular opening 190, the front end of the mounting plate 210 is provided with a rotating shaft 220, the left side and the right side of the rotating shaft 220 are respectively provided with a first roller 230 through a bearing, the first rollers 230 are mounted in the first slide rails 200, the front side and the rear side of the rectangular opening 190 are inwards extended with a horizontal limiting plate 240 positioned below the front end and the rear end of the mounting plate 210, wherein the limiting plate 240 positioned at the rectangular opening 190 is provided with a first threaded hole, one end of the locking bolt 270 is in threaded connection with the second threaded hole 260 through the first threaded hole 250, and the second end of the locking bolt is provided with a rotating handle, so that the connection between the mounting plate and the box cover 170 can be locked or unlocked by rotating the locking bolt through the rotating handle. Be located at the mounting panel elevating system is installed to the face in the box, elevating system installs lifter plate 300 on, and lifter plate 300 size slightly is less than mounting panel 210, avoids influencing the cooperation of locking bolt 270 and second screw hole 260, and last demountable installation of lifter plate 300 has electronic equipment such as camera device, projection arrangement, thermal imaging device, and under the necessary condition of course, also can install robot or other equipment, the robot of being more convenient for like this or other equipment get and put.
The structure installs the electronic equipment such as a camera device, a projection device, a thermal imaging device and the like on the mounting plate on the box cover, when the electronic equipment needs to be used, the connection between the locking bolt and the second threaded hole is released, so that the mounting plate can slide on the first slide rail through the first roller, finally the mounting plate is overturned and pushed to a certain position, the upper surface and the lower surface of the mounting plate are transposed, the equipment is directly positioned above the box body, partial ventilation space can be reserved between the mounting plate and the rectangular opening after the mounting plate is overturned, the temperature of the internal equipment is reduced, the service life of each equipment is prolonged, the structure does not need to arrange a plurality of lens openings on the box body, has certain use height, is convenient to operate, improves the safety performance of the portable training box, and can further perform height adjustment on the equipment through the lifting mechanism and the, the demand of each use scene can be satisfied, in addition, camera device, projection arrangement, thermal imaging device lie in the box outside when using, prevent the high temperature, but also can improve the inside ventilation performance of portable training case, to the ventilation cooling that other structures of inside can be good, avoid the high temperature in the box and loss equipment.
In addition, the inventor also finds that the existing lifting mechanism is not only complex in structure but also large in volume, and because the portable training box of the invention is small in volume and large in internal devices, and occupies a large amount of installation space, the existing lifting mechanism is not satisfactory for use, so the inventor improves the lifting mechanism, the lifting mechanism comprises a plurality of groups of first lifting rod pieces 280 and second lifting rod pieces 290 which are connected, one end of each first lifting rod piece 280 is hinged with the installation plate 210, the other end of each first lifting rod piece 280 is hinged with the second lifting rod piece 290, one end of each second lifting rod piece 290 is hinged with the first lifting rod piece 280, the other end of each second lifting rod piece 290 is connected with the lifting plate 300 in a sliding manner, the installation plate 210 is provided with an installation groove 310 which is matched with the first lifting rod piece 280 and the second lifting rod piece 290 in size, and a first sliding groove 320 and a first driving part 330, a first rack 340 is slidably mounted in the first sliding groove 320, one end of the first driving component 330 is fixed, the other end of the first driving component 330 is connected with the first rack 340, the first lifting rod 280 is provided with a first gear 350 meshed with the first rack, the other end of the first lifting rod 280 is provided with a second sliding groove 360, a second rack 370 is slidably mounted in the second sliding groove 360, the other end of the first lifting rod 280 is further provided with a second driving component 380, one end of the second driving component 380 is connected with the first lifting rod 280, the other end of the second driving component 380 is connected with the second rack 370, and the second lifting rod 290 is provided with a second gear 390 meshed with the second rack 370.
When the first driving part 330 and the second driving part 380 are both at the first temperature, the first driving part 330 and the second driving part 380 have the first length, and the first lift pin 280 and the second lift pin 290 are parallel to the mounting plate 210 and are located in the mounting groove 310, at which time the lift plate 300 is in the non-lifted state.
When the first driving part 330 is at the second temperature and the second driving part 380 is at the first temperature, the first driving part 330 is at the second length, the second driving part 380 is at the first length, the first driving part 330 drives the first rack 340 to slide and drives the first gear 350 to rotate, so that the first lifting rod 280 is perpendicular to the mounting plate 210, and the second driving part 380 is perpendicular to the first driving part 330, thereby completing the first-stage lifting of the lifting plate 300.
When the first driving part 330 and the second driving part 380 are both at the second temperature, the first driving part 330 and the second driving part 380 are both at the second length, the first driving part 330 drives the first rack 340 to slide and drives the first gear 350 to rotate, so that the first lifting rod 280 is perpendicular to the mounting plate 201, and similarly, the second driving part 380 drives the second rack 370 to slide and drives the second gear 390 to rotate, so that the second lifting rod is also perpendicular to the mounting plate 210, thereby completing the second-stage lifting of the lifting plate 300.
Of course, the first length and the second length of the first driving member and the second driving member may be the same or different, and this is only for convenience of description, and the number of the driving members and the number of the lifting rods may be adjusted as required. Preferably, the first driving member and the second driving member of the present embodiment are shape memory alloy wires or shape memory alloy springs having a two-way memory effect, which not only have a simple structure, but also are quickly denatured and stably restored.
Through the height adjustment of above-mentioned structure to the lifter plate, only need through heating device (for example heater strip) with the drive assembly heating to the assigned temperature can need not manually, can multistage adjustment moreover, satisfy the user demand, all hide above-mentioned drive assembly and lifter in the mounting groove of mounting panel in addition, can further reduce installation space, the volume reduction rate obviously is superior to current elevating system.
In addition, the bottom surface of the lifting plate 300 of the present embodiment is provided with a second sliding rail (not shown), and the second lifting rod is provided with a second roller (not shown) adapted to the sliding rail. Above-mentioned structure can not produce sliding resistance because the cooperation of gyro wheel and slide rail at the lift in-process, and the lift process is smooth and easy and gentle.
The invention is not to be considered as limited to the particular examples described above, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (10)
1. A law enforcement skill confrontation training intelligent robotic system, comprising:
the training system comprises a portable training box, a robot, data acquisition equipment, a training terminal and a main controller, wherein a space for accommodating and fixing the robot, the data acquisition equipment, the training terminal and the main controller is arranged in the portable training box;
wherein,
the robot comprises a mobile chassis device, a control device and a first sensor, wherein the mobile chassis device and the first sensor are respectively connected with the control device, the mobile chassis device is positioned at the bottom of the robot and used for driving the robot, the first sensor is arranged at a preset part of the robot and used for detecting the hit information of the training terminal on the robot, and the control device controls the action of the mobile chassis device and sends the hit information to a main controller through a communication interface;
the data acquisition equipment is connected with the main controller through the communication interface and is used for acquiring behavior data of training personnel in a training process;
and the master controller generates a simulation training evaluation result according to the behavior data of the training personnel and the hit information of the training terminal on the robot.
2. A law enforcement skill resistance training intelligent robot system according to claim 1, wherein the robot further comprises a remote control device for controlling the movement path of the moving chassis device.
3. The intelligent robot system for law enforcement skill countermeasure training according to claim 1, wherein the robot further comprises a positioning device, an infrared sensor is arranged in the positioning device, and the infrared sensor is used for tracking the position information of the training personnel.
4. The intelligent robot system for law enforcement skill countermeasure training according to claim 3, wherein an inertial sensor is arranged in the positioning device and used for positioning the position information of the robot.
5. The intelligent robot system for law enforcement skill countermeasure training according to claim 1, wherein the control device is preset with a simulation training program, and the control device governs the behavior operation of the robot according to the simulation training program.
6. The intelligent robot system for law enforcement skill countermeasure training according to claim 3, wherein the control device is electrically connected with the positioning device, and the control device controls the moving route of the moving chassis device according to the position information of the training personnel fed back by the positioning device.
7. A law enforcement skill resistance training intelligent robot system according to claim 1, characterized in that the robot further comprises a second sensor connected with the control device, the second sensor is used for detecting obstacle information, and the control device is used for controlling the moving route of the moving chassis device according to the obstacle information.
8. The intelligent robot system for law enforcement skill confrontation training of claim 1, wherein the training terminal comprises one or more of a marker bullet gun for training, a laser gun for training, a telescopic baton for training and a lachrymatory sprayer for training.
9. The intelligent robot system for law enforcement skill resistance training according to claim 8, wherein the first sensor comprises one or more of a pressure sensor, a vibration sensor, and a laser sensor.
10. A law enforcement skill resistance training intelligent robotic system as claimed in claim 7, wherein the second sensor comprises an optical camera.
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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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| 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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