CN109539895B - Intelligent control system for mobile target - Google Patents
Intelligent control system for mobile target Download PDFInfo
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- CN109539895B CN109539895B CN201811352334.XA CN201811352334A CN109539895B CN 109539895 B CN109539895 B CN 109539895B CN 201811352334 A CN201811352334 A CN 201811352334A CN 109539895 B CN109539895 B CN 109539895B
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- telescopic arm
- mobile target
- target vehicle
- steering
- synchronous belt
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
Abstract
The invention discloses an intelligent control system for a mobile target, which belongs to the technical field of army training equipment and comprises a plurality of mobile target vehicles controlled by a remote controller, wherein the plurality of mobile target vehicles realize bidirectional data interaction with the remote controller through a multi-AP wireless local area network; the Beidou satellite positioning module on the mobile target vehicle transmits positioning information sent by the Beidou satellite positioning module to the data center through the ground reinforcing network reference station for processing, the data center sends differential signals to the mobile target vehicle through the 4G communication module, and the Beidou satellite positioning module obtains decimeter-level positioning information of the mobile target vehicle through resolving. The intelligent control method and the intelligent control system realize the group scheduling, the individual task planning and the training data storage of a plurality of mobile target vehicles, greatly reduce the labor intensity of personnel and improve the working efficiency and the training effect.
Description
Technical Field
The invention belongs to the technical field of army training equipment, and particularly relates to an intelligent control system for a mobile target.
Background
The army target practice training is generally in outdoor open area, and in order to avoid the training target being exposed to wind, rain and sunshine, the training target needs to be collected to a designated place after the training is finished, and then the training target is recovered and transported to a warehouse. Because the training target mostly imitates the height of a real person, the training target is large in size and inconvenient to carry. At present, the training targets are mainly recovered and placed manually, and due to the fact that the number of the targets is large, the carrying workload of workers is large, the labor intensity is high, collision and bruise are easily caused, the carrying and the recovery are inconvenient, and the working efficiency is low.
Disclosure of Invention
The invention aims to provide an intelligent control system for a mobile target, and aims to solve the technical problems that in the prior art, the training target is inconvenient to carry manually, potential safety hazards of collision and bruise exist, the working efficiency is low, and the labor intensity is high.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a mobile target intelligent control system comprises mobile target vehicles, a data control center, a Beidou satellite ground enhancement network reference station, a multi-AP wireless network and a remote controller for controlling the mobile target vehicles, wherein a plurality of mobile target vehicles realize bidirectional data interaction with the remote controller through a multi-AP wireless local area network; the mobile target vehicle is provided with a Beidou satellite positioning module, the ground reinforcing network reference station transmits positioning information sent by the Beidou satellite positioning module to a data center for processing, the data center sends differential signals to the mobile target vehicle through a 4G communication module according to the processed information, and the Beidou satellite positioning module of the mobile target vehicle obtains sub-meter positioning information of the mobile target vehicle through resolving.
Preferably, the control module of the mobile target vehicle comprises a microcontroller, and a radar detection sensor, a laser ranging sensor, a gyroscope sensor and a power management unit which are connected with the input end of the microcontroller;
the short-distance wireless transmission module is connected with the input end of the microcontroller and is used for connecting the multi-AP wireless local area network and exchanging data with the data control center; the storage backup module is connected with the input end of the microcontroller and is used for storing the image and the information of each moment of the sensor;
the Beidou satellite positioning module and the video acquisition card are connected with the input end of the microcontroller, positioning data interaction is carried out between the Beidou satellite positioning module and the 4G communication module, and a video signal output by the camera is stored in the microcontroller through the video acquisition card;
the system also comprises a target vehicle walking control card and a target vehicle steering control card which are connected with the output end of the microcontroller and are used for controlling the walking and steering of the moving target vehicle;
the mobile target car is also provided with an identification ID code.
Preferably, the movable target vehicle comprises a lifting target body, a base and a traveling device arranged at the bottom of the base, the lifting target body is of a foldable split structure, and the lifting target body is driven to lift by a lifting device; the running device comprises four running wheels internally provided with hub motors, and the microcontroller controls the hub motors through a driving unit through a running control card of the target vehicle; the walking wheels are correspondingly arranged below four corners of the base, a buffer mechanism and a steering mechanism are arranged between the walking wheels and the base, and the microcontroller controls the action of the steering mechanism through a steering control card of the target vehicle; and the remote controller controls the actions of the lifting device, the walking wheels and the steering mechanism.
Preferably, the steering mechanism comprises a steering engine and a transmission component, wheel forks are arranged at two ends of a rotating shaft of the traveling wheel, and the lower ends of the wheel forks are connected with two ends of the rotating shaft of the traveling wheel; the steering engine and the transmission part are arranged in the steering box, and the wheel fork and the travelling wheel are arranged below the steering box; the transmission component comprises a driving bevel gear and a driven bevel gear, an output shaft of the steering engine is coaxially fixed with the driving bevel gear, and a transmission shaft of the driven bevel gear penetrates through the steering box and is coaxially fixed with the upper end of the wheel fork; an output shaft of the steering engine drives the walking wheels to steer through bevel gear transmission; the remote controller controls the actions of the hub motor and the steering engine.
Preferably, the buffer mechanism comprises an upper cross arm, a lower cross arm and a damper, the upper cross arm is arranged above the lower cross arm, two ends of the upper cross arm are respectively hinged with the base and the upper end of the steering box, and two ends of the lower cross arm are respectively hinged with the base and the lower end of the steering box; the damper is obliquely arranged between the base and the steering box, the upper end of the damper is connected with the upper end of the base, and the lower end of the damper is connected with the lower end of the steering box.
Preferably, the lifting target body is a split type human-shaped target and comprises a lower limb part, a trunk part and a head and shoulder part; the lifting device comprises a lifting steering engine and three-section telescopic arms, wherein the three-section telescopic arms are respectively a first telescopic arm, a second telescopic arm and a third telescopic arm from bottom to top and are respectively and correspondingly arranged on the side surfaces of the lower limb part, the trunk part and the head and shoulder parts; the lifting steering engine is arranged on the base, and a first transmission mechanism and a second transmission mechanism are respectively arranged in the first telescopic arm and the second telescopic arm; the lifting steering engine drives the lower end of the first telescopic arm to rotate and lift, the first telescopic arm drives a first transmission mechanism inside the first telescopic arm to operate, the first transmission mechanism and the second transmission mechanism are connected at the junction of the first telescopic arm and the second telescopic arm, the first transmission mechanism drives the second telescopic arm to lift, and the second transmission mechanism drives the third telescopic arm to rotate and lift; and the remote controller controls the action of the lifting steering engine.
Preferably, the first transmission mechanism comprises a first synchronous pulley and a second synchronous pulley, a synchronous belt connecting the first synchronous pulley and the second synchronous pulley is arranged in the first telescopic arm, the first synchronous pulley is fixed on the base, the second synchronous pulley is matched with a rotating shaft at the upper end of the first telescopic arm, and the lower end of the second telescopic arm is fixedly connected with the second synchronous pulley; an output shaft of the lifting steering engine is fixedly connected with the lower end of the first telescopic arm; the second transmission mechanism comprises a third synchronous belt wheel and a fourth synchronous belt wheel, a synchronous belt connecting the third synchronous belt wheel and the fourth synchronous belt wheel is arranged in the second telescopic arm, the third synchronous belt wheel is fixedly connected with the upper end of the first telescopic arm, the fourth synchronous belt wheel is matched with a rotating shaft at the upper end of the second telescopic arm, and the lower end of the third telescopic arm is fixedly connected with the fourth synchronous belt wheel; the transmission ratio of the first synchronous pulley to the second synchronous pulley is 1: and 2, the second synchronous pulley is the same as the third synchronous pulley and the fourth synchronous pulley.
Preferably, a first guide wheel is arranged below a belt at the lower part of the synchronous belt in the first telescopic arm, second guide wheels are arranged above an upper belt and a lower belt at the upper parts of the synchronous belt in the first telescopic arm and the second telescopic arm, and the two groups of second guide wheels are respectively close to the upper end of the first telescopic arm and the upper end of the second telescopic arm; and a third guide wheel is arranged below the upper belt and the lower belt on the lower part of the synchronous belt in the second telescopic arm.
Preferably, two sides of the lifting target body are respectively provided with three telescopic arms, and the three telescopic arms are correspondingly arranged on two sides of the lifting target body; the base is provided with a transmission shaft, the transmission shaft is driven by a lifting steering engine, two ends of the transmission shaft are fixedly connected with the lower ends of the first telescopic arms on two sides, and two ends of the transmission shaft respectively drive the first telescopic arms on two sides to rotate around the transmission shaft.
Preferably, a cloud deck is arranged above the base, the cloud deck is rotatably connected with the base, and the lifting target body and the lifting device are both arranged on the cloud deck; two sets of observing and aiming devices are arranged at the edge of the upper part of the holder; the observing and aiming device comprises an armor protective sleeve, a camera and a laser range finder are arranged inside the armor protective sleeve, a window is arranged on the outer side surface of the armor protective sleeve, and the camera of the camera and the laser transmitter of the laser range finder face the window.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the plurality of mobile target vehicles are controlled by the remote controller, the multi-AP wireless local area network realizes bidirectional data interaction with the remote controller, and the data control center receives and processes information transmitted by the multi-AP wireless local area network and transmits the processed information to the multi-AP wireless local area network; the mobile target vehicle is provided with a Beidou satellite positioning module, positioning information sent by the Beidou satellite positioning module on the mobile target vehicle is transmitted to a data center to be processed by a Beidou satellite ground reinforcing network reference station, the data center sends differential signals to the mobile target vehicle through a 4G communication module according to the processed information, and the Beidou satellite positioning module of the mobile target vehicle obtains sub-meter positioning information of the mobile target vehicle through resolving. The intelligent control method and the intelligent control system realize the group scheduling, the individual task planning and the training data storage of a plurality of mobile target vehicles, greatly reduce the labor intensity of personnel and improve the working efficiency and the training effect.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic structural diagram of a mobile target vehicle in an intelligent control system for a mobile target according to an embodiment of the present invention (a lifting target body is in an upright state);
FIG. 2 is a schematic view of the elevating target body of the mobile target vehicle of the present invention in a folded state;
FIG. 3 is a schematic view of the combination of the cushioning and steering mechanisms of FIG. 1 with road wheels;
FIG. 4 is a schematic half-section view of FIG. 3;
FIG. 5 is a schematic diagram of the process of lifting the lift target of the present invention;
FIG. 6 is a schematic view of the construction of the lifting device of FIG. 5;
FIG. 7 is a schematic view of the cradle head and base of FIG. 1;
FIG. 8 is a schematic diagram of a communications network of the present invention;
FIG. 9 is a control block diagram of the control system in the moving target vehicle of the present invention;
FIG. 10 is a block flow diagram of a positioning system in a mobile drone vehicle according to the present invention;
FIG. 11 is a schematic diagram of the architecture of a data control center according to the present invention;
FIG. 12 is a schematic diagram of the structure of the remote controller;
in the figure: 1-base, 2-lifting target body, 21-lower limb, 22-trunk and 23-head and shoulder; 3-a hub motor, 4-a lifting device, 41-a first telescopic arm, 42-a second telescopic arm, 43-a third telescopic arm and 44-a lifting steering engine; 5-steering engine, 6-wheel fork, 7-steering box, 8-driving bevel gear, 9-driven bevel gear, 10-upper cross arm, 11-lower cross arm, 12-damper, 13-connecting plate, 14-traveling wheel, 15-first synchronous pulley, 16-second synchronous pulley, 17-synchronous belt, 18-third synchronous pulley, 19-fourth synchronous pulley, 20-first guide wheel, 24-second guide wheel, 25-third guide wheel, 26-transmission shaft, 27-supporting block, 28-tripod head, 29-sighting device, 30-window, 31-bottom plate, 32-main shaft, 33-external hook, 34-armored shield and 35-bracket.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
A mobile target intelligent control system comprises a mobile target vehicle, a data control center, a Beidou satellite ground enhancement network reference station, a multi-AP wireless local area network and a remote controller for controlling the mobile target vehicle, wherein a plurality of mobile target vehicles realize bidirectional data interaction with the remote controller through the multi-AP wireless local area network, and the data control center is used for receiving and processing information transmitted by the multi-AP wireless local area network and transmitting the processed information to the multi-AP wireless local area network; the mobile target vehicle is provided with a Beidou satellite positioning module, the ground reinforcing network reference station transmits positioning information sent by the Beidou satellite positioning module to a data center for processing, the data center sends differential signals to the mobile target vehicle through a 4G communication module according to the processed information, and the Beidou satellite positioning module of the mobile target vehicle obtains sub-meter positioning information of the mobile target vehicle through resolving.
The communication network of the invention is shown in fig. 8, and the system measurement and control system adopts the wireless industrial ethernet to transmit data in advance in consideration of the bandwidth required by the video transmission of the mobile target vehicle and the later expandability. The direct consequence of the expanding number of moving target cars is an increased load on the network bandwidth, leading to an increased delay in the transmission of images and control information. Therefore, to avoid this situation, the data control center sets up a multi-AP wireless lan (a plurality of relatively independent wireless transmitting base stations in different network segments under the same lan) through the wireless manager. The mobile target car and the corresponding remote controller are connected with the same AP wireless local area network, and data exchange is carried out between the mobile target car and the data control center through the wireless manager. Wherein, the mobile target vehicle can be expanded to be not less than 48.
In a preferred embodiment of the present invention, as shown in fig. 9, the control module of the moving target vehicle includes a microcontroller, and a radar detection sensor, a laser ranging sensor, a gyroscope sensor and a power management unit connected to an input end of the microcontroller; the short-distance wireless transmission module is connected with the input end of the microcontroller and is used for connecting the multi-AP wireless local area network and exchanging data with the data control center; the storage backup module is connected with the input end of the microcontroller and is used for storing the image and the information of each moment of the sensor; the Beidou satellite positioning module and the video acquisition card are connected with the input end of the microcontroller, positioning data interaction is carried out between the Beidou satellite positioning module and the 4G communication module, and a video signal output by the camera is stored in the microcontroller through the video acquisition card; the system also comprises a target vehicle walking control card and a target vehicle steering control card which are connected with the output end of the microcontroller and used for controlling the walking and steering of the moving target vehicle.
The control system of the moving target vehicle is shown in fig. 9, the microcontroller takes a computer carrying a Windows single board as a core, and all core logic functions are realized in a software form by collecting signals of all sensors. The radar detection sensor and the laser ranging sensor provide information for obstacle avoidance and collision prevention of the moving target vehicle, and the priority is set to be highest; the gyroscope sensor provides information such as attitude, acceleration and the like; the power management unit provides a system power supply and the working state of the DC voltage conversion module; the Beidou satellite positioning module is responsible for providing decimeter-level positioning; the image processing unit comprises a camera and a video acquisition card. The motion control of the moving target vehicle comprises walking control and steering control, the computer controls the hub motors of the four walking wheels through the walking control card of the target vehicle and the driving unit, and controls the steering engine through the steering control card of the target vehicle. The computer is connected with the multi-AP local area network through the industrial wireless transmission module to exchange data with the data control center; the mobile target vehicle is provided with a storage backup module for storing images and information of each moment of the sensor.
In order to facilitate the grouping of the moving target cars, each moving target car is also provided with an Identification (ID) code.
The positioning system disclosed by the invention requires Beidou decimeter-level positioning as shown in FIG. 10, a foundation enhancement network is adopted in an implementation mode, a mobile target vehicle is loaded with a Beidou satellite positioning module, and foundation enhancement network reference station equipment is consistent with the equipment. The Beidou satellite positioning module receives positioning information with relatively poor resolution, the foundation enhancement network reference station transmits the positioning information to the data control center, then the differential signal is sent to the mobile target vehicle through the 4G communication module, and the Beidou satellite positioning module of the mobile target vehicle obtains decimeter positioning through further resolving. The positioning system is relatively independent of the control system of the moving target vehicle.
As shown in fig. 11, the data control center integrates monitoring and control, and can be used for program control and monitoring during control by a remote controller. The main devices include a main computer, an auxiliary computer, a display switch, a display wall, a disk array storage, and the like. The main computer exchanges data through a wireless local area network constructed by the wireless manager, displays the positioning, the speed and the posture of each mobile target car and the working state information of each module on the main computer, and can realize the program control requirements of grouping the mobile target cars and the like. The information of all the moving target vehicles can be projected on the display wall according to the requirement. The disk array storage unit can be used for storing and calling data required by a data control center host computer.
The remote controller is based on a wireless local area network, has the expandable capability and can realize one-to-one, one-to-many and other control modes. The remote controller adopts a handheld operator, the core of the handheld operator is a microprocessor, and the handheld operator is connected with a wireless local area network through a Wifi receiving module to exchange data with the mobile target vehicle. The display screen is used for displaying two paths of videos corresponding to the moving target car and displaying OSD (on screen display) containing information such as positioning, speed, posture and the like. The control information includes control of steering and walking throttle. The structural composition is shown in fig. 12.
As shown in fig. 1 and 2, the mobile target vehicle comprises a lifting target body 2, a base 1 and a traveling device arranged at the bottom of the base 1, wherein the lifting target body 2 is of a foldable split structure, and the lifting target body 2 is driven to lift by a lifting device 4; the travelling device comprises four travelling wheels 14 internally provided with hub motors, and the microcontroller controls the hub motors through a driving unit through a target vehicle travelling control card; the walking wheel 14 is correspondingly arranged below four corners of the base 1, a buffer mechanism and a steering mechanism are arranged between the walking wheel 14 and the base 1, and the microcontroller controls the action of the steering mechanism through a steering control card of the target vehicle. The remote controller can control the moving target vehicle to walk and turn, and can move at high speed at any posture and any angle on uneven ground; buffer gear has realized the buffering to training the target body at the walking in-process, and elevating gear can drive the free lift of over-and-under type target body in the extension or recovery process, and the target volume after folding is less, retrieves the transportation more lightly, is difficult for causing the bruise of colliding with, has greatly reduced personnel's intensity of labour, has improved work efficiency.
As a preferable structure, as shown in fig. 3 and 4, the traveling wheel 14 is internally provided with a hub motor 3; the steering mechanism comprises a steering engine 5 and a transmission component, wheel forks 6 are arranged at two ends of a rotating shaft of the walking wheel 14, and the lower ends of the wheel forks 6 are connected with two ends of the rotating shaft of the walking wheel 14; the steering engine 5 and the transmission part are arranged in the steering box 7, and the wheel fork 6 and the walking wheel 14 are arranged below the steering box 7; the transmission component comprises a driving bevel gear 8 and a driven bevel gear 9, an output shaft of the steering engine 5 is coaxially fixed with the driving bevel gear 8, and a transmission shaft of the driven bevel gear 9 penetrates through the steering box 7 and is coaxially fixed with the upper end of the wheel fork 6; an output shaft of the steering engine 5 drives the walking wheels 14 to steer through bevel gear transmission; the remote controller controls the actions of the hub motor 3 and the steering engine 5. The remote controller is used for controlling the actions of the hub motor and the steering engine so as to control the walking and steering of the walking wheel; the power parts and the transmission parts in the steering box are protected by the steering box, so that the service life of the steering box can be prolonged.
In a preferred embodiment of the present invention, as shown in fig. 3, the buffer mechanism includes an upper cross arm 10, a lower cross arm 11 and a damper 12, the upper cross arm 10 is disposed above the lower cross arm 11, two ends of the upper cross arm 10 are respectively hinged to the upper ends of the base 1 and the steering box 7, and two ends of the lower cross arm 11 are respectively hinged to the lower ends of the base 1 and the steering box 7; the damper 12 is obliquely arranged between the base 1 and the steering box 7, the upper end of the damper 12 is connected with the upper end of the base 1, and the lower end of the damper 12 is connected with the lower end of the steering box 7. The damper is a spring damper, and a hydraulic damper, a viscous damper or a damping slide rail can also be adopted.
In order to ensure the stable connection of the buffer mechanism, the upper cross arm 10 and the lower cross arm 11 are both provided with two arms and are symmetrically arranged on two sides of the damper 12. Meanwhile, the buffer mechanism is connected with the side wall of the base 1 through a connecting plate 13, and the connecting plate 13 is connected with the base 1 through connecting pieces such as bolt pairs.
As shown in fig. 3, the walking wheels are connected with the base through the double-insertion-arm structure of the buffer mechanism, so that the mobile target vehicle can be well adapted to uneven ground, and the four walking wheels are independently adjusted to the direction and independently suspended, so that the mobile target vehicle can move at any posture and any angle on the uneven ground, and meanwhile, the mobile target vehicle has high speed performance.
In a preferred embodiment of the present invention, as shown in fig. 5 and 6, the elevating target body 2 is a split type human-shaped target, which comprises a lower limb portion 21, a trunk portion 22 and a head and shoulder portion 23; the lifting device 4 comprises a lifting steering engine 44 and three telescopic arms, wherein the three telescopic arms are respectively a first telescopic arm 41, a second telescopic arm 42 and a third telescopic arm 43 from bottom to top and are respectively and correspondingly arranged on the side surfaces of the lower limb part 21, the trunk part 22 and the head and shoulder part 23; the lifting steering engine 44 is arranged on the base 1, and a first transmission mechanism and a second transmission mechanism are respectively arranged in the first telescopic arm 41 and the second telescopic arm 42; the lifting steering engine 44 drives the lower end of the first telescopic arm 41 to rotate and lift, the first telescopic arm 41 drives a first transmission mechanism inside the first telescopic arm to operate, the first transmission mechanism and a second transmission mechanism are connected at the junction of the first telescopic arm 41 and the second telescopic arm 42, the first transmission mechanism drives the second telescopic arm 42 to lift, and the second transmission mechanism drives the third telescopic arm 43 to rotate and lift; the remote controller controls the action of the lifting steering engine 44.
In an embodiment of the present invention, as shown in fig. 6, the first transmission mechanism includes a first synchronous pulley 15 and a second synchronous pulley 16, a synchronous belt 17 connecting the first synchronous pulley 15 and the second synchronous pulley 16 is disposed in the first telescopic arm 41, the first synchronous pulley 15 is fixed on the base 1, the second synchronous pulley 16 is engaged with a rotating shaft at the upper end of the first telescopic arm 41, and the lower end of the second telescopic arm 42 is fixedly connected with the second synchronous pulley 16; an output shaft of the lifting steering engine 44 is fixedly connected with the lower end of the first telescopic arm 41; the second transmission mechanism comprises a third synchronous pulley 18 and a fourth synchronous pulley 19, a synchronous belt 17 for connecting the third synchronous pulley 18 and the fourth synchronous pulley 19 is arranged in a second telescopic arm 42, the third synchronous pulley 18 is fixedly connected with the upper end of a first telescopic arm 41, the fourth synchronous pulley 19 is matched with a rotating shaft at the upper end of the second telescopic arm 42, and the lower end of a third telescopic arm 43 is fixedly connected with the fourth synchronous pulley 19; the transmission ratio of the first synchronous pulley 15 to the second synchronous pulley 16 is 1: 2, the second timing pulley 16 is the same as the third timing pulley 18 and the fourth timing pulley 19.
Wherein, the unfolding process of the lifting target body is as follows:
as shown in fig. 6, the lifting steering engine 44 is started to drive the first telescopic arm 41 to rotate 90 ° clockwise, so as to drive the lower limb 21 to be in an upright state; the first driving wheel 15 rotates anticlockwise relative to the first telescopic arm 41, the conveyor belt 17 matched with the first driving wheel 15 drives the second driving wheel 16 to rotate anticlockwise by 180 degrees, and the second telescopic arm 42 fixedly connected with the second driving wheel 16 rotates anticlockwise by 180 degrees and expands to drive the body part 22 to stand vertically; when the second telescopic arm 42 rotates anticlockwise, the third transmission wheel 18 rotates clockwise relative to the second telescopic arm 42, the transmission belt 17 matched with the third transmission wheel 18 drives the fourth transmission wheel 19 to rotate 180 degrees clockwise, the third telescopic arm 43 fixedly connected with the fourth transmission wheel 19 rotates 180 degrees clockwise to expand, and the head shoulder part 23 is driven to expand vertically. The vertical expansion of the split target body is realized through the actions. Otherwise, the lifting steering engine rotates 90 degrees in the opposite direction, so that the lifting target body is folded and recovered.
As a further preferable scheme, as shown in fig. 6, a first guide wheel 20 is arranged below the lower belt of the synchronous belt 17 in the first telescopic arm 41, so that the tension degree of the conveyor belt 17 can be ensured by the first guide wheel 20, and the lower belt is prevented from sagging; second guide wheels 24 are arranged above the upper belt and the lower belt on the upper part of the synchronous belt 17 in the first telescopic arm 41 and the second telescopic arm 42, and the two groups of second guide wheels 24 are respectively close to the upper end of the first telescopic arm 41 and the upper end of the second telescopic arm 42; and third guide wheels 25 are arranged below the upper belt and the lower belt on the lower part of the synchronous belt 17 in the second telescopic arm 42. The tensioning progress of the conveyor belt is ensured by the aid of the second guide wheel 24 and the third guide wheel 25, and the falling-off phenomenon caused by transition floating of the upper part of the conveyor belt is avoided; the second guide wheel 24 and the third guide wheel 25 in the second telescopic arm 42 can enable the internal conveyor belt to be in a parallel state, so that the conveyor belt 17 is prevented from falling and increasing resistance in the running process.
As shown in fig. 5, two sides of the lifting target body 2 are provided with three telescopic arms, and the three telescopic arms are correspondingly arranged on two sides of the lifting target body 2; the base 1 is provided with a transmission shaft 26, the transmission shaft 26 is driven by a lifting steering engine 44, two ends of the transmission shaft 26 are fixedly connected with the lower ends of the first telescopic arms 41 on two sides, and two ends of the transmission shaft 26 respectively drive the first telescopic arms 41 on two sides to rotate around the transmission shaft.
For convenient folding and minimizing the occupied space, the heights of the lower limb part 21, the trunk part 22 and the head and shoulder parts 23 are consistent; the lower limb part 21 is connected with the first telescopic arms 41 at two sides through connecting rods and is in the same plane, the trunk part 22 is connected with the second telescopic arms 42 at two sides and is in the same plane, and the head-shoulder part 23 is connected with the third telescopic arms 43 at two sides and is in the same plane.
As shown in fig. 1, 5 and 6, a supporting block 27 is disposed on the upper surface of the base 1, and the supporting block 27 is used for supporting the middle upper portion of the first telescopic arms 41 on both sides. The supporting shoe is two, can be by on the channel-section steel welded fastening base, and two supporting shoes correspond the both sides of over-and-under type target body respectively and set up in the both sides of base, can support the first flexible arm after folding with the help of two supporting shoes, guarantee the planarization of over-and-under type target body.
In a preferred embodiment of the present invention, as shown in fig. 1 and 7, a pan/tilt head 28 is disposed above the base 1, the pan/tilt head 28 is rotatably connected to the base 1, the elevating target body 2 and the elevating device 4 are both disposed on the pan/tilt head 28, and the bottom of the elevating target body 2 is fixed on the pan/tilt head 28 through a bottom plate 31; two sets of observing and aiming devices 29 are arranged at the upper part of the cloud deck 28; the observing and aiming device 29 comprises an armor protective sleeve, a camera and a laser range finder, wherein the camera and the laser range finder are arranged in the armor protective sleeve, a window 30 is arranged on the outer side surface of the armor protective sleeve, and a camera of the camera and a laser transmitter of the laser range finder face the window 30; and the remote controller controls the actions of the camera and the laser range finder. The camera shooting and the laser emission are convenient; the miniature focusing camera of camera and laser range finder's transmitter all correspond the window for realize that the environment is observed and the simulated attack, the camera is ordinary equipment, and furthest reduces the probability of catching a bullet, and the replacement cost is lower.
In order to facilitate control and operation, microwave detection equipment, a laser range finder and a camera are arranged in the front-back direction of the base and used for recognizing ground obstacles during movement and detecting targets during active counterattack.
The holder is a single-shaft holder, and the bearing capacity of the holder is 50 kg; the cradle head is rotationally connected with the base through a main shaft 32, and the main shaft is arranged in the middle of the cradle head 28 and the base 1; the upper surface of the holder is provided with a flange and an external equipment interface, and the lifting target body is fixed on the single-shaft holder through the flange.
As shown in fig. 7, an external hook 33 is arranged around the holder 28, and a bracket 35 is arranged around the base 1 for externally hanging an armored shield 34 and other devices. Wherein, the armor shield can be divided into an upper part and a lower part. When the armored shield is installed, the surrounding armored shield below the holder 28 is inserted on the bracket 35, and then the upper armored shield is inserted on the outer hook 33. The bottom of the upper armor shield can just block the upper edge of the lower armor shield, so that the lower armor shield can be ensured not to fall off in bumping even if the lower armor shield is not fixed by screws. Therefore, the screw of the upper armor shield is only required to be tightened when the armor shield is fixed. The armor guard can customize the Kevlar armor module, attaches stickness material outward for accomodate the bullet warhead when anti striking, prevent simultaneously that the bullet from hurting the personnel trained.
The hub motor, the steering engine and the elevator are powered by lead-acid or lithium batteries, and the base and the holder are made of carbon steel, stainless steel and high-strength aluminum, so that the overall strength and the corrosion resistance are improved.
In summary, the plurality of mobile target vehicles are controlled by the remote controller, the multi-AP wireless lan realizes bidirectional data interaction with the remote controller, and the data control center receives and processes information transmitted by the multi-AP wireless lan and transmits the processed information to the multi-AP wireless lan; the mobile target vehicle is provided with a Beidou satellite positioning module, positioning information sent by the Beidou satellite positioning module on the mobile target vehicle is transmitted to a data center to be processed by a Beidou satellite ground reinforcing network reference station, the data center sends differential signals to the mobile target vehicle through a 4G communication module according to the processed information, and the Beidou satellite positioning module of the mobile target vehicle obtains sub-meter positioning information of the mobile target vehicle through resolving. The intelligent control method and the intelligent control system realize the group scheduling, the individual task planning and the training data storage of a plurality of mobile target vehicles, greatly reduce the labor intensity of personnel and improve the working efficiency and the training effect.
In the description above, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and thus the present invention is not limited to the specific embodiments disclosed above.
Claims (6)
1. The utility model provides a mobile target intelligence control system which characterized in that: the system comprises a mobile target vehicle, a data control center, a Beidou satellite ground enhancement network reference station, a multi-AP wireless local area network and a remote controller for controlling the mobile target vehicle, wherein a plurality of mobile target vehicles realize bidirectional data interaction with the remote controller through the multi-AP wireless local area network; the mobile target vehicle is provided with a Beidou satellite positioning module, the ground reinforcing network reference station transmits positioning information sent by the Beidou satellite positioning module to a data center for processing, the data center sends the processed information to the mobile target vehicle through a 4G communication module, and the Beidou satellite positioning module of the mobile target vehicle obtains decimeter-level positioning information of the mobile target vehicle through resolving; the control module of the mobile target vehicle comprises a microcontroller, a radar detection sensor, a laser ranging sensor, a gyroscope sensor and a power management unit, wherein the radar detection sensor, the laser ranging sensor, the gyroscope sensor and the power management unit are connected with the input end of the microcontroller;
the short-distance wireless transmission module is connected with the input end of the microcontroller and is used for connecting the multi-AP wireless local area network and exchanging data with the data control center; the storage backup module is connected with the input end of the microcontroller and is used for storing the image and the information of each moment of the sensor;
the Beidou satellite positioning module and the video acquisition card are connected with the input end of the microcontroller, positioning data interaction is carried out between the Beidou satellite positioning module and the 4G communication module, and a video signal output by the camera is stored in the microcontroller through the video acquisition card;
the system also comprises a target vehicle walking control card and a target vehicle steering control card which are connected with the output end of the microcontroller and are used for controlling the walking and steering of the moving target vehicle;
the mobile target vehicle is also provided with an identification ID code;
the movable target vehicle comprises a lifting target body, a base and a traveling device arranged at the bottom of the base, wherein the lifting target body is of a foldable split structure and is driven to lift by a lifting device; the running device comprises four running wheels internally provided with hub motors, and the microcontroller controls the hub motors through a driving unit through a running control card of the target vehicle; the walking wheels are correspondingly arranged below four corners of the base, a buffer mechanism and a steering mechanism are arranged between the walking wheels and the base, and the microcontroller controls the action of the steering mechanism through a steering control card of the target vehicle; the remote controller controls the actions of the lifting device, the walking wheels and the steering mechanism;
the lifting target body is a split human-shaped target and comprises a lower limb part, a trunk part and a head and shoulder part; the lifting device comprises a lifting steering engine and three-section telescopic arms, wherein the three-section telescopic arms are respectively a first telescopic arm, a second telescopic arm and a third telescopic arm from bottom to top and are respectively and correspondingly arranged on the side surfaces of the lower limb part, the trunk part and the head and shoulder parts; the lifting steering engine is arranged on the base, and a first transmission mechanism and a second transmission mechanism are respectively arranged in the first telescopic arm and the second telescopic arm; the lifting steering engine drives the lower end of the first telescopic arm to rotate and lift, the first telescopic arm drives a first transmission mechanism inside the first telescopic arm to operate, the first transmission mechanism and the second transmission mechanism are connected at the junction of the first telescopic arm and the second telescopic arm, the first transmission mechanism drives the second telescopic arm to lift, and the second transmission mechanism drives the third telescopic arm to rotate and lift; the remote controller controls the action of the lifting steering engine; the first transmission mechanism comprises a first synchronous belt wheel and a second synchronous belt wheel, a synchronous belt connecting the first synchronous belt wheel and the second synchronous belt wheel is arranged in the first telescopic arm, the first synchronous belt wheel is fixed on the base, the second synchronous belt wheel is matched with a rotating shaft at the upper end of the first telescopic arm, and the lower end of the second telescopic arm is fixedly connected with the second synchronous belt wheel; an output shaft of the lifting steering engine is fixedly connected with the lower end of the first telescopic arm; the second transmission mechanism comprises a third synchronous belt wheel and a fourth synchronous belt wheel, a synchronous belt connecting the third synchronous belt wheel and the fourth synchronous belt wheel is arranged in the second telescopic arm, the third synchronous belt wheel is fixedly connected with the upper end of the first telescopic arm, the fourth synchronous belt wheel is matched with a rotating shaft at the upper end of the second telescopic arm, and the lower end of the third telescopic arm is fixedly connected with the fourth synchronous belt wheel; the transmission ratio of the first synchronous pulley to the second synchronous pulley is 1: and 2, the second synchronous pulley is the same as the third synchronous pulley and the fourth synchronous pulley.
2. The intelligent mobile target control system of claim 1, wherein: the steering mechanism comprises a steering engine and a transmission part, wheel forks are arranged at two ends of a rotating shaft of the traveling wheel, and the lower ends of the wheel forks are connected with two ends of the rotating shaft of the traveling wheel; the steering engine and the transmission part are arranged in the steering box, and the wheel fork and the travelling wheel are arranged below the steering box; the transmission component comprises a driving bevel gear and a driven bevel gear, an output shaft of the steering engine is coaxially fixed with the driving bevel gear, and a transmission shaft of the driven bevel gear penetrates through the steering box and is coaxially fixed with the upper end of the wheel fork; an output shaft of the steering engine drives the walking wheels to steer through bevel gear transmission; the remote controller controls the actions of the hub motor and the steering engine.
3. The intelligent mobile target control system of claim 2, wherein: the buffer mechanism comprises an upper cross arm, a lower cross arm and a damper, the upper cross arm is arranged above the lower cross arm, two ends of the upper cross arm are respectively hinged with the upper ends of the base and the steering box, and two ends of the lower cross arm are respectively hinged with the lower ends of the base and the steering box; the damper is obliquely arranged between the base and the steering box, the upper end of the damper is connected with the upper end of the base, and the lower end of the damper is connected with the lower end of the steering box.
4. The intelligent mobile target control system of claim 1, wherein: a first guide wheel is arranged below a belt at the lower part of the synchronous belt in the first telescopic arm, second guide wheels are arranged above an upper belt and a lower belt at the upper parts of the synchronous belt in the first telescopic arm and the second telescopic arm, and the two groups of second guide wheels are respectively close to the upper end of the first telescopic arm and the upper end of the second telescopic arm; and a third guide wheel is arranged below the upper belt and the lower belt on the lower part of the synchronous belt in the second telescopic arm.
5. The intelligent mobile target control system of claim 1, wherein: three telescopic arms are arranged on two sides of the lifting target body and correspondingly arranged on two sides of the lifting target body; the base is provided with a transmission shaft, the transmission shaft is driven by a lifting steering engine, two ends of the transmission shaft are fixedly connected with the lower ends of the first telescopic arms on two sides, and two ends of the transmission shaft respectively drive the first telescopic arms on two sides to rotate around the transmission shaft.
6. The intelligent mobile target control system according to any one of claims 1-5, wherein: a cradle head is arranged above the base and is rotationally connected with the base, and the lifting target body and the lifting device are arranged on the cradle head; two sets of observing and aiming devices are arranged at the edge of the upper part of the holder; the observing and aiming device comprises an armor protective sleeve, a camera and a laser range finder are arranged inside the armor protective sleeve, a window is arranged on the outer side surface of the armor protective sleeve, and a camera of the camera and a laser transmitter of the laser range finder face the window; and the remote controller controls the actions of the camera and the laser range finder.
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| CN111712735A (en) * | 2019-07-18 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Base station, image control point positioning method, electronic device, and computer-readable medium |
| CN110617742B (en) * | 2019-09-20 | 2021-11-30 | 陈志明 | Bionic jumping target device |
| CN113593340A (en) * | 2021-08-02 | 2021-11-02 | 北京华云智联科技有限公司 | Beidou teaching interactive system |
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| US5865439A (en) * | 1996-08-14 | 1999-02-02 | The United States Of America Army Corps Of Engineers As Represented By The Secretary Of The Army | Pop-up target system |
| CN101638052B (en) * | 2009-08-21 | 2012-01-04 | 山东大学 | Wheel assembly with integration of independent driving, steering, suspending and braking |
| CN201740470U (en) * | 2009-09-30 | 2011-02-09 | 亓开 | Programmable control kidnap hostage bobbing target machine |
| CN105511469B (en) * | 2015-12-18 | 2018-06-15 | 北京联合大学 | A kind of unmanned intelligent patrol electric vehicle and patrol system |
| CN206300559U (en) * | 2016-12-16 | 2017-07-04 | 吕森山 | Intelligent target vehicle and intelligent sliding moving-target |
| CN107218848B (en) * | 2017-05-15 | 2019-09-17 | 中国人民解放军73653部队 | A kind of intelligent mobile target assembly |
| CN107941094B (en) * | 2017-12-26 | 2023-10-31 | 成都高阳信息技术有限公司 | Portable folding lifting target |
| CN108344330A (en) * | 2018-01-04 | 2018-07-31 | 中国空空导弹研究院 | A kind of unmanned target vehicle and a kind of unmanned target vehicle ontology |
| CN108594805A (en) * | 2018-03-26 | 2018-09-28 | 福建（泉州）哈工大工程技术研究院 | A kind of control method of target practice image training robot that capableing of remote control |
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