CN109029131A - A kind of ball firing target robot system - Google Patents
A kind of ball firing target robot system Download PDFInfo
- Publication number
- CN109029131A CN109029131A CN201811210870.6A CN201811210870A CN109029131A CN 109029131 A CN109029131 A CN 109029131A CN 201811210870 A CN201811210870 A CN 201811210870A CN 109029131 A CN109029131 A CN 109029131A
- Authority
- CN
- China
- Prior art keywords
- target
- robot
- platform
- mobile robot
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/02—Photo-electric hit-detector systems
Abstract
The invention discloses a kind of ball firing target robot systems, various kinds of sensors signal is parsed including being arranged inside the machine, control driver, power drive, it is robotically-driven, if plane target drone system, detection of obstacles sensor, global positioning system, motion motor driving control system and rechargeable battery, the mobile target for realizing automation, which is practiced shooting, trains overall process, it is provided for the prewar training under anti-terrorism new model good, efficiently, reliably has automatic high-speed curvilinear motion, the military training equipment of quick disappearing function, better solution is provided for the case characterized by fight against terrorism and violence.
Description
Technical field
The present invention relates to People's Armed Police's ball firing training field, specially a kind of ball firing target robot system.
Background technique
Current anti-terrorism, it is anti-riot have become a kind of new combat mode, there is very strong particularity, need to diversified forms
Target implements quick, accurate fire assault.According to People's Armed Police to the statistics of anti-terrorism, anti-riot case: mobile target shooting reaches
34.3%, the shooting of cryptostomata mark is shown up to 37.1%, and static object shooting is only 2.2%.Anti-terrorism new situations require small arms live shell to penetrate
Irregular high speed curvilinear motion, quick disappearing function need to be had by hitting training target.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of ball firing target robot system, to solve skill set forth above
Art problem.
To achieve the above object, the invention provides the following technical scheme: a kind of ball firing target robot system, described
Ball firing target robot system includes multiple target robots and target robot control terminal, it is characterised in that: every
A target robot includes two flat target modules and the mobile robot platform that connect with flat target modular system bottom,
Wherein each flat target module is made of back starting target control structure and vision hit telling system；
Each back starting target control structure includes target plate connecting bracket, plays rotation-inversion axis, for detecting target plate connection branch
Frame lower end moves the approach switch sensor of two extreme positions relative to mobile robot platform, for measuring target plate connection branch
Frame and the direct current generator with encoder of mobile robot platform relative position, reduction gear box and direct current generator drive control
Circuit board, the vision hit telling system include chromatic colour IP video camera and light filling LED flash when for shooting target sheet；
The vision hit telling system is connected with mobile robot platform, and colored IP video camera, which is installed on, is poured on mobile robot
Before plane target plank on platform, and IP video camera shooting picture overlay planes target plate；
The carriage body bottom of the mobile robot platform is equipped with the independent motion motor in -4 tunnel of drive system, for controlling
The motion motor of the independent motion motor in 4 tunnels controls driver, and the mobile robot platform is internally provided with for sensing
The landform detecting sensor of landform locating for mobile robot platform, the barrier for sensing the mobile robot platform front end
Information laser radar sensor and advance for shooting target robot, the road information in direction of retreat, passes through wireless bridge
Send the IP camera of operation control terminal and the control system for controlling mobile robot platform movement to.
Further, the target robot control terminal includes wireless bridge, control button button, touch screen, height
Brightness liquid crystal display screen and battery, the wireless bridge of the target robot moving platform form WLAN, and itself and target
Robot communication connection.
Further, the drive system is set to mobile robot platform carriage body bottom.
Further, robot motion's motor control drive is for controlling the independent motion motor in 4 tunnels to drive
Wheeled construction rotation, and the mechanical speed change machine on robot motion's motor control drive includes clutch, reduction gearbox, height
Fast drive pulley, synchronous toothed belt and gear, and robot motion's motor control drive and mobile robot platform control are
System connection.
Further, the machine of the mobile robot platform is internally provided with parsing various kinds of sensors signal, control is driven
Dynamic device, for realizing the machine of the power drive of robot, transmitting and execution at left and right sides of the machine of the mobile robot platform
Device people driving, the robot moving platform shell side are provided with plane target drone system, the robot moving platform machine
Casing surroundings are used to detect the detection of obstacles sensor of the machine periphery walking path obstructing objects, the mobile robot
Platform interior is used to the global positioning system for balancing and positioning, the motion motor of the mobile robot platform bottom
Driving control system and it is arranged in the mobile robot platform carriage body for for corresponding device providing the rechargeable battery of energy.
Further, the rechargeable battery wireless bridge is connected with drive system, motion motor control driver, moving machine
Device people platform control system, Position Fixing Navigation System, landform detecting sensor, ambient sensors, shot detection system, plane
Target module.
Further, target robot operation control terminal is by wireless bridge, control button button, touch screen, highlighted liquid
Crystal display screen and battery composition.The wireless bridge of target robot control terminal and the wireless bridge of target robot moving platform
Form WLAN.Target robot operation control terminal is communicatively coupled by WLAN and target robot.Into one
Step, bulletproof armour structure is provided with outside the mobile robot platform, the bulletproof armour structure includes that armour plate is hung
Frame and hot-rolled armor plate, and armour plate is replaceable.
Further, the ambient sensors include being set to carriage body front end IP camera, laser radar sensor
With the IP camera for being set to carriage body rear end.
Compared with prior art, the invention has the benefit that
One, the present invention passes through the real-time positioning of mobile robot itself and the cooperation of motion control realization and sensing system
Realization can operate can high speed curvilinear motion, by sensing system to the shot information detected for target plate dodge and target
Robot finds cover the starting of function.Vision target system planning target robot motion path, speed, target plate show the hidden time,
Position and speed；Operation, the good target robot motion track of memory utilization；Display target plate is hit position, impact time, identification
Target practice position calculates and stores shooting grade；Display target scalar robot posture information, front and back video information and traveling preceding object
Information.Realize high speed curvilinear motion, quick disappearing function.
Two, the mobile target that design of the invention realizes automation, which is practiced shooting, trains overall process, is under anti-terrorism new model
Prewar training provides well, efficiently, reliably has automatic high-speed curvilinear motion, the military training of quick disappearing function is set
It is standby, better solution is provided for the case characterized by fight against terrorism and violence.
Detailed description of the invention
Fig. 1 is the technical schematic diagram of target robot moving platform of the present invention；
Fig. 2 is the technical schematic diagram of target robot operation control terminal system of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1, the present invention are that ball firing target robot system includes passing through target robot control terminal and one
To multiple target robots, target robot includes two flat target modules and the movement that connect with flat target modular system bottom
Robot platform, flat target module are made of back starting target control structure and vision hit telling system, and back starting target control structure includes target
Plate connecting bracket plays rotation-inversion axis, approach switch sensor, direct current generator with encoder, reduction gear box and direct current generator
Drive control circuit plate；
Target plate connecting bracket upper end is fixedly connected with target plate；Rotation-inversion axis is played by target plate connecting bracket lower end and mobile robot
Platform connection；Direct current generator drive control circuit plate is connect with direct current generator, to pass through DC MOTOR CONTROL reduction gear box, band
Rotation-inversion axis rotation is moved；The encoder of direct current generator is for measuring target plate connecting bracket and mobile robot platform relative position；
Approach switch sensor moves two extreme positions relative to mobile robot platform for detecting target plate connecting bracket lower end.Directly
Galvanic electricity machine control circuit board is connect with mobile robot platform control system.
Vision hit telling system is made of colored IP video camera and LED flash；Vision hit telling system and mobile robot are flat
Platform connection, colored IP video camera is installed on before the plane target plank being poured on mobile robot platform, and video camera shooting picture
Overlay planes target plate.LED flash is for light filling when shooting target sheet.
Embodiment 2, mobile robot platform include a carriage body；Drive system is installed in carriage body bottom；In carriage body
Portion is provided with motion motor control driver, supplying cell, for the global positioning satellite of positioning mobile robot position of platform
Navigation system, the landform detecting sensor for sensing landform locating for mobile robot platform are put down for sensing mobile robot
Whether the ambient sensors of barrier and robot control system for control platform movement are had around platform；Motor control
Driver processed, Position Fixing Navigation System, landform detecting sensor, ambient sensors with mobile robot platform control system
Connection；
Mobile robot platform control system is connected with network transport interface.
Embodiment 3, drive system include 4 independent drivings and use rigid suspended wheeled construction；4 independent drivings and
Two groups of front and back is divided into using rigid suspended wheeled construction, each wheeled construction is connected by mechanical variable speed device and motion motor
It connects, the independent motion motor in 4 tunnels is connect with motion motor control driver；Motion motor controls driver and mobile robot is flat
Bench control system connection；Motion motor controls driver for controlling the independent motion motor in 4 tunnels, to drive wheeled construction to revolve
Turn.Mechanical speed change machine is made of clutch, reduction gearbox, high low speed drive pulley, synchronous toothed belt, gear.
Embodiment 4, landform detecting sensor include gravity accelerometer, gyro sensor and inclinator sensing
Device；Landform detecting sensor is connect with mobile robot platform control system；Gravity accelerometer, gyro sensor and
Inclinator sensor is used to sense the posture information of mobile robot platform.
Embodiment 5, ambient sensors include being set to carriage body front end IP camera, laser radar sensor and setting
IP camera in carriage body rear end.Laser radar sensor is connect with mobile robot platform control system, laser radar sensing
Device is used to sense the obstacle information of the mobile robot platform front end, IP camera advances for shooting target robot,
Road information in direction of retreat sends operation control terminal to by wireless bridge.When operator remotely-controlled target robot motion
It needs by these ambient sensors.
Embodiment 6 is provided with bulletproof armour structure outside mobile robot platform；Bulletproof armour structure includes armour plate
Hanger and hot-rolled armor plate；Armour plate is replaceable.
Embodiment 7 is equipped with shot detection system in carriage body side, and shot detection system is made of 4 acoustic sensors,
The ultrasonic wave that can be generated to shooting detects.Shot detection system is connect with mobile robot platform control system, is detected
Dodge with target robot the find cover starting of function of the shot information for target plate.
It is preferably as the present embodiment, is also equipped with wireless bridge in the carriage body other side, before and after mobile robot platform
IP camera, mobile robot platform control system, vision hit telling system are connected with wireless bridge.
Embodiment 8, supplying cell and drive system, motion motor control driver, mobile robot platform control system,
Position Fixing Navigation System, landform detecting sensor, ambient sensors, shot detection system, flat target module and wireless network
Bridging connects, and target robot operation control terminal is by wireless bridge, control button button, touch screen, high brightness liquid crystal display screen and battery
Composition.The wireless bridge of target robot control terminal and the wireless bridge of target robot moving platform form wireless local area
Net.Target robot operation control terminal is communicated by WLAN with target robot.
Embodiment 9, target robot operation control terminal are used for remotely-controlled target robot motion, plan target robot motion road
Diameter, speed, target plate show hidden time, position and speed；Operation, the good target robot motion track of memory utilization；Show target plate quilt
Position is hit, impact time identifies target practice position, calculates and store shooting grade, display target scalar robot posture information, front and back
Video information and traveling preceding object information.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (9)
1. a kind of ball firing target robot system, the ball firing target robot system includes multiple target machines
People and target robot control terminal, it is characterised in that: each target robot include two flat target modules and with it is flat
The mobile robot platform of face target modular system bottom connection, wherein each flat target module is by back starting target control structure and vision
Hit telling system is constituted；
Each back starting target control structure includes target plate connecting bracket, plays rotation-inversion axis, for detecting under target plate connecting bracket
Hold relative to mobile robot platform move two extreme positions approach switch sensor, for measure target plate connecting bracket and
Direct current generator with encoder, reduction gear box and the direct current generator drive control circuit of mobile robot platform relative position
Plate, the vision hit telling system include chromatic colour IP video camera and light filling LED flash when for shooting target sheet；
The vision hit telling system is connected with mobile robot platform, and colored IP video camera, which is installed on, is poured on mobile robot platform
On plane target plank before, and IP video camera shooting picture overlay planes target plate；
The carriage body bottom of the mobile robot platform is equipped with the independent motion motor in -4 tunnel of drive system, for controlling 4 tunnels
The motion motor of independent motion motor controls driver, and the mobile robot platform is internally provided with for sensing movement
The landform detecting sensor of landform locating for robot platform, the obstacle information for sensing the mobile robot platform front end
Laser radar sensor and advance for shooting target robot, the road information in direction of retreat, is transmitted by wireless bridge
IP camera to operation control terminal and the control system for controlling mobile robot platform movement.
2. a kind of ball firing target robot system according to claim 1, it is characterised in that: the target robot
Controlling terminal includes wireless bridge, control button button, touch screen, high brightness liquid crystal display screen and battery, the target machine
The wireless bridge of people's mobile platform forms WLAN, and it connect with target robot communication.
3. a kind of ball firing target robot system according to claim 1, it is characterised in that: the drive system is set
It is placed in mobile robot platform carriage body bottom.
4. a kind of ball firing target robot system according to claim 1, it is characterised in that: the robot motion
Motor control drive is for controlling the independent motion motor in 4 tunnels to drive wheeled construction to rotate, and robot motion's motor control
Mechanical speed change machine on driver processed includes clutch, reduction gearbox, high low speed drive pulley, synchronous toothed belt and gear, and
Robot motion's motor control drive is connect with mobile robot platform control system.
5. a kind of ball firing target robot system according to claim 1, it is characterised in that: the mobile robot
The machine of platform is internally provided with parsing various kinds of sensors signal, control driver, and the machine of the mobile robot platform is left
Right two sides are robotically-driven for realizing the power drive of robot, transmitting and execution, the robot moving platform shell
Side is provided with plane target drone system, walks around the robot moving platform machine case for detecting the machine periphery
The detection of obstacles sensor of path obstructions object, the global satellite that the mobile robot platform inside is used to balance and position
Position Fixing Navigation System, the motion motor driving control system of the mobile robot platform bottom and setting are in the mobile machine
For providing the rechargeable battery of energy for corresponding device in people's platform carriage body.
6. a kind of ball firing target robot system according to claim 1, it is characterised in that: the rechargeable battery without
Gauze bridging be connected to drive system, motion motor control driver, mobile robot platform control system, Position Fixing Navigation System,
Landform detecting sensor, ambient sensors, shot detection system, flat target module.
7. a kind of ball firing target robot system according to claim 1, spy is: the target robot
Operation control terminal is by wireless bridge, control button button, touch screen, high brightness liquid crystal display screen and battery composition.The control of target robot
The wireless bridge of terminal processed and the wireless bridge of target robot moving platform form WLAN.The manipulation of target robot is eventually
End is communicatively coupled by WLAN and target robot.
8. a kind of ball firing target robot system according to claim 1, it is characterised in that: the mobile robot
Platform exterior is provided with bulletproof armour structure, and the bulletproof armour structure includes armour plate hanger and hot-rolled armor plate, and
Armour plate is replaceable.
9. a kind of ball firing target robot system according to claim 1, it is characterised in that: the ambient enviroment passes
Sensor includes being set to carriage body front end IP camera, laser radar sensor and the IP camera for being set to carriage body rear end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210870.6A CN109029131A (en) | 2018-10-17 | 2018-10-17 | A kind of ball firing target robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210870.6A CN109029131A (en) | 2018-10-17 | 2018-10-17 | A kind of ball firing target robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109029131A true CN109029131A (en) | 2018-12-18 |
Family
ID=64613243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811210870.6A Pending CN109029131A (en) | 2018-10-17 | 2018-10-17 | A kind of ball firing target robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109029131A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109668484A (en) * | 2019-01-18 | 2019-04-23 | 北京瀚科瑞杰科技发展有限公司 | A kind of target drone maneuvering control method and system that target drone is interacted with attack plane |
| CN111023892A (en) * | 2019-12-27 | 2020-04-17 | 上海钧工智能技术有限公司 | Simulated shooting training system based on intelligent robot platform and implementation method |
| CN114812282A (en) * | 2022-03-29 | 2022-07-29 | 南京模拟技术研究所 | Intelligent interactive shooting training robot target system |
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Application publication date: 20181218 |
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