CN113043294A - Martial art arena robot based on indoor laser positioning - Google Patents
Martial art arena robot based on indoor laser positioning Download PDFInfo
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- CN113043294A CN113043294A CN202110341474.2A CN202110341474A CN113043294A CN 113043294 A CN113043294 A CN 113043294A CN 202110341474 A CN202110341474 A CN 202110341474A CN 113043294 A CN113043294 A CN 113043294A
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- 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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
- A63H13/02—Toy figures with self-moving parts, with or without movement of the toy as a whole imitating natural actions, e.g. catching a mouse by a cat, the kicking of an animal
- A63H13/04—Mechanical figures imitating the movement of players or workers
- A63H13/06—Mechanical figures imitating the movement of players or workers imitating boxing or fighting
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/26—Magnetic or electric toys
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- Mechanical Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A martial art arena robot based on indoor laser positioning. The device comprises an inclined plane supporting plate, a driving protective shell, a front side driving module, wheels, a motor, a distance measuring assembly, a shovel support, a side distance measuring assembly, a rear side driving module, a battery, a duct supporting frame, an inclined shovel, a middle plate support, a duct fan supporting plate, a controller protective shell, a radar protective shell, a tail fin infrared distance measuring module, a tail fin infrared protective shell, a tail fin plate, a duct fan, an angle adjusting shaft, a tail fin baffle plate, a side wing, an upper extended wing, a tail wing beam, a bottom plate, a bearing seat, a top plate, a shovel arm, a shovel infrared distance measuring module, a shovel, an infrared sensor, a connecting pipe, a laser radar and a controller; the invention has the following effects: by adding the laser radar, the robot obtains the peripheral environment information of the robot in a mode of mutual cooperation and measurement of the laser radar, the infrared ranging sensor and the infrared sensor, and functions of judging the boundary of the arena, searching for obstacles, identifying an attack object, defending and the like are achieved.
Description
Technical Field
The invention belongs to the field of intelligent robot positioning technology, and particularly relates to a martial art arena robot based on indoor laser positioning.
Background
With the development of science and technology, the wushu arena car that traditional wushu arena robot check was used all adopts infrared sensing all-round coverage formula ranging system, detects whether the automobile body annex exists the shelter through infrared ranging module, and the effective range of this kind of range finding form is only 10-20cm to the threshold value is big more unstable more, its weak point lies in that the field of vision scope is little, and the responsiveness is poor, and the precision is not good enough, and the code extensibility is poor, very restriction program's performance, consequently very easily leads to the robot to appear reacting slowly, the adversity subalternation scheduling problem in the match of robot on the match field of robot in the past.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a martial art arena robot based on indoor laser positioning.
In order to achieve the above object, the present invention provides an indoor laser positioning-based martial art arena robot, comprising: the device comprises an inclined plane supporting plate, a driving protective shell, a front side driving module, wheels, a motor, a distance measuring assembly, a shovel support, a side distance measuring assembly, a rear side driving module, a battery, a duct supporting frame, an inclined shovel, a middle plate support, a duct fan supporting plate, a controller protective shell, a radar protective shell, a tail fin infrared distance measuring module, a tail fin infrared protective shell, a tail fin plate, a duct fan, an angle adjusting shaft, a tail fin baffle plate, a side wing, an upper extended wing, a tail fin beam, a bottom plate, a bearing seat, a top plate, a shovel arm, a shovel infrared distance measuring module, a shovel, an infrared sensor, a connecting pipe, a laser radar and a controller; the bottom plate is horizontally arranged, and the front part and the rear part of each side of the bottom plate are respectively provided with a wheel; the four motors are respectively arranged on the edges of the front part and the rear part of the surface of the bottom plate, and output shafts are respectively connected to central shafts of corresponding wheels; the two front side driving modules are arranged on the front part of the surface of the bottom plate and are respectively and electrically connected with two motors for driving wheels on the front part; the four distance measuring components are respectively arranged at the two side parts of the front end surface and the rear end surface of the bottom plate; each distance measuring assembly comprises an infrared distance measuring module, an infrared protection shell and an infrared protection upper cover, wherein the infrared protection shell is fixed at the front end or the rear end of the bottom plate, an opening is formed in the front end surface or the rear end surface, the infrared distance measuring module is arranged in the infrared protection shell, and the infrared protection upper cover covers the top of the infrared protection shell; the shovel support is arranged on a bottom plate between the two distance measuring assemblies at the front end, and a magnet is arranged on the shovel support; the battery is fixed in the middle of the surface of the bottom plate and used for supplying power to all electric components on the robot; the top plate is fixed on the upper side of the middle front part of the bottom plate; the side ranging assembly comprises a side infrared ranging module and a side ranging protection shell; the upper end and the lower end of each side distance measuring protective shell are respectively connected with the bottom surfaces at the two sides of the rear part of the top plate and the edges at the two sides of the middle surface of the bottom plate, an opening is formed on the outer side surface, and a side infrared distance measuring module is placed in the side distance measuring protective shell; the lower ends of the two driving protective housings are respectively fixed on the surfaces of the two sides of the rear part of the top plate, a rear side driving module is arranged in each driving protective housing, and the two rear side driving modules are respectively and electrically connected with two motors used for driving the rear wheels; the lower end of the controller protection shell is fixed in the middle of the surface of the top plate, and the controller is placed in the controller protection shell; the lower end of the radar protection shell is fixed at the top of the controller protection shell, and the laser radar is fixed at the front part of the upper end of the radar protection shell; the rear part of the radar protection upper cover is fixed at the rear part of the upper end of the radar protection shell, and the front part of the radar protection upper cover covers the top surface of the laser radar; the two bearing seats are respectively arranged on the surfaces of the top plates positioned on the two sides of the controller protection shell; the shovel arms are of an inverted L-shaped structure, the two shovel arms are arranged in parallel, and the rear ends of the shovel arms are respectively hinged to the two bearing seats; two ends of the connecting pipe are respectively fixed in the middle parts of the two shovel arms; the front ends of the two shovel arms are respectively fixed at the two sides of the top surface of the shovel, and magnets are arranged at the rear part of the top surface of the shovel to attract the magnets on the shovel support; the outer side of the lower part of each shovel arm is respectively provided with a shovel infrared ranging module and an infrared sensor; the inclined plane supporting plates are vertically arranged, the two inclined plane supporting plates are arranged in parallel, and the lower ends of the front parts of the two inclined plane supporting plates are respectively fixed at the two sides of the surface of the rear part of the top plate; the rear part of the inclined shovel is bent upwards, and the two side parts are respectively fixed at the lower ends of the rear parts of the two inclined supporting plates; the ducted fan supporting plate is horizontally arranged and is supported and fixed at the front part of the surface of the inclined shovel through a ducted supporting frame and a middle plate; the two tail wing plates are vertically arranged in a parallel mode, the lower ends of the two tail wing plates are respectively fixed at the two sides of the surface of the ducted fan supporting plate, the middle part of the edge of the rear end of each tail wing plate protrudes outwards to form a limiting plate, and a plurality of plate limiting holes are formed in the limiting plate; the two tail wing baffles are respectively fixed on the outer surfaces of the middle parts of the two tail wing plates in a parallel mode; the inner part of each tail wing baffle is hollow and an opening is formed at the rear end of each tail wing baffle; the inner end of each angle adjusting shaft is inserted into one tail wing baffle from the opening and then is hinged on the tail wing baffle, the outer end of each angle adjusting shaft is provided with a shaft limiting hole, and the shaft limiting holes and part of plate limiting holes on the limiting plate are fixed together through screws; the middle parts of two sides of the ducted fan are respectively provided with a short shaft, and the outer end of the short shaft penetrates through the middle part of the tail wing plate and the inner side surface of the tail wing baffle plate and then is fixed at the rear end part of the angle adjusting shaft; the bottom surfaces of the upper wing-spreading plates are fixed at the upper ends of the two tail wing plates; the middle part of the empennage beam is fixed on the upper parts of the two empennage plates, two ends of the empennage beam are respectively provided with a side wing, the bottom surfaces of the two sides of the empennage beam are respectively provided with an empennage infrared protective shell, and an empennage infrared distance measuring module is arranged in the empennage infrared protective shell; the controller is respectively connected with the front side driving module, the motor, the rear side driving module, the side infrared distance measuring module, the empennage infrared distance measuring module, the ducted fan, the shovel infrared distance measuring module, the infrared sensor and the laser radar.
The controller adopts a single chip microcomputer of STM32F103VET6 model.
The plurality of plate limiting holes are distributed on the limiting plate in a radial shape.
The connecting pipe adopts a carbon tube.
The front side of the shovel is a knife surface.
The battery is fixed on the bottom plate by using a nylon binding belt.
The models of the side infrared distance measuring module, the empennage infrared distance measuring module and the shovel infrared distance measuring module are GP2Y0A02YK 0F.
The laser radar adopts RP laser radar A1.
The martial art arena robot based on indoor laser positioning provided by the invention has the following beneficial effects:
by adding the laser radar, the robot obtains the peripheral environment information of the robot in a mode of mutual cooperation and measurement of the laser radar, the infrared ranging sensor and the infrared sensor, and functions of judging the boundary of the arena, searching for obstacles, identifying an attack object, defending and the like are achieved. Compare traditional robot, this robot has higher mobility, stealthy, and the structure is retrencied more, and the function is more powerful, and is more intelligent, and is accurate more quick to enemy robot, the recognition of arena edge, consequently all has very high research and use value in civilian, search and rescue work and military field.
Drawings
Fig. 1 is a perspective view of a martial art arena robot based on indoor laser positioning, with upper parts removed, according to the present invention.
Fig. 2 is a perspective view of a side ranging assembly structure in the martial art arena robot based on indoor laser positioning.
Fig. 3 is a perspective view of a front and rear side distance measuring assembly structure in the martial art arena robot based on indoor laser positioning.
Fig. 4 is a perspective view of a radar protection assembly in the martial arts arena robot based on indoor laser positioning.
Fig. 5 is a perspective view of a ducted fan portion of the martial art arena robot based on indoor laser positioning according to the present invention, when viewed from the back.
Fig. 6 is a perspective view of a martial art arena robot structure based on indoor laser positioning.
Fig. 7 is a perspective view of the structure of the shovel component in the martial art arena robot based on indoor laser positioning.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 7, the martial arts arena robot based on indoor laser positioning provided by the present invention comprises: the device comprises an inclined plane supporting plate 1, a driving protective shell 2, a front side driving module 3, wheels 4, a motor 5, a distance measuring assembly 6, a shovel support 7, a side distance measuring assembly 8, a rear side driving module 9, a battery 10, a duct supporting frame (11), an inclined shovel 12, a middle plate support 13, a duct fan supporting plate 14, a controller protective shell 20, a radar protection upper cover 21, a radar protective shell 22, a tail infrared distance measuring module 23, a tail infrared protective shell 24, a tail wing plate 25, a duct fan 26, an angle adjusting shaft 27, a tail baffle 28, a side wing 29, an upper spreading wing 30, a tail wing beam 31, a bottom plate 32, a bearing seat 33, a top plate 34, a shovel arm 35, a shovel infrared distance measuring module 36, a shovel 37, an infrared sensor 38, a connecting pipe 39, a laser radar 40 and a controller 41; wherein, the bottom plate 32 is horizontally arranged, and the front part and the rear part of the two sides are respectively provided with wheels 4; four motors 5 are respectively arranged on the front and rear edges of the surface of the bottom plate 32, and output shafts are respectively connected to central shafts of corresponding wheels 4; the two front side driving modules 3 are installed on the front part of the surface of the base plate 32 and are electrically connected with two motors 5 for driving the front wheels 4, respectively; four distance measuring assemblies 6 are respectively arranged at the two side parts of the front and rear end surfaces of the bottom plate 32; each distance measuring assembly 6 comprises an infrared distance measuring module 17, an infrared protective shell 18 and an infrared protection upper cover 19, wherein the infrared protective shell 18 is fixed at the front or rear end of the bottom plate 32, an opening is formed in the front or rear end face, the infrared distance measuring module 17 is arranged in the infrared protective shell, and the infrared protection upper cover 19 covers the top of the infrared protective shell 18; the shovel support 7 is arranged on a bottom plate 32 between the two distance measuring assemblies 6 at the front end, and a magnet is arranged on the shovel support; the battery 10 is fixed in the middle of the surface of the bottom plate 32 and used for supplying power to all electric components on the robot; the top plate 34 is fixed to the upper side of the middle front part of the bottom plate 32; the side ranging assembly 8 comprises a side infrared ranging module 15 and a side ranging protection shell 16; the upper end and the lower end of the two side distance measuring protective shells 16 are respectively connected with the bottom surfaces at the two sides of the rear part of the top plate 34 and the two side edges of the middle surface of the bottom plate 32, an opening is formed on the outer side surface, and the side infrared distance measuring module 15 is placed in the opening; the lower ends of the two driving protection shells 2 are respectively fixed on the two side surfaces of the rear part of the top plate 34, the rear side driving modules 9 are arranged in the two driving protection shells, and the two rear side driving modules 9 are respectively and electrically connected with the two motors 5 for driving the rear wheels 4; the lower end of the controller protection shell 20 is fixed in the middle of the surface of the top plate 34, and the controller 41 is placed inside; the lower end of the radar protection shell 22 is fixed at the top of the controller protection shell 20, and the laser radar 40 is fixed at the front part of the upper end of the radar protection shell 22; the rear part of the upper radar protection cover 21 is fixed at the rear part of the upper end of the radar protection shell 22, and the front part of the upper radar protection cover covers the top surface of the laser radar 40; two bearing blocks 33 are respectively installed on the surfaces of the top plates 34 positioned at both sides of the controller protective case 20; the shovel arms 35 are of an inverted L-shaped structure, the two shovel arms 35 are arranged in parallel, and the rear ends of the shovel arms are respectively hinged to the two bearing blocks 33; two ends of the connecting pipe 39 are respectively fixed in the middle of the two shovel arms 35; the front ends of the two shovel arms 35 are respectively fixed at two sides of the top surface of the shovel 37, and magnets are arranged at the rear part of the top surface of the shovel 37 to attract the magnets on the shovel support 7; the outer side of the lower part of each shovel arm 35 is respectively provided with a shovel infrared ranging module 36 and an infrared sensor 38; the inclined plane supporting plates 1 are vertically arranged, the two inclined plane supporting plates 1 are arranged in parallel, and the lower ends of the front parts of the two inclined plane supporting plates 1 are respectively fixed at the two sides of the surface of the rear part of the top plate 34; the rear part of the inclined shovel 12 is bent upwards, and the two side parts are respectively fixed at the lower ends of the rear parts of the two inclined supporting plates 1; the ducted fan supporting plate 14 is horizontally arranged and fixed at the front part of the surface of the inclined shovel 12 through a ducted supporting frame 11 and a middle plate support 13; the two tail wing plates 25 are vertically arranged in a parallel mode, the lower ends of the two tail wing plates are respectively fixed at the two sides of the surface of the ducted fan supporting plate 14, the middle part of the edge of the rear end of each tail wing plate 25 protrudes outwards to form a limiting plate 25-1, and a plurality of plate limiting holes 25-2 are formed in the limiting plate 25-1; two tail baffles 28 are respectively fixed on the outer surfaces of the middle parts of the two tail wing plates 25 in a parallel manner; the inner part of each tail wing baffle 28 is hollow and an opening is formed at the rear end; the inner end of each angle adjusting shaft 27 is inserted into one empennage baffle 28 from the opening and then is hinged on the empennage baffle 28, the outer end is provided with a shaft limiting hole 27-1, and the shaft limiting hole 27-1 and part of plate limiting holes 25-2 on the limiting plate 25-1 are fixed together through screws; the middle parts of two sides of the ducted fan 26 are respectively provided with a short shaft, the outer end of the short shaft penetrates through the middle part of the tail wing plate 25 and the inner side surface of the tail wing baffle 28 and then is fixed at the rear end part of the angle adjusting shaft 27; the bottom surfaces of the upper wing spreaders 30 are fixed on the upper ends of the two tail wing plates 25; the middle part of the tail wing beam 31 is fixed on the upper parts of the two tail wing plates 25, two ends of the tail wing beam are respectively provided with a side wing 29, the bottom surfaces of the two sides of the tail wing beam are respectively provided with a tail wing infrared protective shell 24, and a tail wing infrared distance measuring module 23 is arranged in the tail wing infrared protective shell 24; the controller 41 is electrically connected with the front side driving module 3, the motor 5, the rear side driving module 9, the side infrared distance measuring module 15, the infrared distance measuring module 17, the empennage infrared distance measuring module 23, the ducted fan 26, the shovel infrared distance measuring module 36, the infrared sensor 38 and the laser radar 40 respectively.
The controller 41 adopts a single chip microcomputer of STM32F103VET6 model.
The plurality of plate limiting holes 25-2 are radially distributed on the limiting plate 25-1, so that the acting direction of the ducted fan 26 can be adjusted by connecting the shaft limiting hole 27-1 on the angle adjusting shaft 27 with the different plate limiting holes 25-2 on the limiting plate 25-1.
The connecting tube 39 is a carbon tube.
The front side of the shovel 37 is a knife surface.
The cell 10 is secured to the base plate 32 using a nylon tie strap.
The models of the side infrared distance measuring module 15, the infrared distance measuring module 17, the empennage infrared distance measuring module 23 and the shovel infrared distance measuring module 36 are GP2Y0A02YK 0F.
The laser radar 40 adopts an RP laser radar A1.
The working principle of the martial art arena robot based on indoor laser positioning provided by the invention is explained as follows:
in the competition preparation stage, an operator turns on a power switch, places the robot at a designated place, and the controller 41 automatically starts and sends an instruction; under the control of the controller 41, the laser radar 40 is used for emitting electromagnetic waves to obtain the distance from a surrounding target to an electromagnetic wave emission point, then scanning data are transmitted to the controller 41, the controller 41 determines the position and the direction of the robot according to the scanning data, then all the motors 5 are started through the front side driving module 3 and the rear side driving module 9 to drive the wheels 4 to rotate, and the robot can get on the arena through the inclined shovel 12 positioned on the rear side. After the competition starts, on the arena, detection data are obtained through the cooperation of the laser radar 40, the side infrared ranging module 15, the infrared ranging module 17, the empennage infrared ranging module 23, the shovel infrared ranging module 36 and the infrared sensor 38, and then the detection data are transmitted to the controller 41. The controller 41 obtains the positions of the opponent robot and the robot by analyzing the detection data, and then sends related control signals to the ducted fan 26 and the motor 5 so as to achieve the purposes of acceleration and steering, the ducted fan 26 can increase the thrust and finally impact the opponent robot to push the opponent robot down the arena. During this time, the controller 41 determines the position of the opponent robot in real time to adjust the rotation speed of the motor 5 in real time.
And if the robot is judged to be positioned under the arena according to the detection data, starting the program for entering the arena. And immediately carrying out emergency braking once the robot is judged to be close to the edge of the arena. In addition, during the collision with the opponent robot, the driving protective case 2, the side ranging protective case 16, the infrared protective case 18, the infrared protective upper cover 19, the controller protective case 20, the radar protective upper cover 21, the radar protective case 22 and the empennage infrared protective case 24 respectively protect the relevant modules to prevent the relevant components from being damaged.
Claims (8)
1. The utility model provides a wushu arena robot based on indoor laser location which characterized in that: the martial art arena robot based on indoor laser positioning comprises: the multifunctional range finder comprises an inclined plane supporting plate (1), a driving protective shell (2), a front side driving module (3), wheels (4), a motor (5), a range finding assembly (6), a shovel support (7), a side range finding assembly (8), a rear side driving module (9), a battery (10), a duct supporting frame (11), an inclined shovel (12), a middle plate support (13), a duct fan supporting plate (14), a controller protective shell (20), a radar protection upper cover (21), a radar protective shell (22), an empennage infrared range finding module (23), an empennage infrared protective shell (24), a empennage plate (25), a duct fan (26), an angle adjusting shaft (27), an empennage baffle (28), a side wings (29), upper extension wings (30), empennage beams (31), a bottom plate (32), a bearing seat (33), a top plate (34), shovel arms (35), a shovel infrared range finding module (36), The shovel (37), the infrared sensor (38), the connecting pipe (39), the laser radar (40) and the controller (41); wherein the bottom plate (32) is horizontally arranged, and the front part and the rear part of the two sides are respectively provided with wheels (4); four motors (5) are respectively arranged on the front and rear edges of the surface of the bottom plate (32), and output shafts are respectively connected to central shafts of corresponding wheels (4); the two front side driving modules (3) are arranged on the front part of the surface of the bottom plate (32) and are respectively and electrically connected with two motors (5) for driving front wheels (4); the four distance measuring components (6) are respectively arranged at the two side parts of the front end surface and the rear end surface of the bottom plate (32); each distance measurement assembly (6) comprises an infrared distance measurement module (17), an infrared protection shell (18) and an infrared protection upper cover (19), wherein the infrared protection shell (18) is fixed at the front end or the rear end of the bottom plate (32), an opening is formed in the front end surface or the rear end surface, the infrared distance measurement module (17) is arranged in the infrared protection shell, and the infrared protection upper cover (19) covers the top of the infrared protection shell (18); the shovel support (7) is arranged on a bottom plate (32) between the two distance measuring assemblies (6) at the front end, and a magnet is arranged on the shovel support; the battery (10) is fixed in the middle of the surface of the bottom plate (32) and is used for supplying power to all electric parts on the robot; the top plate (34) is fixed on the upper side of the middle front part of the bottom plate (32); the side ranging assembly (8) comprises a side infrared ranging module (15) and a side ranging protection shell (16); the upper end and the lower end of each side distance measuring protective shell (16) are respectively connected with the bottom surfaces at the two sides of the rear part of the top plate (34) and the edges at the two sides of the middle surface of the bottom plate (32), an opening is formed on the outer side surface, and a side infrared distance measuring module (15) is placed in the side distance measuring protective shells; the lower ends of the two driving protective shells (2) are respectively fixed on the two side surfaces of the rear part of the top plate (34), a rear side driving module (9) is arranged in the two driving protective shells, and the two rear side driving modules (9) are respectively and electrically connected with two motors (5) for driving rear wheels (4); the lower end of the controller protection shell (20) is fixed in the middle of the surface of the top plate (34), and a controller (41) is placed inside the controller protection shell; the lower end of the radar protection shell (22) is fixed to the top of the controller protection shell (20), and the laser radar (40) is fixed to the front portion of the upper end of the radar protection shell (22); the rear part of the upper radar protection cover (21) is fixed at the rear part of the upper end of the radar protection shell (22), and the front part of the upper radar protection cover covers the top surface of the laser radar (40); the two bearing seats (33) are respectively arranged on the surfaces of top plates (34) positioned at two sides of the controller protective shell (20); the shovel arms (35) are of an inverted L-shaped structure, the two shovel arms (35) are arranged in parallel, and the rear ends of the shovel arms are respectively hinged to the two bearing blocks (33); two ends of the connecting pipe (39) are respectively fixed in the middle parts of the two shovel arms (35); the front ends of the two shovel arms (35) are respectively fixed at the two sides of the top surface of the shovel (37), and magnets are arranged at the rear part of the top surface of the shovel (37) to attract the magnets on the shovel support (7); the outer side of the lower part of each shovel arm (35) is respectively provided with a shovel infrared ranging module (36) and an infrared sensor (38); the inclined plane supporting plates (1) are vertically arranged, the two inclined plane supporting plates (1) are arranged in parallel, and the lower ends of the front parts of the two inclined plane supporting plates are respectively fixed at the two sides of the surface of the rear part of the top plate (34); the rear part of the inclined shovel (12) is bent upwards, and the two side parts are respectively fixed at the lower ends of the rear parts of the two inclined plane supporting plates (1); the ducted fan supporting plate (14) is horizontally arranged and fixed at the front part of the surface of the inclined shovel (12) through a ducted supporting frame (11) and a middle plate support (13); the two tail wing plates (25) are vertically arranged in a parallel mode, the lower ends of the two tail wing plates are respectively fixed at the two sides of the surface of the ducted fan supporting plate (14), the middle part of the edge of the rear end of each tail wing plate (25) protrudes outwards to form a limiting plate (25-1), and a plurality of plate limiting holes (25-2) are formed in the limiting plate (25-1); the two tail wing baffles (28) are respectively fixed on the outer surfaces of the middle parts of the two tail wing plates (25) in a parallel mode; the inner part of each tail wing baffle (28) is hollow and an opening is formed at the rear end; the inner end of each angle adjusting shaft (27) is inserted into one empennage baffle plate (28) from an opening and then is hinged on the empennage baffle plate (28), a shaft limiting hole (27-1) is formed in the outer end of each angle adjusting shaft, and the shaft limiting holes (27-1) and part of plate limiting holes (25-2) in the limiting plate (25-1) are fixed together through screws; the middle parts of two sides of the ducted fan (26) are respectively provided with a short shaft, and the outer end of the short shaft penetrates through the middle part of the tail wing plate (25) and the inner side surface of the tail wing baffle plate (28) and then is fixed at the rear end part of the angle adjusting shaft (27); the bottom surfaces of the upper wing spreaders (30) are fixed at the upper ends of the two tail wing plates (25); the middle part of the tail wing beam (31) is fixed on the upper parts of the two tail wing plates (25), two side wings (29) are respectively installed at two ends of the tail wing beam, the bottom surfaces of two sides of the tail wing beam are respectively provided with a tail wing infrared protective shell (24), and a tail wing infrared distance measuring module (23) is installed in the tail wing infrared protective shell (24); the controller (41) is respectively electrically connected with the front side driving module (3), the motor (5), the rear side driving module (9), the side infrared distance measuring module (15), the infrared distance measuring module (17), the empennage infrared distance measuring module (23), the ducted fan (26), the shovel infrared distance measuring module (36), the infrared sensor (38) and the laser radar (40).
2. The martial arts arena robot based on indoor laser positioning of claim 1, wherein: the controller (41) adopts a single chip microcomputer of STM32F103VET6 model.
3. The martial arts arena robot based on indoor laser positioning of claim 1, wherein: the plurality of plate limiting holes (25-2) are distributed on the limiting plate (25-1) in a radial shape.
4. The martial arts arena robot based on indoor laser positioning of claim 1, wherein: the connecting pipe (39) adopts a carbon pipe.
5. The martial arts arena robot based on indoor laser positioning of claim 1, wherein: the front side of the shovel (37) is a knife surface.
6. The martial arts arena robot based on indoor laser positioning of claim 1, wherein: the battery (10) is fixed on the bottom plate (32) by using a nylon binding belt.
7. The martial arts arena robot based on indoor laser positioning of claim 1, wherein: the models of the side infrared ranging module (15), the infrared ranging module (17), the empennage infrared ranging module (23) and the shovel infrared ranging module (36) are GP2Y0A02YK 0F.
8. The martial arts arena robot based on indoor laser positioning of claim 1, wherein: the laser radar (40) adopts RP laser radar A1.
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| CN202110341474.2A CN113043294B (en) | 2021-03-30 | 2021-03-30 | Martial art arena robot based on indoor laser positioning |
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| CN202110341474.2A CN113043294B (en) | 2021-03-30 | 2021-03-30 | Martial art arena robot based on indoor laser positioning |
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| CN113043294B CN113043294B (en) | 2022-09-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115384657A (en) * | 2022-09-16 | 2022-11-25 | 中国民航大学 | Intelligent robot based on laser positioning |
| CN116423536A (en) * | 2023-04-25 | 2023-07-14 | 广东海洋大学 | Arena athletic robot |
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| CN206454230U (en) * | 2017-02-21 | 2017-09-01 | 翁凡 | A kind of wushu ring robot based on duct |
| CN109746924A (en) * | 2017-11-08 | 2019-05-14 | 天津职业技术师范大学 | Wushu ring fights vehicle |
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| CN115384657A (en) * | 2022-09-16 | 2022-11-25 | 中国民航大学 | Intelligent robot based on laser positioning |
| CN116423536A (en) * | 2023-04-25 | 2023-07-14 | 广东海洋大学 | Arena athletic robot |
| CN116423536B (en) * | 2023-04-25 | 2023-12-15 | 广东海洋大学 | Arena athletic robot |
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| CN113043294B (en) | 2022-09-23 |
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