CN111288853B - Intelligent target car of all-terrain autonomous movement - Google Patents
Intelligent target car of all-terrain autonomous movement Download PDFInfo
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- CN111288853B CN111288853B CN202010188025.4A CN202010188025A CN111288853B CN 111288853 B CN111288853 B CN 111288853B CN 202010188025 A CN202010188025 A CN 202010188025A CN 111288853 B CN111288853 B CN 111288853B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J1/00—Targets; Target stands; Target holders
- F41J1/10—Target stands; Target holders
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J1/00—Targets; Target stands; Target holders
- F41J1/01—Target discs characterised by their material, structure or surface, e.g. clay pigeon targets characterised by their material
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/06—Acoustic hit-indicating systems, i.e. detecting of shock waves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/14—Apparatus for signalling hits or scores to the shooter, e.g. manually operated, or for communication between target and shooter; Apparatus for recording hits or scores
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
Abstract
The invention discloses an all-terrain autonomous moving intelligent target vehicle which mainly comprises a dummy system, a vehicle body system and a chassis system, wherein the dummy system can realize multi-direction and multi-angle swinging, a plurality of sensors are uniformly distributed in the dummy system, and the target shooting condition can be uploaded to a remote control platform in real time; the vehicle body system is provided with a control system of the intelligent target vehicle; the chassis system can be through independently adjusting the gesture of marcing and adapt to various road conditions, possess certain obstacle-surmounting ability, and this intelligence target car can effectively solve current target car and can't realize multi-direction multi-angle motion and can't adapt to complicated topography, and function singleness scheduling problem collects accurate target-reporting, independently removes and high obstacle-surmounting ability in an organic whole, simulates lifelike actual combat atmosphere, realizes the variety, complexity and the intellectuality of shooting training mode, promotes the shooting actual combat ability of participating in training personnel.
Description
Technical Field
The invention relates to a shooting training device, in particular to an intelligent target car capable of moving independently in all terrains.
Background
At present, the target drone that uses in traditional practice ball shooting training is installed for the fixed point mostly, places fixed target promptly on certain distance, and the target position can not remove, does not possess the mobility, leads to training personnel to lack real shooting and experiences. There are also moving target machines, generally install the target on fixed track, during the training, the target is the reciprocating motion of fixed orbit along the track under the drive of moving part, and the motion orbit is single fixed unchangeable, lacks the flexibility, can't realize multi-direction, multi-angle motion, makes the shooting training break away from the actual combat, and the training effect is limited.
Secondly, the target that traditional target drone used is the plane target, and the bullet can only shoot into from specific direction and can obtain effective score, has greatly restricted training personnel's maneuverability. When field practical training is carried out, due to the fact that the field terrain environment is severe, when the training target vehicle runs on a rugged road surface, the vehicle body is prone to inclining and jolting, the traditional target vehicle cannot adapt to field all-terrain road conditions, obstacle crossing performance is poor, and speed is slow.
In addition, the existing shooting training target vehicle has single function or is unrealistic, does not achieve high intellectualization and integration, cannot meet the requirements of modern military training, and cannot be completely suitable for tactical confrontation training.
Disclosure of Invention
The invention provides an intelligent all-terrain autonomous moving target vehicle, which can effectively solve the technical problems that the target vehicle in the prior art cannot realize multi-directional multi-angle motion and cannot adapt to complex terrain, the function is single and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent target vehicle capable of moving independently in all terrain mainly comprises a dummy system, a vehicle body system, a chassis system and the like. Wherein: the dummy system can realize multidirectional and multi-angle swinging, a plurality of sensors are uniformly distributed in the dummy system, and the target shooting condition can be uploaded to a remote control platform in real time; the vehicle body system is provided with a control system of the intelligent target vehicle, has certain adaptability to the running posture of the chassis system, is bulletproof, and ensures the integrity of the whole structure of the intelligent target vehicle and the normal running of internal components; the chassis system can adapt to various road conditions by automatically adjusting the advancing gesture and has certain obstacle crossing capability.
The dummy system consists of a three-dimensional humanoid target, a sensor subsystem, a steering connecting device and a target holder.
The three-dimensional humanoid target can be simply used as a marker for aiming of a trainer, and a space for carrying weapons can be reserved in the three-dimensional humanoid target.
Furthermore, the steering connecting device mainly has the function of connecting the three-dimensional humanoid target with a vehicle body system. The three-dimensional humanoid target is connected with the three-dimensional humanoid target in a plug-in connection mode through a bracket of the steering connection device, and is stable in connection and convenient to replace.
Furthermore, the steering connecting device consists of a universal joint structure and a rotating platform, and is matched with a speed reducer, a motor, an angle sensor and a microcontroller. Be connected with the reduction gear on the motor shaft of motor, the reduction gear output shaft passes through the coupling joint with universal joint structure axis of rotation, and install angle sensor on the motor output shaft, microcontroller can set up in the automobile body, microcontroller can be according to the rotation automatic control speed reducer output shaft's of the control signal control motor that the remote control platform sent turned to the turned angle, thereby drive the various of three-dimensional humanoid target 4 and turn to, angle sensor can the turned angle of real-time detection speed reducer output shaft, thereby confirm the current orientation of three-dimensional humanoid target, the realization of this function can compensate the shortcoming that traditional shooting target can't simulate arbitrary angle shooting in the actual combat.
Furthermore, the sensor subsystem is arranged under the three-dimensional humanoid target, the system is provided with four sensor supporting rods which extend outwards, the four sensor supporting rods are distributed on the upper surface of the target seat in a cross shape, the tail ends of the sensor supporting rods are provided with shock wave sensors, the shock wave sensors are also arranged in the middle of the target seat, and the four shock wave sensors positioned on the sensor supporting rods and the shock wave sensors positioned in the middle of the target seat are combined to form a sensor array in a cross structure. When a bullet or a cannonball flies through the target surface area of the three-dimensional humanoid target, the warhead generates certain pressure waves to surrounding gas, characteristic values of the pressure waves are measured through shock wave sensors arranged below the three-dimensional humanoid target, measured data values are transmitted to a data acquisition and analysis subsystem configured in a vehicle body system, time differences of the five shock wave sensors when receiving signals are calculated, and the data acquisition and analysis subsystem transmits time difference information to a data receiving terminal. And the data receiving terminal receives the time difference information, calculates the coordinates of the shot impact point, the shot speed and the shot oblique incidence angle according to the established mathematical model, displays the shot impact point in real time through a picture through upper computer software, and can report the target through three modes of voice, image or characters.
Further, the vehicle body system mainly comprises a vehicle body shell, a video acquisition subsystem, a storage battery subsystem, a data acquisition and analysis subsystem and a motion control subsystem, wherein the storage battery subsystem, the data acquisition and analysis subsystem and the motion control subsystem are arranged inside the vehicle body shell.
Furthermore, the vehicle body shell is connected with a frame of the chassis system and a base of the dummy system to play a role in connection and fixation.
Furthermore, a storage battery, a data acquisition and analysis subsystem and a motion control subsystem are arranged in the vehicle body shell, and the vehicle body shell also plays roles in sealing, insulating and preventing dust. Besides the requirement of the existing functional component installation control is met, a part of independent space is designed on the shell of the vehicle body, and the requirement of future weapon system installation is met.
Furthermore, the storage battery subsystem mainly comprises a 36V lithium battery pack, a charging port and a power output port. The lithium battery pack supplies power to subsystems of the dummy system, the vehicle body system and the chassis system through a power output port so as to ensure the smooth operation of the intelligent target vehicle. The endurance of the lithium battery pack can reach 3 hours, and the lithium battery pack can be charged in real time through the charging port.
Furthermore, the video acquisition subsystem is composed of 4 groups of 360-degree cameras arranged on the shell of the vehicle body, and the subsystem acquires video data through the cameras and transmits the video data to the data acquisition and analysis subsystem in real time. The data acquisition and analysis subsystem is mainly used for collecting speed data of the wheel motion subsystem, video data of the video acquisition subsystem and various data acquired by the sensor subsystem of the dummy system, and transmitting signals to the data receiving terminal for analysis, processing and display through an antenna below the vehicle body after primary processing.
Furthermore, the motion control subsystem is mainly used for wirelessly transmitting and receiving signals from a terminal to control the intelligent target car. And meanwhile, the wheel movement subsystem and the brake control subsystem are automatically controlled based on the data acquired by the data acquisition and analysis subsystem, and particularly, the service braking and auxiliary braking functions of the brake control subsystem are realized.
Furthermore, the chassis system mainly comprises a wheel motion subsystem, a brake control subsystem and a self-adaptive suspension subsystem, wherein the wheel motion subsystem mainly comprises wheels and a frame, the frame supports the overall structure of the chassis system, and the frame is made of an aluminum alloy material for reducing the weight of the system. In order to reduce the overall weight of the chassis system and improve the motion flexibility and the controllability of the chassis system, the wheel motion subsystem adopts four-wheel drive, four wheels are driven by a direct-current hub motor, the forward movement, the backward movement and other actions of the intelligent target vehicle can be realized, the motor power is 500W, and the speed per hour of the intelligent target vehicle can reach 40 km. Meanwhile, a steering control mechanism necessary for a common motion system is simplified in the frame, the steering of the system adopts the rotating speed difference of four wheels for steering, the motion mode has high stability and more flexible steering performance.
Furthermore, the self-adaptive suspension subsystem mainly comprises a self-balancing rod group, an air damping shock absorber, a universal connecting rod, a frame and the like, wherein the self-balancing rod group is formed by connecting two self-balancing rods through a base to form a V-shaped structure, and the main function of the self-balancing rod group is to transmit all forces and moments between wheels and the frame, so that the vibration caused by impact load and attenuation transmitted to the frame from an uneven road surface can be alleviated, the integral stability of the intelligent target vehicle is ensured, and the four wheels can closely advance in the process of traveling. Under the coordination action of the self-adaptive suspension subsystem and the wheel motion subsystem, the intelligent target car can smoothly pass through uneven mountains or steps.
Furthermore, the brake control subsystem is composed of an electromagnet, a spring, a brake disc mounting bracket and the like. The brake disc is controlled by directly controlling the on-off of the electromagnet. The braking mode has the advantages of good sealing performance, less heat fading, strong environmental adaptability and the like. The brake performance can be more linear, the wheels cannot be locked suddenly, and the brake performance is stable. Through the independently configured controller, the system can realize multiple functions of service braking, parking braking, auxiliary braking and the like, and further ensures the smooth movement of the intelligent target vehicle.
Compared with the prior art, the invention has the following beneficial effects:
1. the shock wave sensors are combined to form a sensor array with a cross structure, the direction and the position of a bullet entering the sensor array can be sensed, and the result is sent to a remote control platform through a series of data calculation and analysis, so that accurate target reporting is realized.
2. The steering connection device adopts a universal joint structure and is provided with the angle sensor, so that the rotation angle of the output shaft of the speed reducer can be detected by the angle sensor in real time while the three-dimensional humanoid target is multi-directionally and multi-angularly swung, and the current orientation of the three-dimensional humanoid target is determined.
3. The chassis system is provided with a self-adaptive suspension subsystem and a wheel motion subsystem, so that four wheels of the intelligent target vehicle can keep running closely, the intelligent target vehicle can smoothly pass through uneven mountains or steps, the transverse inclination angle can reach +/-25 degrees, and the target vehicle can stably and reliably run on complex terrains.
4. Collect accurate target, independently remove and high obstacle-crossing ability in an organic whole, simulate lifelike actual combat atmosphere, realize the variety, complexity and the intellectuality of shooting the training mode, promote the shooting actual combat ability of participating in the training personnel.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an intelligent target vehicle;
FIG. 2 is a schematic diagram of the construction of a prosthetic system;
FIG. 3 is a schematic view of the steering linkage;
FIG. 4 is a schematic structural view of a vehicle body system;
FIG. 5 is a schematic structural diagram of a chassis system;
FIG. 6 is a schematic diagram of the adaptive suspension subsystem;
in the figure, 1-a dummy system, 2-a vehicle body system, 3-a chassis system, 4-a three-dimensional humanoid target, 5-a sensor subsystem, 6-a steering connecting device, 7-a target seat, 8-a universal joint structure, 9-a rotating platform, 10-a video acquisition subsystem, 11-a vehicle body shell, 12-a wheel motion subsystem, 13-a brake control subsystem, 14-an adaptive suspension subsystem, 15-a self-balancing rod group, 16-an air damping shock absorber, 17-a universal connecting rod and 18-a vehicle frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1-5 of the specification, the overall structure of the intelligent target car of the embodiment is composed of a dummy system 1, a car body system 2, a chassis system 3 and the like. Wherein: the dummy system 1 can realize multidirectional and multi-angle swinging, a plurality of sensors are uniformly distributed in the dummy system, and the shooting condition can be uploaded to a remote control platform in real time; the vehicle body system 2 is provided with a control system of the intelligent target vehicle, has certain adaptability to the running posture of the chassis system 3, is bulletproof, and ensures the integrity of the whole structure of the intelligent target vehicle and the normal running of internal components; the chassis system 3 can adapt to various road conditions by automatically adjusting the advancing gesture and has certain obstacle crossing capability.
The dummy system 1 consists of a three-dimensional humanoid target 4, a sensor subsystem 5, a steering connecting device 6 and a target holder 7.
The lower end of the three-dimensional humanoid target 4 is sleeved with a target seat 7, the sensor subsystem 5 is arranged on the target seat 7, and the three-dimensional humanoid target 4 is arranged at the top of the vehicle body system 2 through the steering connecting device 6.
The three-dimensional humanoid target 4 only plays a role of a marker at present, and a space for carrying weapons is reserved in consideration of future function expansion.
The steering connection device 6 mainly functions to connect the three-dimensional humanoid target 4 with the vehicle body system 2. The three-dimensional humanoid target 4 is connected with the bracket of the steering connecting device 6 in a plug-in type manner, and is stable in connection and convenient to replace.
The steering connecting device 6 consists of a universal joint structure 8 and a rotating platform 9, and is matched with a speed reducer, a motor, an angle sensor and a microcontroller. The motor shaft of motor is last to be connected with the reduction gear, the reduction gear output shaft passes through the coupling joint with the 8 axis of rotation of universal joint structure, and install angle sensor on the motor output shaft, microcontroller can set up in the automobile body, microcontroller can be according to the rotation automatic control speed reducer output shaft's of the control signal control motor that the remote control platform sent turned to the turned angle, thereby drive the various of three-dimensional humanoid target 4 and turn to, angle sensor can real-time detection speed reducer output shaft's turned angle, thereby confirm the current orientation of three-dimensional humanoid target 4. The realization of this function can compensate the shortcoming that traditional shooting target can't simulate arbitrary angle shooting in the actual combat.
The sensor subsystem 5 is arranged under the three-dimensional humanoid target 4, the system is provided with four sensor supporting rods which extend outwards, the four sensor supporting rods are distributed on the upper surface of the target seat 7 in a cross shape, the tail end of each sensor supporting rod is provided with a shock wave sensor, the middle of the target seat 7 is also provided with the shock wave sensor, and the four shock wave sensors positioned on the sensor supporting rods and the shock wave sensor positioned in the middle of the target seat 7 are combined to form a sensor array with a cross structure. When a bullet or a cannonball flies through the target surface area of the three-dimensional humanoid target 4, the warhead generates certain pressure waves to surrounding gas, characteristic values of the pressure waves are measured through shock wave sensors arranged below the three-dimensional humanoid target 4, measured data values are transmitted to a data acquisition and analysis subsystem configured in the vehicle body system 2, time differences when the five shock wave sensors receive signals are calculated, and the data acquisition and analysis subsystem transmits time difference information to a data receiving terminal. And the data receiving terminal receives the time difference information, calculates the coordinates of the shot impact point, the shot speed and the shot oblique incidence angle according to the established mathematical model, displays the shot impact point in real time through a picture through upper computer software, and can report the target through three modes of voice, image or characters.
The vehicle body system 2 is cylindrical and mainly comprises a vehicle body shell 11, a video acquisition subsystem 10, a storage battery subsystem, a data acquisition and analysis subsystem and a motion control subsystem. The storage battery subsystem, the data acquisition and analysis subsystem and the motion control subsystem are arranged inside a shell of the vehicle body so as to be prevented from being damaged by external force.
The body shell 11 is connected with the frame of the chassis system 3 and the base of the dummy system 1, and plays a role in connection and fixation. The shell is internally provided with a storage battery, a data acquisition and analysis subsystem and a motion control subsystem, and the vehicle body shell 11 also plays roles of sealing, insulating and dust prevention. Besides meeting the requirements of the existing functional component installation controls, the body shell 11 is also designed with a partially independent space for meeting the requirements of future weapon system installation.
The storage battery subsystem mainly comprises a 36V lithium battery pack, a charging port and a power output port. The lithium battery pack supplies power to subsystems of the dummy system 1, the vehicle body system 2 and the chassis system 3 through a power output port so as to ensure the smooth operation of the intelligent target vehicle. The endurance of the lithium battery pack can reach 3 hours, and the lithium battery pack can be charged in real time through the charging port.
The video acquisition subsystem 10 consists of 4 groups of 360-degree cameras arranged on a vehicle body shell 11, and the subsystem acquires video data through the cameras and transmits the video data to the data acquisition and analysis subsystem in real time. The data acquisition and analysis subsystem is mainly used for collecting speed data of the wheel motion subsystem 12, video data of the video acquisition subsystem 10 and various data acquired by the sensor subsystem 5 of the dummy system 1, and transmitting signals to the data receiving terminal for analysis, processing and display after primary processing.
The motion control subsystem is mainly used for wirelessly transmitting and receiving signals from a terminal and controlling the intelligent target car. And meanwhile, the wheel movement subsystem 12 and the brake control subsystem 13 are autonomously controlled based on the data acquired by the data acquisition and analysis subsystem, and particularly, the service braking and auxiliary braking functions of the brake control subsystem 13 are realized.
The chassis system 3 mainly comprises a wheel motion subsystem 12, a brake control subsystem 13, an adaptive suspension subsystem 14 and the like, wherein the wheel motion subsystem 12 mainly comprises wheels and a frame. The frame supports the whole structure of the chassis system 3, and in order to reduce the weight of the system, the frame is made of aluminum alloy materials. In order to reduce the overall weight of the chassis system 3 and improve the motion flexibility and the controllability of the chassis system 3, the wheel motion subsystem 12 adopts four-wheel drive, four wheels are driven by direct-current hub motors, the forward movement, the backward movement and other actions of the intelligent target vehicle can be realized, the motor power is 500W, and the speed per hour of the intelligent target vehicle can reach 40 km. Meanwhile, a steering control mechanism necessary for a common motion system is simplified in the frame, the steering of the system adopts the rotating speed difference of four wheels for steering, the motion mode has high stability and more flexible steering performance.
The adaptive suspension subsystem 14 mainly comprises a self-balancing rod group 15, an air damping shock absorber 16, a universal connecting rod 17, a frame 18 and the like, as shown in the attached figure 6 of the specification, wherein the self-balancing rod group 15 is formed by connecting two self-balancing rods through a base to form a V-shaped structure, and has the main function of transferring all forces and moments between wheels and the frame, so that the vibration caused by impact load and attenuation transferred to the frame from an uneven road surface can be alleviated, the integral stability of the intelligent target vehicle is ensured, and the four wheels can closely advance in the process of traveling. Under the coordination action of the adaptive suspension subsystem 14 and the wheel motion subsystem 12, the intelligent target vehicle can smoothly pass through uneven mountainous roads or steps to adapt to all terrains.
The brake control subsystem 13 is composed of an electromagnet, a spring, a brake disc mounting bracket and the like. The brake disc is controlled by directly controlling the on-off of the electromagnet. The braking mode has the advantages of good sealing performance, less heat fading, strong environmental adaptability and the like. The brake performance can be more linear, the wheels cannot be locked suddenly, and the brake performance is stable. Through the independently configured controller, the system can realize multiple functions of service braking, parking braking, auxiliary braking and the like, and further ensures the smooth movement of the intelligent target vehicle.
The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (7)
1. An all-terrain autonomous mobile intelligent target vehicle, comprising: the vehicle comprises a dummy system (1), a vehicle body system (2) and a chassis system (3), wherein the dummy system (1) consists of a three-dimensional humanoid target (4), a sensor subsystem (5), a steering connecting device (6) and a target seat (7), the target seat (7) is sleeved at the lower end of the three-dimensional humanoid target (4), the sensor subsystem (5) is arranged on the target seat (7), the three-dimensional humanoid target (4) is arranged at the top of the vehicle body system (2) through the steering connecting device (6), the vehicle body system (2) mainly comprises a vehicle body shell (11), a video acquisition subsystem (10), a storage battery subsystem, a data acquisition analysis subsystem and a motion control subsystem, the chassis system (3) mainly comprises a wheel motion subsystem (12), a brake control subsystem (13) and an adaptive suspension subsystem (14), and the data acquisition analysis subsystem is used for collecting speed data of the wheel motion subsystem (12), The video data of the video acquisition subsystem (10) and various data acquired by the sensor subsystem (5) of the dummy system (1) are subjected to preliminary processing, signals are transmitted to a data receiving terminal through an antenna below a vehicle body for analysis, processing and display, the data receiving terminal receives time difference information, according to a built mathematical model, coordinates of a shot impact point, a shot speed and a shot oblique incidence angle are calculated, the shot impact point is displayed in real time through a picture, target reporting is carried out in three modes of voice, image or text, a steering connecting device (6) consists of a universal joint structure (8) and a rotating table (9), and is provided with a speed reducer, a motor, an angle sensor and a microcontroller in a matching way, a speed reducer is connected to a motor shaft of the motor, an output shaft of the speed reducer is connected with a rotating shaft of the universal joint structure (8) through a coupler, and the output shaft of the motor is provided with the angle sensor, the self-adaptive suspension system (14) mainly comprises a self-balancing rod set (15), an air damping shock absorber (16), a universal connecting rod (17) and a frame (18), wherein the self-balancing rod set (15) is formed by connecting two self-balancing rods into a V-shaped structure with an upward opening through a base, the two ends of the opening are connected through the air damping shock absorber (16), one ends, far away from the base, of the two self-balancing rods are respectively connected with the universal connecting rod (17), and the other end of the universal connecting rod (17) is connected with the frame (18).
2. The all-terrain autonomous mobile intelligent target vehicle of claim 1, characterized in that: the sensor subsystem (5) is arranged under the three-dimensional humanoid target (4), the system is provided with four sensor supporting rods extending outwards, the four sensor supporting rods are distributed on the upper surface of the target seat (7) in a cross shape, and the tail ends of the sensor supporting rods are provided with shock wave sensors.
3. The all-terrain autonomous mobile intelligent target vehicle of claim 2, wherein: the middle of the target seat (7) is also provided with a shock wave sensor, and the four shock wave sensors positioned on the sensor supporting rod and the shock wave sensor positioned in the middle of the target seat (7) are combined to form a sensor array with a cross structure.
4. The all-terrain autonomous mobile intelligent target vehicle of claim 1, characterized in that: the storage battery subsystem mainly comprises a 36V lithium battery pack, a charging port and a power output port.
5. The all-terrain autonomous mobile intelligent target vehicle of claim 1, characterized in that: the video acquisition subsystem (10) comprises 4 groups of 360-degree cameras arranged on a vehicle body shell (11).
6. The all-terrain autonomous mobile intelligent target vehicle of claim 1, characterized in that: the wheel motion subsystem (12) adopts four-wheel drive, and four wheels are driven by a direct current hub motor.
7. The all-terrain autonomous mobile intelligent target vehicle of claim 1, characterized in that: the brake control subsystem (13) comprises an electromagnet, a spring, a brake disc and a brake disc mounting bracket.
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| CN113267089B (en) * | 2021-05-26 | 2023-02-07 | 厦门汇博龙芯电子科技有限公司 | Tactical target vehicle target training system |
| CN114087926A (en) * | 2021-10-28 | 2022-02-25 | 河北汉光重工有限责任公司 | Hydraulic shock absorber and target vehicle self-adaptive shock absorption system |
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