CN109357573A - Intelligent robot tactics target vehicle platform - Google Patents
Intelligent robot tactics target vehicle platform Download PDFInfo
- Publication number
- CN109357573A CN109357573A CN201811122082.1A CN201811122082A CN109357573A CN 109357573 A CN109357573 A CN 109357573A CN 201811122082 A CN201811122082 A CN 201811122082A CN 109357573 A CN109357573 A CN 109357573A
- Authority
- CN
- China
- Prior art keywords
- car body
- target vehicle
- antenna
- intelligent robot
- emergency stop
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- 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.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J9/00—Moving targets, i.e. moving when fired at
- F41J9/02—Land-based targets, e.g. inflatable targets supported by fluid pressure
Abstract
The invention discloses a kind of intelligent robot tactics target vehicle platforms, including car body, car body is the rectangular box containing upper cover plate, wheel hub servo motor there are two being all provided at left and right sides of car body, the end face of wherein one end of car body is equipped with laser radar component, ultrasound measurement module there are two being set on the end face at the end, the end face of the other end of car body is equipped with emergency stop switch, the lower section of emergency stop switch is equipped with row's air plug, the two sides of emergency stop switch are respectively equipped with two ultrasound measurement modules, the upper cover plate upper surface of car body is successively arranged networking antenna along side close to one end of emergency stop switch, RTK communication antenna and TT&C antenna, upper cover plate upper surface is equipped with GPS positioning antenna close to one end of laser radar component；Car body wherein side intermediate position to vehicle body extend be equipped with battery case, the other side and battery case corresponding section of car body are provided with loudspeaker, the present invention is a kind of target vehicle for having the synergistic functions such as formation, path planning, TRAJECTORY CONTROL, the target vehicle can carry different tactics targets, simulate ruffian or hostage's multi-motion.
Description
Technical field
The present invention relates to intelligent robot tactics target vehicle technical fields, particularly relate to a kind of intelligent robot tactics
Target vehicle platform.
Background technique
Existing tactics target vehicle platform is mainly the following mode: 1. target vehicles are run on existing track, can only be passed through
Fixed track limits the running track of target vehicle.It is laid with track trouble, the running track of target vehicle cannot be set, it cannot
Carry out intelligent operation.2. target vehicle limits the operation of target vehicle by way of magnetic steering or camera shooting guiding, intelligence realizes linear motion,
Motion mode is single.3. motor encoderless or Hall, not can be carried out closed-loop control used in target vehicle, can only motor to two sides into
Row rate calibration carries out opened loop control with remote controler, and target vehicle will appear deviation phenomenon in the process of running, and every subtask needs make
It is intelligent insufficient with personnel's repetitive operation and revision path.
Summary of the invention
The technical problem to be solved by the present invention is to propose a kind of intelligent robot the shortcomings that for the above prior art
Tactics target vehicle platform, the target vehicle platform are a kind of target vehicle for having the synergistic functions such as formation, path planning, TRAJECTORY CONTROL, the target
Vehicle can carry different tactics targets, simulate ruffian or hostage's multi-motion.
To achieve the above object, the present invention provides technical solution below:
A kind of intelligent robot tactics target vehicle platform, including car body, car body are the rectangular box containing upper cover plate, the left and right of car body
Two sides are all provided with there are two wheel hub servo motor, and the end face of wherein one end of car body is equipped with laser radar component, the end face at the end
On set there are two ultrasound measurement module and two ultrasound measurement modules are respectively arranged on the two sides of laser radar component, car body it is another
The end face at end is equipped with emergency stop switch, and the lower section of emergency stop switch is equipped with row's air plug, and the two sides of emergency stop switch are respectively equipped with two
Ultrasound measurement module and ultrasound measurement module setting corresponding with the ultrasound measurement module of the other end, table on the upper cover plate of car body
Face is successively arranged networking antenna, RTK communication antenna and TT&C antenna, upper cover plate upper surface along side close to one end of emergency stop switch
GPS positioning antenna is equipped with close to one end of laser radar component；Car body wherein side intermediate position to vehicle body extension set
There is battery case, the other side and battery case corresponding section of car body are provided with loudspeaker；The side of vehicle body battery case is equipped with electrical
Part bracket, be successively arranged on electricity piece bracket from left to right observing and controlling radio station, RTK communication station, networking radio station, D.C. contactor with
And connecting terminal, the other side of vehicle body battery case are equipped with governor circuit board mount, the top of governor circuit board mount disposes
There is main control board, the two sides of battery case are equipped with motor servo driver.
The further technical solution of the present invention is:
Intelligent robot tactics target vehicle platform above-mentioned, car body and upper cover plate are aluminum alloy material；In this way, having weight
Gently, the high advantage of intensity, heat treatment process carry out true qualities anodization and the processing of black plastic-spraying after the completion.
Intelligent robot tactics target vehicle platform above-mentioned, wheel hub servo motor use brushless type direct current servo hub motor, and
It is built-in with photoelectric encoder in wheel hub servo motor, in this way, closed-loop control can be carried out, there is light-weight, control precision height, exempt to tie up
The advantages of shield.
Intelligent robot tactics target vehicle platform above-mentioned, GPS positioning antenna are connected to GPS positioning system, GPS positioning system
Using RTK(Real-time kinematic) real-time kinetic-control system；In this way, the technology uses carrier phase dynamic in fact
When difference method, centimeter-level positioning can be obtained in real time in field, provide guarantee for robot target overall height precision autonomous operation.
Intelligent robot tactics target vehicle platform above-mentioned, ultrasound measurement module are all made of from spontaneous operating mode is received, can
It stops in emergency after encountering barrier for target vehicle when not being equipped with laser radar component.
Multiple audio datas are written in loudspeaker in intelligent robot tactics target vehicle platform above-mentioned；In this way, have it is small in size,
The advantages that dustproof and waterproof, high tone quality, installation by adhering, can need to customize different voice data according to client.
It is using technical solution of the present invention beneficial effect: according to the technical solution of the present invention, networking radio station and networking day
Line is formed into columns operation for networking between target vehicle platform, multiple target form into columns in determine a main vehicle and several from vehicle first, forming into columns
In motion process, current location and velocity information of the main vehicle by the main vehicle of communication equipment real-time broadcast, by being received simultaneously from vehicle.?
Broadcast message that main vehicle issues is received simultaneously from vehicle, the respectively timing since vehicle, and according to sending time strategy successively to main vehicle
Send the status information of oneself.After respectively getting the information such as main parking stall appearance and speed from vehicle, according to the current strategy and from vehicle of forming into columns
The formation role of oneself calculates the virtual target point for currently needing to reach in real time, then using the control algolithm of point tracking, control
Car body processed goes to corresponding virtual target point.At the same time, according to the velocity information of main vehicle with from the velocity information of vehicle itself, with
And currently the positional relationship between vehicle and virtual target point, in real time calculating send driving mechanism execution from vehicle target velocity
Velocity close-loop control.It is obtained by the control tracked to virtual target point and according to from the relative positional relationship of vehicle and virtual target point
The speed control obtained, and the two control law is superimposed, the total control amount respectively from vehicle can be obtained；So that the target vehicle is flat
Platform has the target vehicle of the synergistic functions such as formation, path planning, Trajectory Tracking Control, which can carry different tactics targets,
Simulate ruffian or hostage's multi-motion.Design has GPS positioning antenna above car body of the invention, has GPS fixed on main control board
Position module, by using RTK(Real-time kinematic) real-time kinetic-control system and carrier phase dynamic realtime
The method of difference can obtain in real time centimeter-level positioning in field, have target vehicle platform by preset path autonomous operation.In target vehicle
Platform front is equipped with laser radar component, can be used for outdoor intelligent robot tactics target vehicle automatic obstacle avoiding and position identification, is
Robot target vehicle provides good Context awareness ability, and can constructing environment map.Respectively designing in target vehicle front and rear has two
A ultrasound measurement module, makes target vehicle in the case where not installing laser radar, can promptly stop after barrier is encountered in operational process
Vehicle, and the structure of the device is simple, it is easy to operate, it is easy maintenance.
Detailed description of the invention
Fig. 1, Fig. 2, Fig. 3 are the structural schematic diagram of invention；
Wherein: 1- car body, 2- upper cover plate, 2.1- observing and controlling radio station, 2.2-RTK communication station, 2.3- networking radio station, 2.4- direct current connect
Tentaculum, 2.5- connecting terminal, 2.6- electricity piece bracket, 2.7- motor servo driver, 2.8- main control board, 2.9- master control electricity
Road board mount, 3-GPS positioning antenna, 4- ultrasound measurement module, 5- laser radar component, 6- wheel hub servo motor, 7- battery case,
8- TT&C antenna, 9-RTK communication antenna, 10- networking antenna, 11- loudspeaker, 12- air plug, 13- emergency stop switch.
Specific embodiment
Embodiment 1
The present embodiment provides a kind of intelligent robot tactics target vehicle platform, including car body 1, car body 1 is the rectangle containing upper cover plate 2
Box body, car body 1 and upper cover plate 2 are aluminum alloy material, and the left and right sides of car body 1 is all provided with there are two wheel hub servo motor 6, takes turns
Hub servo motor 6 uses brushless type direct current servo hub motor, and photoelectric encoder is built-in in wheel hub servo motor 6, car body 1
Wherein the end face of one end is equipped with laser radar component 5, sets that there are two ultrasound measurement module 4 and two ultrasounds on the end face at the end
The end face of 4 pieces of the ranging mould two sides for being respectively arranged on laser radar component 5, the other end of car body 1 is equipped with emergency stop switch 13, emergency stop
The lower section of switch 13 is equipped with row's air plug 12, and the two sides of emergency stop switch 13 are respectively equipped with two ultrasound measurement modules 4 and the ultrasound
The setting corresponding with the ultrasound measurement module 4 of the other end of range finder module 4, ultrasound measurement module 4 are all made of the work spontaneous from receipts
2 upper surface of upper cover plate of mode, car body 1 is successively arranged networking antenna 10, RTK communication day along side close to one end of emergency stop switch 13
Line 9 and TT&C antenna 8,2 upper surface of upper cover plate are equipped with GPS positioning antenna 3, GPS positioning close to one end of laser radar component 5
Antenna 3 is connected to GPS positioning system, and GPS positioning system uses RTK(Real-time kinematic) system of dynamic control in real time
System；Car body 1 wherein side intermediate position to 1 internal stretch of car body be equipped with battery case 7, the other side and 7 phase of battery case of car body 1
Corresponding position is provided with loudspeaker 11, and multiple audio datas are written in loudspeaker 11；The side of 1 internal cell case 7 of car body is equipped with electricity piece
Bracket 2.6 is successively arranged observing and controlling radio station 2.1, RTK communication station 2.2, networking radio station on electricity piece bracket 2.6 from left to right
2.3, the other side of D.C. contactor 2.4 and connecting terminal 2.5,1 internal cell case 7 of car body is equipped with governor circuit board mount
2.9, the top of governor circuit board mount 2.9 is mounted with main control board 2.8, and the two sides of battery case 7 are equipped with servo motor drive
Dynamic device 2.7.
In addition to the implementation, the present invention can also have other embodiments.It is all to use equivalent substitution or equivalent transformation shape
At technical solution, fall within the scope of protection required by the present invention.
Claims (6)
1. a kind of intelligent robot tactics target vehicle platform, including car body (1), it is characterised in that: the car body (1) is containing upper
The rectangular box of cover board (2), is all provided with that there are two wheel hub servo motor (6), the car bodies (1) at left and right sides of the car body (1)
The end face of wherein one end be equipped with laser radar component (5), set that there are two ultrasound measurement modules on the end face at the end
(4) and two supersonic sounding mould (4) blocks are respectively arranged on the two sides of laser radar component (5), the car body (1) it is another
The end face at end is equipped with emergency stop switch (13), and the lower section of the emergency stop switch (13) is equipped with row's air plug (12), and the emergency stop is opened
The two sides for closing (13) are respectively equipped with two ultrasound measurement modules (4) and the supersonic sounding of ultrasound measurement module (4) and the other end
Module (4) corresponding setting, upper cover plate (2) upper surface of the car body (1) close to one end of emergency stop switch (13) along side successively
Equipped with networking antenna (10), RTK communication antenna (9) and TT&C antenna (8), upper cover plate (2) upper surface is close to laser thunder
GPS positioning antenna (3) are equipped with up to one end of component (5)；The intermediate position of the car body (1) wherein side is internal to car body (1)
Extend and be equipped with battery case (7), the other side and battery case (7) corresponding section of the car body (1) are provided with loudspeaker (11)；The vehicle
The side of body (1) internal cell case (7) is equipped with electricity piece bracket (2.6), on the electricity piece bracket (2.6) from left to right successively
Equipped with observing and controlling radio station (2.1), RTK communication station (2.2), networking radio station (2.3), D.C. contactor (2.4) and connecting terminal
(2.5), the other side of car body (1) the internal cell case (7) is equipped with governor circuit board mount (2.9), the main control board
It is mounted with above bracket (2.9) main control board (2.8), the two sides of the battery case (7) are equipped with motor servo driver
(2.7).
2. intelligent robot tactics target vehicle platform according to claim 1, it is characterised in that: the car body (1) and
Upper cover plate (2) is aluminum alloy material.
3. intelligent robot tactics target vehicle platform according to claim 1, it is characterised in that: the wheel hub servo motor
(6) brushless type direct current servo hub motor is used, and is built-in with photoelectric encoder in the wheel hub servo motor (6).
4. intelligent robot tactics target vehicle platform according to claim 1, it is characterised in that: the GPS positioning antenna
(3) it is connected to GPS positioning system, the GPS positioning system uses the real-time kinetic-control system of RTK.
5. intelligent robot tactics target vehicle platform according to claim 1, it is characterised in that: the ultrasound measurement module
(4) it is all made of the operating mode spontaneous from receipts.
6. intelligent robot tactics target vehicle platform according to claim 1, it is characterised in that: write in the loudspeaker (11)
Enter multiple audio datas.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811122082.1A CN109357573A (en) | 2018-09-26 | 2018-09-26 | Intelligent robot tactics target vehicle platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811122082.1A CN109357573A (en) | 2018-09-26 | 2018-09-26 | Intelligent robot tactics target vehicle platform |
Publications (1)
| Publication Number | Publication Date |
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| CN109357573A true CN109357573A (en) | 2019-02-19 |
Family
ID=65347643
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811122082.1A Pending CN109357573A (en) | 2018-09-26 | 2018-09-26 | Intelligent robot tactics target vehicle platform |
Country Status (1)
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110595288A (en) * | 2019-09-11 | 2019-12-20 | 潍坊琢锋智能科技有限公司 | Self-programming multi-axis target practice robot |
| CN110749237A (en) * | 2019-09-29 | 2020-02-04 | 沈阳航空航天大学 | Unmanned military target vehicle |
| CN111497536A (en) * | 2020-06-02 | 2020-08-07 | 安徽工业大学 | Unmanned target vehicle system for aviation missile testing and use method |
| CN112665464A (en) * | 2020-12-21 | 2021-04-16 | 军鹏特种装备股份公司 | Crawler-type individual soldier intelligent movement target |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110595288A (en) * | 2019-09-11 | 2019-12-20 | 潍坊琢锋智能科技有限公司 | Self-programming multi-axis target practice robot |
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| CN111497536A (en) * | 2020-06-02 | 2020-08-07 | 安徽工业大学 | Unmanned target vehicle system for aviation missile testing and use method |
| CN111497536B (en) * | 2020-06-02 | 2021-11-16 | 安徽工业大学 | Unmanned target vehicle system for aviation missile testing and use method |
| CN112665464A (en) * | 2020-12-21 | 2021-04-16 | 军鹏特种装备股份公司 | Crawler-type individual soldier intelligent movement target |
| CN112665464B (en) * | 2020-12-21 | 2022-12-13 | 军鹏特种装备股份公司 | Crawler-type individual soldier intelligent movement target car |
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