CN109483548A - A kind of intelligent-tracking confrontation fire robot and its control method - Google Patents

A kind of intelligent-tracking confrontation fire robot and its control method Download PDF

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Publication number
CN109483548A
CN109483548A CN201811574261.9A CN201811574261A CN109483548A CN 109483548 A CN109483548 A CN 109483548A CN 201811574261 A CN201811574261 A CN 201811574261A CN 109483548 A CN109483548 A CN 109483548A
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steering engine
tracking
motor
omni
target
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CN109483548B (en
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缪文南
朱俊杰
原智键
李柱明
陆兆基
陈思宇
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Guangzhou College of South China University of Technology
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Guangzhou College of South China University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

Abstract

A kind of intelligent-tracking confrontation fire robot and its control method, including main control chip, camera, receiver, omni-directional wheel platform and the steering engine holder being arranged on robot body；The control to intelligent-tracking confrontation fire robot is realized by being confirmed whether run-home, adjustment target to aiming and control omni-directional wheel platform and steering engine holder steering movement is refined.The present invention proposes a kind of intelligent-tracking confrontation fire robot and its control method, realizes the effect that accurate intelligent tracks and carries out Intelligent control to it.

Description

A kind of intelligent-tracking confrontation fire robot and its control method
Technical field
The present invention relates to robot field more particularly to a kind of intelligent-tracking confrontation fire robot and its control methods.
Background technique
With the development and progress of scientific and technological level, robot is more and more come into actual life, either daily In terms of Entertainment in life is still used for military combat, intelligent-tracking confrontation fire robot also gradually becomes important Come, realizing that intelligent-tracking and Manipulation of the machine people are shot at tracking target is the important realization project of the robot, wherein such as What realizes that accurate intelligent tracks and carries out a big difficulty that manipulation is the robot research project.
Summary of the invention
It is an object of the invention to the defects of for background technique, propose a kind of intelligent-tracking confrontation fire robot and Its control method realizes the effect that accurate intelligent tracks and carries out Intelligent control to it.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of control method of intelligent-tracking confrontation fire robot, including robot body, setting are in robot body On main control chip, camera, receiver, omni-directional wheel platform and steering engine holder；
Specific step is as follows for control method:
Step A: main control chip detects the serial ports of robot first, judges whether to detect serial ports, if serial ports is not detected, Then robot enters TLD presentation state；If detecting serial ports, serial ports is initialized；
Step B: receiver opens the camera of robot and shows image information, and feature frame circle is waited to take image information The middle target for needing to aim at, judges whether this feature frame meets preset minimum frame numerical value after target selection, if not meeting Then circle takes again, and a tracking box is returned if meeting, judges target whether by fine sight, if not smart according to tracking box Really then mobile tracking frame is aimed at until target is by fine sight；
Step C: after target is aimed, main control chip initializes single-chip system clock, configures timer timing coefficient；Just Begin after chemical conversion function, whether the peripheral hardware connection for detecting robot succeeds, and passes through bluetooth serial ports sending device mistake if connection failure Information waits external command if successful connection；
Step D: main control chip receives external command, and judges that external command is the order of omni-directional wheel platform courses or steering engine Cradle head control order, if external command is the order of omni-directional wheel platform courses, then it is mobile to manipulate omni-directional wheel platform, on the contrary then manipulate Steering engine holder is mobile.
Preferably, in the step B, judge whether target by fine sight needs whether judge target according to tracking box In the center of tracking box, judge target whether in the center of tracking box specific step is as follows:
Step B1: obtaining the length and width of tracking box first, and the midpoint coordinates of tracking box is calculated according to formula one and formula two (X,Y)；
Formula one: X=box.x-box.weight；
Formula two: Y=box.y-box.height；
In formula one and formula two:
X indicates the x-axis coordinate value at the midpoint of tracking box；
The x-axis coordinate value of box.x expression tracking box top left corner apex；
The width of box.weight expression tracking box；
Y indicates the y-axis coordinate value at the midpoint of tracking box；
The y-axis coordinate value of box.y expression tracking box top left corner apex；
The length of box.height expression tracking box；
Step B2: according to the midpoint (X, Y) of tracking box obtained in step B1, judge coordinates of targets whether with midpoint coordinates (X, Y) is overlapped, if being overlapped, opens shooting flag bit, and send a signal to slave computer；If not being overlapped, to target progress side Position determines, calculates the offset of coordinates of targets and tracking box midpoint coordinates (X, Y), adjusts coordinates of targets and tracking according to offset Frame midpoint coordinates (X, Y) is overlapped.
Preferably, the robot body further includes slave computer；
In the step B2, to target carry out direction deciding, calculate offset adjustment target the following steps are included:
Step B21: determine that target is located at which orientation in video pictures using video flowing midpoint coordinates (Xa1, Yb1), side Position includes upper left, lower-left, upper right and bottom right；
Step B22: if target is located on the left of video hub, calculating steering engine using formula three and turn to unit number, public Formula three: for X=Xa1-0.7xc1^2；Wherein: X indicates the x-axis coordinate at tracking box midpoint, and Xa1 indicates that the x-axis at video flowing midpoint is sat Mark, xc1 indicate the unit number that steering engine x-axis turns to；
If target is located on the right side of video hub, steering engine is calculated using formula four and turns to unit number, formula four: X= 0.7xc2^2-Xa1；Wherein: X indicates the x-axis coordinate at tracking box midpoint, and Xa1 indicates the x-axis coordinate at video flowing midpoint, and xc2 is indicated The unit number that steering engine x-axis turns to；
If target is located on the upside of video hub, steering engine is calculated using formula five and turns to unit number, formula five: Y= Yb1-0.7yc3^2；Wherein: Y indicates the y-axis coordinate at tracking box midpoint, and Yb1 indicates the x-axis coordinate at video flowing midpoint, and yc3 is indicated The unit number that steering engine y-axis turns to；
If target is located on the downside of video hub, steering engine is calculated using formula six and turns to unit number, formula six: Y=- 0.7yc4^2-Yb1；Wherein: Y indicates the y-axis coordinate at tracking box midpoint, and Yb1 indicates the x-axis coordinate at video flowing midpoint, and yc4 is indicated The unit number that steering engine y-axis turns to；
Step B23: after obtaining the unit number that steering engine turns in step B22, being sent to slave computer with AxBy character string, Wherein Ax indicates that the x-axis moving direction of steering engine, By indicate the y-axis moving direction of steering engine, and xc1, xc2, yc3 and yc4 are respectively indicated For the unit number that the steering engine x-axis/y-axis obtained in step B22 turns to, slave computer is adjusted according to AxBy character string.
Preferably, the robot body further includes first motor, the second motor and third motor；
In the step D, external command is the order of omni-directional wheel platform courses, then manipulates the movement of omni-directional wheel platform, according to Omni-directional wheel platform courses order manipulates the movement of omni-directional wheel platform, and specific step is as follows:
Step D11: when omni-directional wheel platform courses order is to be moved forward and backward order, first motor stops operating, the second electricity Machine and third motor output phase are moved forward or back with dynamic Control omni-directional wheel platform, at this time the final controlling value of the steering engine of first motor PWM is 0, and the final controlling value PWM of the steering engine of the second motor and third motor is W/S, in which: W/S indicates to move forward or back；
Step D12: when omni-directional wheel platform courses order is left and right translation order, the second motor and third motor output phase With power but power direction on the contrary, control omni-directional wheel platform or so translation, the final controlling value PWM of the steering engine of first motor is at this time The final controlling value PWM of the steering engine of A/D, the second motor and third motor is 0.5 (A/D), and wherein A/D indicates left or right flat It moves；
Step D13: when omni-directional wheel platform courses order is original place spin order, first motor, the second motor and third Motor exports identical power and power direction is identical, and three motors rotate clockwise control omni-directional wheel platform original place and revolve clockwise Turn, the final controlling value PWM of the steering engine of first motor, the second motor and third motor is R/L at this time, and wherein R/L indicates clockwise It rotates in place or rotates in place counterclockwise.
Preferably, in the step D, external command is the order of steering engine cradle head control, then manipulates the movement of steering engine holder, root According to the movement of steering engine cradle head control order manipulation steering engine holder, specific step is as follows:
The x-axis steering engine signal wire duty ratio of steering engine holder changes or has y-axis steering engine holder signal wire duty ratio to send out It is raw change, according to x-axis or there is y-axis steering engine signal wire duty ratio and drive steering engine；
Signal wire duty ratio is bigger, and steering engine rotational angle is bigger.
Preferably, including the first motor, the second motor and third motor are transported using the driving omni-directional wheel platform of formula seven It is dynamic；
Formula seven:
Wherein: V1, V2, V3 indicate the revolving speed of three omni-directional wheels；
Vxe, Vye indicate omni-directional wheel in the speed in the direction x and the direction y；
W indicates the angular speed on three omni-directional wheel chassis；
Ta3x3 representing matrix Ta；
θ indicates omni-directional wheel and x-axis angle；
Represent position (x, y) and headstock and the x-axis angle of reference axis；
The central point of vehicle is in the position (x, y) of reference axis and headstock and x-axis angle
L indicates that three omnidirectionals take turns to the distance in axle center.
A kind of intelligent-tracking confrontation fire robot, intelligent-tracking confrontation fire robot include signal capture system System, order Transmission system and drive system, the signal capture system, order Transmission system and the mutual chain of drive system three It connects；
The signal capture system includes camera, wireless image transmission transmitter and the end PC console, the signal capture system System obtains target position order for capturing external image information and being sent to the end PC console from the external image；
The order Transmission system includes control handle, receiver and the end PC console, the order Transmission system It is used for transmission the target position order and handle control command；
The drive system includes robot body, and power supply, Voltage stabilizing module, master control core are provided in the robot body Piece, steering engine holder, omni-directional wheel platform, relay, transmitting equipment and driving motor, the drive system are used for according to the order The order of Transmission system transmission drives the robot body.
Preferably, the signal capture system includes that the camera captures external image information, and is transmitted to the nothing Line chart passes transmitter, then has the wireless image transmission transmitter that external image information is sent to the end PC console, the PC Hold console that external image information is converted to the target position order.
Preferably, the order Transmission system includes that the end PC console receives the handle control that control handle issues System order, and the handle control command and target position order are sent in the main control chip by the receiver.
Preferably, the main control chip receives the target position order and handle control command that the receiver is sent, root Drive the driving motor according to target position order and handle control command, the driving motor drive the omni-directional wheel platform or The movement of holder steering engine；
The main control chip drives the relay according to the handle control command, emits described in the relay driving Equipment；
The power supply and Voltage stabilizing module are used to provide electric power and burning voltage to the robot body；
The robot body further includes obstacle avoidance module, and the obstacle avoidance module is for detecting extraneous barrier and to the master It controls chip and sends avoidance information.
Detailed description of the invention
Fig. 1 is the flow chart that robot of the invention captures that picture confirmation target aims at；
Fig. 2 is adjustment target of the invention to the flow chart being aimed；
Fig. 3 is the mobile flow chart of control omni-directional wheel platform or steering engine holder of the invention；
Fig. 4 is robot system frame diagram of the invention.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
A kind of control method of intelligent-tracking confrontation fire game robot of the present embodiment includes machine as shown in Figs. 1-3 Device human body, the main control chip being arranged on robot body, camera, receiver, omni-directional wheel platform and steering engine holder；
Specific step is as follows for control method:
Step A: main control chip detects the serial ports of robot first, judges whether to detect serial ports, if serial ports is not detected, Then robot enters TLD presentation state；If detecting serial ports, serial ports is initialized；
Step B: receiver opens the camera of robot and shows image information, and feature frame circle is waited to take image information The middle target for needing to aim at, judges whether this feature frame meets preset minimum frame numerical value after target selection, if not meeting Then circle takes again, and a tracking box is returned if meeting, judges target whether by fine sight, if not smart according to tracking box Really then mobile tracking frame is aimed at until target is by fine sight；
In the step B, judge whether target by fine sight needs to judge whether target is tracking according to tracking box The center of frame, judge target whether in the center of tracking box specific step is as follows:
Step B1: obtaining the length and width of tracking box first, and the midpoint coordinates of tracking box is calculated according to formula one and formula two (X,Y)；
Formula one: X=box.x-box.weight；
Formula two: Y=box.y-box.height；
In formula one and formula two:
X indicates the x-axis coordinate value at the midpoint of tracking box；
The x-axis coordinate value of box.x expression tracking box top left corner apex；
The width of box.weight expression tracking box；
Y indicates the y-axis coordinate value at the midpoint of tracking box；
The y-axis coordinate value of box.y expression tracking box top left corner apex；
The length of box.height expression tracking box；
Step B2: according to the midpoint (X, Y) of tracking box obtained in step B1, judge coordinates of targets whether with midpoint coordinates (X, Y) is overlapped, if being overlapped, opens shooting flag bit, and send a signal to slave computer；If not being overlapped, to target progress side Position determines, calculates the offset of coordinates of targets and tracking box midpoint coordinates (X, Y), adjusts coordinates of targets and tracking according to offset Frame midpoint coordinates (X, Y) is overlapped.
In the step B2, direction deciding is carried out to target, calculates offset adjustment target the following steps are included: as schemed Shown in 2:
Step B21: determine that target is located at which orientation in video pictures using video flowing midpoint coordinates (Xa1, Yb1), side Position includes upper left, lower-left, upper right and bottom right；
Step B22: if target is located on the left of video hub, calculating steering engine using formula three and turn to unit number, public Formula three: for X=Xa1-0.7xc1^2；Wherein: X indicates the x-axis coordinate at tracking box midpoint, and Xa1 indicates that the x-axis at video flowing midpoint is sat Mark, xc1 indicate the unit number that steering engine x-axis turns to；
If target is located on the right side of video hub, steering engine is calculated using formula four and turns to unit number, formula four: X= 0.7xc2^2-Xa1；Wherein: X indicates the x-axis coordinate at tracking box midpoint, and Xa1 indicates the x-axis coordinate at video flowing midpoint, and xc2 is indicated The unit number that steering engine x-axis turns to；
If target is located on the upside of video hub, steering engine is calculated using formula five and turns to unit number, formula five: Y= Yb1-0.7yc3^2；Wherein: Y indicates the y-axis coordinate at tracking box midpoint, and Yb1 indicates the x-axis coordinate at video flowing midpoint, and yc3 is indicated The unit number that steering engine y-axis turns to；
If target is located on the downside of video hub, steering engine is calculated using formula six and turns to unit number, formula six: Y=- 0.7yc4^2-Yb1；Wherein: Y indicates the y-axis coordinate at tracking box midpoint, and Yb1 indicates the x-axis coordinate at video flowing midpoint, and yc4 is indicated The unit number that steering engine y-axis turns to；
Step B23: after obtaining the unit number that steering engine turns in step B22, being sent to slave computer with AxBy character string, Wherein Ax indicates that the x-axis moving direction of steering engine, By indicate the y-axis moving direction of steering engine, and xc1, xc2, yc3 and yc4 are respectively indicated For the unit number that the steering engine x-axis/y-axis obtained in step B22 turns to, slave computer is adjusted according to AxBy character string.
Step C: after target is aimed, main control chip initializes single-chip system clock, configures timer timing coefficient；Just Begin after chemical conversion function, whether the peripheral hardware connection for detecting robot succeeds, and passes through bluetooth serial ports sending device mistake if connection failure Information waits external command if successful connection；
Step D: main control chip receives external command, and judges that external command is the order of omni-directional wheel platform courses or steering engine Cradle head control order then manipulates the movement of omni-directional wheel platform, control method is such as if external command is the order of omni-directional wheel platform courses Under:
Manipulating the movement of omni-directional wheel platform according to omni-directional wheel platform courses order, specific step is as follows: as shown in figure 3,
Step D11: when omni-directional wheel platform courses order is to be moved forward and backward order, first motor stops operating, the second electricity Machine and third motor output phase are moved forward or back with dynamic Control omni-directional wheel platform, at this time the final controlling value of the steering engine of first motor PWM is 0, and the final controlling value PWM of the steering engine of the second motor and third motor is W/S, in which: W/S indicates to move forward or back；
Step D12: when omni-directional wheel platform courses order is left and right translation order, the second motor and third motor output phase With power but power direction on the contrary, control omni-directional wheel platform or so translation, the final controlling value PWM of the steering engine of first motor is at this time The final controlling value PWM of the steering engine of A/D, the second motor and third motor is 0.5 (A/D), and wherein A/D indicates left or right flat It moves；
Step D13: when omni-directional wheel platform courses order is original place spin order, first motor, the second motor and third Motor exports identical power and power direction is identical, and three motors rotate clockwise control omni-directional wheel platform original place and revolve clockwise Turn, the final controlling value PWM of the steering engine of first motor, the second motor and third motor is R/L at this time, and wherein R/L indicates clockwise It rotates in place or rotates in place counterclockwise.
The first motor, the second motor and third motor drive omni-directional wheel platform to move using formula seven；
Formula seven:
Wherein: V1, V2, V3 indicate the revolving speed of three omni-directional wheels；
Vxe, Vye indicate omni-directional wheel in the speed in the direction x and the direction y；
W indicates the angular speed on three omni-directional wheel chassis；
Ta3x3 representing matrix Ta；
θ indicates omni-directional wheel and x-axis angle；
Represent position (x, y) and headstock and the x-axis angle of reference axis；
The central point of vehicle is in the position (x, y) of reference axis and headstock and x-axis angle
L indicates that three omnidirectionals take turns to the distance in axle center.
It is on the contrary then manipulate that steering engine holder is mobile, and specific operating steps are as follows:
Manipulating the movement of steering engine holder according to steering engine cradle head control order, specific step is as follows:
The x-axis steering engine signal wire duty ratio of steering engine holder changes or has y-axis steering engine holder signal wire duty ratio to send out It is raw change, according to x-axis or there is y-axis steering engine signal wire duty ratio and drive steering engine；
Signal wire duty ratio is bigger, and steering engine rotational angle is bigger.
A kind of intelligent-tracking confrontation fire robot, intelligent-tracking confrontation fire robot include signal capture system System, order Transmission system and drive system, the signal capture system, order Transmission system and the mutual chain of drive system three It connects；
As shown in figure 4, the signal capture system includes camera, wireless image transmission transmitter and the end PC console, it is described Signal capture system obtains target from the external image for capturing external image information and being sent to the end PC console Position command；
The order Transmission system includes control handle, receiver and the end PC console, the order Transmission system It is used for transmission the target position order and handle control command；
The drive system includes robot body, and power supply, Voltage stabilizing module, master control core are provided in the robot body Piece, steering engine holder, omni-directional wheel platform, relay, transmitting equipment and driving motor, the drive system are used for according to the order The order of Transmission system transmission drives the robot body.
The signal capture system includes that the camera captures external image information, and is transmitted to the wireless image transmission hair Emitter, then have the wireless image transmission transmitter that external image information is sent to the end PC console, the end PC console External image information is converted into the target position order.
The order Transmission system includes that the end PC console receives the handle control command that control handle issues, And the handle control command and target position order are sent in the main control chip by the receiver.
The main control chip receives the target position order and handle control command that the receiver is sent, according to target position It sets order and handle control command drives the driving motor, the driving motor drives the omni-directional wheel platform or holder steering engine Movement；
The main control chip drives the relay according to the handle control command, emits described in the relay driving Equipment；
The power supply and Voltage stabilizing module are used to provide electric power and burning voltage to the robot body；
The robot body further includes obstacle avoidance module, and the obstacle avoidance module is for detecting extraneous barrier and to the master It controls chip and sends avoidance information.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within Within protection scope of the present invention.

Claims (10)

1. a kind of control method of intelligent-tracking confrontation fire robot, it is characterised in that: including robot body, be arranged in machine Main control chip, camera, receiver, omni-directional wheel platform and steering engine holder on device human body；
Specific step is as follows for control method:
Step A: main control chip detects the serial ports of robot first, judges whether to detect serial ports, if serial ports is not detected, machine Device people enters TLD presentation state；If detecting serial ports, serial ports is initialized；
Step B: receiver opens the camera of robot and shows image information, and waiting feature frame circle to take in image information needs The target to be aimed at, judges whether this feature frame meets preset minimum frame numerical value after target selection, weigh if not meeting New circle takes, and a tracking box is returned if meeting, judges target whether by fine sight, if not taken aim at accurately according to tracking box Criterion mobile tracking frame is up to target is by fine sight；
Step C: after target is aimed, main control chip initializes single-chip system clock, configures timer timing coefficient；Initialization After success, whether the peripheral hardware connection for detecting robot succeeds, and passes through bluetooth serial ports sending device error message if connection failure, External command is waited if successful connection；
Step D: main control chip receives external command, and judges that external command is the order of omni-directional wheel platform courses or steering engine holder Control command, if external command is the order of omni-directional wheel platform courses, then it is mobile to manipulate omni-directional wheel platform, on the contrary then manipulate steering engine Holder is mobile.
2. the control method of a kind of intelligent-tracking confrontation fire robot according to claim 1, it is characterised in that:
In the step B, judge whether target by fine sight needs to judge target whether in tracking box according to tracking box Center, judge target whether in the center of tracking box specific step is as follows:
Step B1: obtaining the length and width of tracking box first, according to formula one and formula two calculate tracking box midpoint coordinates (X, Y)；
Formula one: X=box.x-box.weight；
Formula two: Y=box.y-box.height；
In formula one and formula two:
X indicates the x-axis coordinate value at the midpoint of tracking box；
The x-axis coordinate value of box.x expression tracking box top left corner apex；
The width of box.weight expression tracking box；
Y indicates the y-axis coordinate value at the midpoint of tracking box；
The y-axis coordinate value of box.y expression tracking box top left corner apex；
The length of box.height expression tracking box；
Step B2: according to the midpoint (X, Y) of tracking box obtained in step B1, judge coordinates of targets whether with midpoint coordinates (X, Y it) is overlapped, if being overlapped, opens shooting flag bit, and send a signal to slave computer；If not being overlapped, orientation is carried out to target and is sentenced It is fixed, the offset of coordinates of targets and tracking box midpoint coordinates (X, Y) is calculated, is adjusted in coordinates of targets and tracking box according to offset Point coordinate (X, Y) is overlapped.
3. the control method of a kind of intelligent-tracking confrontation fire robot according to claim 2, it is characterised in that: the machine Device human body further includes slave computer；
In the step B2, to target carry out direction deciding, calculate offset adjustment target the following steps are included:
Step B21: video flowing midpoint coordinates (X is useda1, Yb1) determining target is located at which orientation in video pictures, orientation includes Upper left, lower-left, upper right and bottom right；
Step B22: if target is located on the left of video hub, calculating steering engine using formula three and turn to unit number, formula three: For X=Xa1-0.7xc1^2；Wherein: X indicates the x-axis coordinate at tracking box midpoint, Xa1Indicate the x-axis coordinate at video flowing midpoint, xc1Table Show the unit number that steering engine x-axis turns to；
If target is located on the right side of video hub, steering engine is calculated using formula four and turns to unit number, formula four: X=0.7xc2 ^2-Xa1；Wherein: X indicates the x-axis coordinate at tracking box midpoint, Xa1Indicate the x-axis coordinate at video flowing midpoint, xc2Indicate steering engine x-axis The unit number of steering；
If target is located on the upside of video hub, steering engine is calculated using formula five and turns to unit number, formula five: Y=Yb1- 0.7yc3^2；Wherein: Y indicates the y-axis coordinate at tracking box midpoint, Yb1Indicate the x-axis coordinate at video flowing midpoint, yc3Indicate steering engine y The unit number of axle steer；
If target is located on the downside of video hub, steering engine is calculated using formula six and turns to unit number, formula six: Y=- 0.7yc4^2-Yb1；Wherein: Y indicates the y-axis coordinate at tracking box midpoint, Yb1Indicate the x-axis coordinate at video flowing midpoint, yc4Indicate rudder The unit number that machine y-axis turns to；
Step B23: after obtaining the unit number that steering engine turns in step B22, being sent to slave computer with AxBy character string, wherein Ax indicates that the x-axis moving direction of steering engine, By indicate the y-axis moving direction of steering engine, xc1、xc2、yc3And yc4It is expressed as step The unit number that the steering engine x-axis obtained in B22 /y-axis turns to, slave computer are adjusted according to AxBy character string.
4. the control method of a kind of intelligent-tracking confrontation fire robot according to claim 1, it is characterised in that: the machine Device human body further includes first motor, the second motor and third motor；
In the step D, external command is the order of omni-directional wheel platform courses, then the movement of omni-directional wheel platform is manipulated, according to omnidirectional Taking turns the movement of platform courses order manipulation omni-directional wheel platform, specific step is as follows:
Step D11: when omni-directional wheel platform courses order be moved forward and backward order when, first motor stops operating, the second motor and Third motor output phase is moved forward or back with dynamic Control omni-directional wheel platform, at this time the final controlling value PWM of the steering engine of first motor It is 0, the final controlling value PWM of the steering engine of the second motor and third motor is W/S, in which: W/S indicates to move forward or back；
Step D12: when omni-directional wheel platform courses order is left and right translation order, the second motor and third motor output phase are the same as dynamic Power but power direction are on the contrary, control omni-directional wheel platform or so translation, and the final controlling value PWM of the steering engine of first motor is A/D at this time, The final controlling value PWM of the steering engine of second motor and third motor is 0.5 (A/D), and wherein A/D indicates left or right translation；
Step D13: when omni-directional wheel platform courses order is original place spin order, first motor, the second motor and third motor It exporting identical power and power direction is identical, three motors rotate clockwise control omni-directional wheel platform original place and rotate clockwise, this When first motor, the second motor and third motor the final controlling value PWM of steering engine be R/L, wherein R/L indicates original place clockwise rotation Turn or rotates in place counterclockwise.
5. the control method of a kind of intelligent-tracking confrontation fire robot according to claim 1, it is characterised in that:
In the step D, external command is the order of steering engine cradle head control, then the movement of steering engine holder is manipulated, according to steering engine holder Control command manipulates the movement of steering engine holder, and specific step is as follows:
The x-axis steering engine signal wire duty ratio of steering engine holder changes or has y-axis steering engine holder signal wire duty ratio to change Become, according to x-axis or has a y-axis steering engine signal wire duty ratio and drive steering engine；
Signal wire duty ratio is bigger, and steering engine rotational angle is bigger.
6. the control method of a kind of intelligent-tracking confrontation fire robot according to claim 4, it is characterised in that:
Omni-directional wheel platform is driven to move using formula seven including the first motor, the second motor and third motor；
Formula seven:
Wherein: V1、V2、V3Indicate the revolving speed of three omni-directional wheels；
Vxe、VyeIndicate omni-directional wheel in the speed in the direction x and the direction y；
W indicates the angular speed on three omni-directional wheel chassis；
Ta3x3Representing matrix Ta；
θ indicates omni-directional wheel and x-axis angle；
Represent position (x, y) and headstock and the x-axis angle of reference axis；
The central point of vehicle is in the position (x, y) of reference axis and headstock and x-axis angle
L indicates that three omnidirectionals take turns to the distance in axle center.
7. a kind of intelligent-tracking confrontation fire robot, it is characterised in that: intelligent-tracking confrontation fire robot includes letter Number capture system, order Transmission system and drive system, the signal capture system, order Transmission system and drive system three It interlinks；
The signal capture system includes camera, wireless image transmission transmitter and the end PC console, and the signal capture system is used In capture external image information and it is sent to the end PC console, and obtains target position order from the external image；
The order Transmission system includes that control handle, receiver and the end PC console, the order Transmission system are used for Transmit the target position order and handle control command；
The drive system includes robot body, be provided in the robot body power supply, Voltage stabilizing module, main control chip, Steering engine holder, omni-directional wheel platform, relay, transmitting equipment and driving motor, the drive system are used to be passed according to the order The order of defeated system transmission drives the robot body.
8. a kind of intelligent-tracking confrontation fire robot according to claim 7, it is characterised in that:
The signal capture system includes that the camera captures external image information, and is transmitted to the wireless image transmission transmitting Device, then have the wireless image transmission transmitter that external image information is sent to the end PC console, the end PC console will External image information is converted to the target position order.
9. a kind of intelligent-tracking confrontation fire robot according to claim 7, it is characterised in that:
The order Transmission system includes the handle control command that the end PC console receives control handle sending, and will The handle control command and target position order are sent in the main control chip by the receiver.
10. a kind of intelligent-tracking confrontation fire robot according to claim 7, it is characterised in that:
The main control chip receives the target position order and handle control command that the receiver is sent, and is ordered according to target position It enables and handle control command drives the driving motor, the driving motor drives the omni-directional wheel platform or holder steering engine fortune It is dynamic；
The main control chip drives the relay according to the handle control command, emits described in the relay driving and sets It is standby；
The power supply and Voltage stabilizing module are used to provide electric power and burning voltage to the robot body；
The robot body further includes obstacle avoidance module, and the obstacle avoidance module is for detecting extraneous barrier and to the master control core Piece sends avoidance information.
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