CN113251869A - Robot target training system capable of autonomously resisting and control method - Google Patents
Robot target training system capable of autonomously resisting and control method Download PDFInfo
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- 238000012549 training Methods 0.000 title claims abstract description 162
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012544 monitoring process Methods 0.000 claims abstract description 82
- 238000004891 communication Methods 0.000 claims abstract description 29
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- 230000000875 corresponding effect Effects 0.000 claims description 4
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A33/00—Adaptations for training; Gun simulators
- F41A33/02—Light- or radiation-emitting guns ; Light- or radiation-sensitive guns; Cartridges carrying light emitting sources, e.g. laser
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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
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Abstract
The invention provides a robot target training system capable of automatically confrontation and a control method, belonging to the technical field of light weapon shooting training target equipment, wherein the system comprises: the robot target module comprises at least one robot target vehicle and is used for environment perception, positioning navigation, cooperative combat, automatic obstacle avoidance, target overturning and autonomous recognition confrontation; the video monitoring module is arranged around the training target range and used for monitoring the training situation in real time and transmitting the monitored video information to the background command control module; and the background command control module is in communication connection with the video monitoring module and the robot target module respectively and is used for remotely monitoring a training target range by video, setting a training operation mode, remotely controlling the robot target vehicle and counting the shooting scores of training personnel and forming a training score sheet. The invention can simulate dynamic actual combat environment, can construct various training environments and improve the shooting and cooperative combat capability of training personnel.
Description
Technical Field
The invention relates to the technical field of light weapon shooting training target equipment, in particular to a robot target training system capable of automatically confrontation and a control method.
Background
In recent years, with the modern development of international military and police equipment and the objective requirements of security and protection against terrorism, the traditional light weapon target training equipment has relatively fixed targets, lacks flexibility, cannot simulate a dynamic actual combat environment, and cannot meet the requirements of army training more and more.
Disclosure of Invention
The invention provides a robot target training system capable of automatically confrontation and a control method, which are used for solving the problem that the target of the traditional light weapon target training equipment in the prior art is relatively fixed, realizing the simulation of a dynamic actual combat environment, constructing various training environments and improving the shooting and cooperative combat capability of training personnel.
The invention provides a robot target training system capable of automatically confrontation, which comprises:
the robot target module comprises at least one robot target vehicle and is used for environment perception, positioning navigation, cooperative combat, automatic obstacle avoidance, target overturning and autonomous recognition confrontation;
the video monitoring module is arranged around the training target range and used for monitoring the training situation in real time and transmitting the monitored video information to the background command control module;
and the background command control module is in communication connection with the video monitoring module and the robot target module respectively and is used for remotely monitoring a training target range through video, setting a training operation mode, remotely controlling the robot target vehicle and counting shooting scores of training personnel and forming training scores.
The robot target training system capable of autonomously confrontation comprises a main controller component of a target vehicle, and a three-dimensional target component, a positioning navigation component, an environment detection obstacle avoidance component, an image recognition tracking counterattack component, a wireless communication component, a mobile chassis component and a power supply component which are respectively connected with the main controller component, wherein,
the wireless communication component receives a combat command sent by the background command control module, and the main controller component drives the mobile chassis component to enable the robot target vehicle to move in an obstacle avoidance manner or freely move according to a planned route according to the combat command;
after the three-dimensional target assembly is hit by a bullet, the number of the middle target parts and the number of the middle targets are uploaded to the main controller assembly, and when the middle bullet part is an important area, the robot target vehicle stops standing;
the positioning navigation module is used for acquiring the real-time position, moving speed and posture information of the robot target vehicle in real time;
the environment detection obstacle avoidance assembly is used for detecting the information of obstacles around the induction target car;
the image recognition tracking counterattack component is used for shooting training personnel detected by the robot target car;
the wireless communication component is used for cooperative combat among a plurality of the robot target vehicles, and the robot target vehicles are in communication connection with the background command control module;
the power supply assembly provides a driving power supply for the robot target car.
According to the robot target training system capable of autonomously antagonizing, the positioning navigation module has an outdoor positioning navigation mode and an indoor positioning navigation mode, wherein the outdoor mode adopts a GNSS + INS mode, and the indoor mode adopts a SLAM + INS mode; the environment detection obstacle avoidance assembly comprises a 360-degree laser scanning radar and an ultrasonic radar; the movable chassis component is a wheeled or crawler-type electric trolley chassis.
According to the robot target training system capable of autonomously antagonizing, the video monitoring module comprises a fixed monitoring camera component and a mobile monitoring camera component, wherein,
the fixed monitoring camera components are arranged around the training target range, and the visual field range of the fixed monitoring camera components can cover the whole situation of the training target range;
the mobile monitoring camera component is used for monitoring any target or area of a training field in a close range and in detail, particularly monitoring and recording the training process of training personnel in real time, and checking and backtracking the training condition of the training personnel. The mobile monitoring camera component is arranged on an aerial track above a training target range, and automatically moves along with a monitoring target after the target is locked; the mobile monitoring camera component comprises a mobile camera, a stability-increasing cradle head, a core control panel, an image tracking panel, a mobile motor pulley, an aerial track and a communication module; wherein the core control board is respectively connected with the image tracking board, the stability-increasing cradle head, the mobile motor pulley and the communication module, the image tracking board is connected with the mobile camera, the mobile camera is fixed on the stability-increasing cradle head,
the aerial track is arranged above the training target range and is in a grid-shaped crossed layout, and the mobile monitoring cameras can move freely in the horizontal direction and the longitudinal direction of the aerial track;
the communication module is used for mutually communicating positions of a plurality of mobile monitoring cameras to avoid collision during movement;
the core control board controls the motion of the stability augmentation cloud platform to realize target tracking according to target miss distance information output by the image tracking board, receives the positions of other mobile monitoring cameras, and controls the mobile motor pulley to move to safely follow the target when the target is separated from the view field of the mobile camera.
According to the robot target training system capable of automatically confrontation, the background command control module comprises a target vehicle path design and target area marking functional unit, a control instruction sending and information display functional unit, a target range video monitoring functional unit and a training information statistics management functional unit, wherein,
the robot target vehicle path designing and target area marking functional unit is used for planning a running route of the robot target vehicle by the background command control module and marking a moving area of the robot target vehicle on an electronic map;
the control instruction sending and information displaying functional unit sends a combat training mode or an independent control instruction to one or more robot target vehicles through the background command control module, and the robot target vehicles perform corresponding actions according to the command;
the video monitoring function unit of the target range monitors the condition of the target range in real time by the background command control module;
and the training information statistics and management functional unit is used for acquiring and counting the training information of the robot target car and the training personnel in real time by the background command control module and generating a score sheet.
According to the robot target training system capable of automatically confrontation, the image recognition tracking counterattack component is arranged at the front half part of the robot target vehicle and comprises a detection recognition camera, an image processing unit, a main control circuit, a three-axis stability-increasing holder and a laser shooting gun, wherein,
the image processing unit is connected with the detection and identification camera, the main control circuit is respectively connected with the image processing unit, the three-axis stability-increasing cradle head and the laser shooting gun, and the laser shooting gun and the detection and identification camera are vertically overlapped and fixed on the three-axis stability-increasing cradle head;
when the detection and recognition camera shoots an image of an enemy target, the image processing unit processes the image acquired by the detection and recognition camera, the target is recognized through feature matching, the miss distance information of the image target is calculated and output to the main control circuit, the main control circuit outputs a servo driving signal to control the posture movement of the three-axis stability-increasing pan-tilt, the enemy personnel target is automatically tracked and locked, and the laser shooting gun is started to shoot the locked enemy target so as to realize the automatic counterattack of the robot target car.
According to the robot target training system capable of autonomously opposing, the three-dimensional target assembly comprises a target, a servo motor and a turnover mechanism, wherein,
the target is fixed on the turnover mechanism, and the servo motor drives the turnover mechanism to turn over clockwise by 90 degrees;
when the target is in ejection, two layers of conductive cloth on the surface of the target are punctured, the two layers of conductive cloth can be switched on in a short time, a high-level pulse is generated and sent to a main controller component of the target vehicle, the main controller component judges that the target is in ejection, if the target part is a lethal zone, the main controller component controls the servo motor to drive the turnover mechanism to turn over, the target on the turnover mechanism is turned over, and the robot target vehicle is eliminated and stops moving for standing by in situ; if the target part is a non-lethal area, the main controller component controls the robot target car to move rapidly to interfere enemy personnel to hit again, and controls the image recognition tracking counterattack component to recognize counterattack enemy targets.
According to the robot target training system capable of autonomously opposing, the stability augmentation tripod head is a two-axis tripod head which at least comprises two directions of yawing and pitching.
According to the robot target training system capable of autonomously antagonizing, the detection and recognition camera is composed of a visible light camera and a thermal imaging camera and is used for 360-degree rotation scanning of the surrounding environment.
The invention also provides a control method of the robot target training system capable of autonomously antagonizing based on any one of the above, which comprises the following steps:
the video monitoring module transmits video information of a real-time monitoring training target range to the background command control module;
and the background command control module controls the robot target car and the training personnel to simulate actual combat according to the video information of the training target range. The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the control method of the robot target training system capable of resisting autonomously.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of controlling an autonomously opposable robotic target training system as defined in any one of the above.
According to the robot target training system capable of automatically confrontation and the control method thereof, the robot target vehicle is arranged, the video monitoring module for monitoring the training condition of the training target range and the background command control module for controlling the robot target vehicle are arranged, the dynamic actual combat environment can be simulated, various training environments can be constructed, and the shooting and cooperative combat capability of the training personnel is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of an autonomously competeable robotic target training system provided by the present invention;
FIG. 2 is a schematic structural view of a robotic target vehicle of the present invention;
FIG. 3 is a schematic diagram of a mobile surveillance camera assembly according to the present invention;
FIG. 4 is a schematic diagram of the image recognition tracking counterattack assembly of the present invention;
FIG. 5 is a system architecture diagram of the image recognition tracking counterattack component of the present invention;
FIG. 6 is a flow chart of a control method of the autonomous antagonistic robotic target training system provided by the present invention;
FIG. 7 is a schematic illustration of a shooting target practice transcript provided by the present invention;
FIG. 8 is a schematic flow chart of the logic for counterattack of the robotic target vehicle provided by the present invention;
fig. 9 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
The terms "first," "second," and the like in the description and in the claims, and in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein.
The robot target capable of autonomously antagonizing provided by the invention can support the following various application control modes:
1. and in the passive control mode, a training instructor acquires video information of a training target range through the background command control module, and the background manual remote control robot target vehicle and training personnel simulate actual combat.
2. And in the robot automatic control mode, a training instructor sets a running path of the robot target vehicle through the background command control module, the robot target vehicle automatically runs according to the path, and the robot target vehicle automatically simulates actual combat with training personnel in the path process.
3. And in a man-machine hybrid control mode, the robot target vehicle part is set to run autonomously and resist autonomously, and the part of the robot target vehicle is controlled by the training instructor through the background command control module.
An autonomous antagonistic robotic target training system and control method of the present invention is described below with reference to fig. 1-9.
Fig. 1 is a schematic diagram of an autonomous antagonistic robotic target training system provided by the present invention, as shown in the figure. An autonomous antagonistic robotic target training system comprises a robotic target module 100 (temporarily not shown in the figure, including one or more robotic target vehicles 110), a video monitoring module 200 (temporarily not shown in the figure, including a fixed monitoring camera 201 and a mobile monitoring camera 202, wherein the mobile monitoring camera 202 includes an aerial track 202-6), and a background command control module 300. Wherein the content of the first and second substances,
the robotic target module 100 includes at least one robotic target vehicle 110 for context awareness, positional navigation, cooperative combat, automatic obstacle avoidance, target lift (target cocking and falling), and autonomous identification countermeasures.
And the video monitoring module 200 is arranged around the training target range and used for monitoring the training situation in real time and transmitting the monitored video information to the background command control module.
Optionally, the video monitoring module 200 is composed of two parts, namely a fixed monitoring camera component 201 and a mobile monitoring camera component 202, wherein the fixed monitoring camera component 201 is located around the training target range, and the visual field range of the fixed monitoring camera component can cover the whole range of the training target range. The number of cameras of the fixed monitoring camera component 201 is at least 3, and the number of the cameras can be determined by the area of the training target range and the performance of the cameras. In addition, the mobile monitoring camera assembly 202 is used for accurately monitoring specific training personnel or target range targets, and the camera is installed on an aerial track 202-6 above the training target range, so that the target is locked and then automatically moves along with the monitored target. The mobile monitoring camera assembly 202 is also used for monitoring any target or area of the training field in a close range and in detail, particularly monitoring and recording the training process of the training personnel in real time, and the training condition of the training personnel can be checked and traced back.
And the background command control module 300 is respectively in communication connection with the video monitoring module and the robot target module, and is used for remotely monitoring a training target range by video, setting a training operation mode, remotely controlling the robot target vehicle and counting the shooting scores of the trainees 400 and forming training scores.
The core functions of the background command control module 300 are shooting range global command control and state display. The background command control module 300 comprises a target vehicle path design and target area marking functional unit, a control instruction sending and information display functional unit, a target range video monitoring functional unit and a training information statistics management functional unit. Wherein the content of the first and second substances,
the target vehicle path design and target area marking functional unit: the background command control module 300 can plan the driving route of the target vehicle 110 of the robot, and can mark the moving area of the target vehicle on the electronic map to prevent the target vehicle 110 of the robot from running out of the target area.
The control instruction sending and information display functional unit: the background command control module 300 may send a combat training mode or an individual control command to one or more target robot vehicles 110, and the target robot vehicles perform corresponding actions according to the command, such as actions according to the set combat training mode, movements according to the individual command, counterclicks, and stop of standby. Meanwhile, the state information (real-time position, attitude, moving speed, quantity of the medium shots, position of the medium shots and the like) of all the robot target cars and the state information (real-time position, attitude, moving speed, condition of the medium shots and the like) of the trainers can be displayed on the background command and control module 300.
Video monitoring functional unit of shooting range: the background command and control module 300 can monitor the condition of the target range in real time. In the preparation stage before training, the mobile monitoring camera assembly 202 is controlled to remotely lock a tracking target and carry out numbering; in the training stage, the mobile monitoring camera component 202 autonomously tracks the movement of the target, and ensures that the background command end displays the condition of recording the target in real time.
Training information statistics management functional unit: the background command and control module 300 can acquire and count training information (such as a motion trajectory, a shooting number, a hit situation, and the like) of the robot target car 110 and the trainee 400 in real time, and finally generate a transcript (as shown in fig. 7). In addition, personnel information (such as shooter name, weapon type, assessment items, training time, time remaining, number of vehicles, etc.) of trainee 400 may also be managed.
The robot target training system capable of autonomously fighting comprises two operation training modes, namely an individual operation mode and a group operation mode. Wherein, the individual combat mode is that 1 training person trains the actual combat ability of the individual for 1 or more target vehicles; the group operation mode is the cooperative operation ability of a plurality of trainers to a plurality of target vehicles and training teams. Wherein, the team operation mode is at least more than 2 personnel participating in training, and the target vehicle is at least more than 2 vehicles.
In conclusion, the robot target training system capable of automatically fighting can simulate a dynamic actual combat environment, construct various training environments and improve the shooting and cooperative combat capability of training personnel.
The above-mentioned robot target module 100, the video monitoring module 200, and the background command control module 300 are specifically described below.
Fig. 2 is a schematic structural view of the robot target car of the present invention, as shown in the figure. The robot target vehicle 110 comprises a main controller component 111 of the target vehicle, and a three-dimensional target component 112, a positioning navigation component 113, an environment detection obstacle avoidance component 114, an image recognition tracking counterattack component 115, a wireless communication component 116, a mobile chassis component 117 and a power supply component 118 which are respectively connected with the main controller component 111. Wherein the content of the first and second substances,
the wireless communication component 116 receives the combat command sent by the background commanding and controlling module 300, and the main controller component 111 of the target robot vehicle drives the moving chassis component 117 according to the combat command sent by the background controlling module 300, so that the target robot vehicle 110 can move in an obstacle avoidance manner or freely move according to a planned route.
After the three-dimensional target module 112 is hit by a bullet, the number of the target positions and the number of the targets are uploaded to the main controller assembly 111 of the robot target car, and when the bullet position is an important area, the three-dimensional target falls down and the robot target car 110 stops standing.
The three-dimensional target assembly 112 has a target tilting function, and is composed of a target, a servo motor and a turnover mechanism.
The target is a humanoid conductive target or an annular conductive target, the target is fixed on the turnover mechanism, and the servo motor drives the turnover mechanism to turn clockwise by 90 degrees. When a bullet hits the target, the two layers of conductive cloth on the surface of the target can be broken down, the two layers of conductive cloth can be switched on in a short time, a high-level pulse is generated and sent to the main controller component 111 of the robot target car, and the robot target car 110 judges the bullet in the target.
If the target position is a lethal area, the robot target car 110 immediately controls the servo motor to drive the turnover mechanism to turn over, the target on the turnover mechanism tilts backwards, the robot target car 110 is eliminated, and the robot target car stops moving and stands by in situ.
If the hit target is a non-lethal area, the main controller component 111 controls the fast moving robot target car 110 to interfere the enemy personnel to hit again, and controls the image recognition tracking counterattack component 115 to recognize the counterattack enemy target, when the number of shots in the non-lethal area is greater than or equal to a preset number (for example, 3 shots in the non-lethal area or greater than 3 shots in the non-lethal area), the robot target car 110 is eliminated, and the preset number can be set by the background command and control module 300 according to actual requirements.
It should be noted that the lethal area and the non-lethal area can be preset by the system, and the present invention is not particularly limited.
The positioning navigation module 113 is configured to obtain real-time position, moving speed, and attitude information of the target vehicle in real time, and has two positioning navigation modes, namely an outdoor positioning navigation mode and an indoor positioning navigation mode, where the outdoor positioning navigation mode preferably selects a GNSS (global navigation satellite system) + INS (inertial navigation system), and the indoor positioning navigation mode preferably selects a SLAM (real-time positioning and map building) + INS (inertial navigation system).
The environment detection obstacle avoidance component 114 is used for detecting and sensing obstacle information around the target car and consists of a 360-degree laser scanning radar and an ultrasonic radar.
The image recognition tracks the counterattack component 115 for shooting the trainee detected by the target car.
The wireless communication component 116 is used for cooperative combat among a plurality of target vehicles and information communication between the target vehicles and the background command control module.
The mobile chassis assembly 117 is a wheeled or tracked electric vehicle chassis.
The power supply assembly 118 provides the driving power for the target vehicle.
Fig. 3 is a schematic structural diagram of a mobile monitoring camera assembly according to the present invention, as shown in the figure. The mobile monitoring camera assembly 202 is used to monitor a training person 400 or a target in a range, and the mobile monitoring camera assembly 202 is mounted on an aerial track 202-6 above the training range to be able to follow the movement of the monitoring target.
The mobile monitoring camera assembly 202 is composed of a mobile camera 202-1, a stability augmentation platform 202-2, a core control panel 202-3, an image tracking panel 202-4, a mobile motor pulley 202-5, an aerial track 202-6 and a communication module (temporarily not marked in the figure).
The core control board 202-3 is connected with the stability-enhancing cradle head 202-2, the image tracking board 202-4, the moving motor pulley 202-5 and the communication module, and the image tracking board 202-4 is connected with the moving camera 202-1. The mobile camera 202-1 is preferably a motion camera and is fixed on the stability augmentation platform 202-2; the stability augmentation platform 202-2 is a two-axis platform that at least includes two directions of movement, namely yaw and pitch.
The image tracking board 202-4 is preferably a high-performance real-time image tracking card, which can realize face recognition and target tracking, and directly output image target miss distance information to the core control board 202-3, and the output frequency can be set to be not less than a preset value (for example, not less than 20 Hz).
The core control board 202-3 controls the motion of the stability augmentation pan-tilt 202-2 to realize target tracking according to the image target miss distance information output by the image tracking board 202-4, receives the positions of other mobile monitoring cameras, and controls the mobile motor pulley 202-5 to move to safely follow the target when the target is separated from the camera view.
The aerial tracks 202-6 are arranged above the training target range and are in a grid-shaped crossed layout, and the mobile monitoring cameras can move freely in the horizontal direction and the longitudinal direction of the aerial tracks. Each group of aerial tracks 202-6 consists of 2 steel wires which are distributed in parallel above the target range for control, and the number of the aerial tracks is determined by the area of the training target range and the number of training personnel or the target range.
The communication module is used for the mutual communication positions of a plurality of mobile monitoring cameras, and can avoid collision during movement.
Fig. 4 is a schematic structural diagram of the image recognition tracking counterattack assembly of the present invention, and fig. 5 is a system architecture diagram of the image recognition tracking counterattack assembly of the present invention, as shown in fig. 4 and 5.
The image recognition tracking counterattack component 115 is positioned at the front half part of the robot target car 110 and consists of a detection recognition camera 115-1, an image processing unit 115-2, a main control circuit 115-3, a three-axis stability-increasing holder 115-4 and a laser shooting gun 115-5.
The image processing unit 115-2 is connected with the detection recognition camera 115-1, and the main control circuit 115-3 is respectively connected with the image processing unit 115-2, the three-axis stability augmentation holder 115-4 and the laser shooting gun 115-5.
The laser shooting gun 115-5 and the detection recognition camera 115-1 are vertically overlapped and fixed on the three-axis stability augmentation holder 115-4.
In the running process of the robot target vehicle, the detection recognition camera 115-1 consists of a visible light camera and a thermal imaging camera, and can scan the surrounding environment in a 360-degree rotating manner and search surrounding moving enemy targets. When the detection recognition camera 115-1 captures an image of an enemy object, the image processing unit 115-2 processes the image acquired by the detection recognition camera 115-1, performs feature matching recognition on the object, and sends the calculated image object miss distance information to the main control circuit 115-3. Then the main control circuit 115-3 outputs a servo driving signal to control the posture movement of the three-axis stability-increasing pan-tilt 115-4, so as to realize automatic tracking and locking of the trainee target, and start the laser shooting gun 115-5 to shoot the locked trainee target, so as to realize the automatic counterattack of the robot target car 110.
The following describes a control method of the present invention based on the above-mentioned robot target training system capable of autonomous confrontation, and the control method of the following description based on the above-mentioned robot target training system capable of autonomous confrontation and the above-mentioned robot target training system capable of autonomous confrontation can be referred to correspondingly.
Fig. 6 is a flowchart of a control method of the autonomous antagonistic robot target training system provided by the present invention, as shown in the figure. A control method based on the above-mentioned robot target training system capable of autonomous confrontation comprises the following steps:
And step 602, the background command control module controls the robot target car and the training personnel to carry out simulated actual combat according to the video information of the training target range.
The control method of the robot target training system capable of autonomously fighting provided by the invention can construct various training environments such as man-machine engagement simulation, cluster combat simulation, accurate strike training, emergency handling training and the like through the background command control module, and can realize the simulation of dynamic actual combat environment.
The logic of counterattack of the robotic target vehicle of the present invention is described below with an embodiment. Fig. 8 is a schematic flow chart of the counterattack logic of the robotic target vehicle provided by the present invention, as shown in fig. 8.
At the beginning of training, the robot target patrols, and its counterattack component detects the surrounding local objects at 360 °, step 801.
And step 803, stopping the movement, locking the target by the counterattack component detection camera and the shooting gun, and starting shooting.
Fig. 9 illustrates a physical structure diagram of an electronic device, and as shown in fig. 9, the electronic device may include: a processor (processor)910, a communication Interface (Communications Interface)920, a memory (memory)930, and a communication bus 940, wherein the processor 910, the communication Interface 920, and the memory 930 communicate with each other via the communication bus 940. The processor 910 may invoke logic instructions in the memory 930 to execute the control method based on the above-mentioned autonomous countermeasure robot target training system, including:
the video monitoring module transmits the video information of the real-time monitoring training target range to the background command control module.
And the background command control module controls the robot target car and the training personnel to simulate actual combat according to the video information of the training target range.
Furthermore, the logic instructions in the memory 930 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention further provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer, the computer can execute the control method based on the above-mentioned autonomous countermeasure robot target training system provided by the above-mentioned methods, including:
the video monitoring module transmits the video information of the real-time monitoring training target range to the background command control module.
And the background command control module controls the robot target car and the training personnel to simulate actual combat according to the video information of the training target range.
In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to execute the above-mentioned control method based on the above-mentioned autonomous antagonistic robotic target training system, the method comprising:
the video monitoring module transmits the video information of the real-time monitoring training target range to the background command control module.
And the background command control module controls the robot target car and the training personnel to simulate actual combat according to the video information of the training target range.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An autonomously antagonistic robotic target training system, comprising:
the robot target module comprises at least one robot target vehicle and is used for environment perception, positioning navigation, cooperative combat, automatic obstacle avoidance, target overturning and autonomous recognition confrontation;
the video monitoring module is arranged around the training target range and used for monitoring the training situation in real time and transmitting the monitored video information to the background command control module;
and the background command control module is in communication connection with the video monitoring module and the robot target module respectively and is used for remotely monitoring a training target range through video, setting a training operation mode, remotely controlling the robot target vehicle and counting shooting scores of training personnel and forming training scores.
2. The autonomous antagonistic robotic target training system of claim 1, wherein the robotic target vehicle comprises a main controller component of the target vehicle, and a stereo target component, a positioning navigation component, an environment detection obstacle avoidance component, an image recognition tracking counterattack component, a wireless communication component, a mobile chassis component, a power supply component, which are respectively connected with the main controller component, wherein,
the wireless communication component receives a combat command sent by the background command control module, and the main controller component drives the mobile chassis component to enable the robot target vehicle to move in an obstacle avoidance manner or freely move according to a planned route according to the combat command;
after the three-dimensional target assembly is hit by a bullet, the number of the middle target parts and the number of the middle targets are uploaded to the main controller assembly, and when the middle bullet part is an important area, the robot target vehicle stops standing;
the positioning navigation module is used for acquiring the real-time position, moving speed and posture information of the robot target vehicle in real time;
the environment detection obstacle avoidance assembly is used for detecting the information of obstacles around the induction target car;
the image recognition tracking counterattack component is used for shooting training personnel detected by the robot target car;
the wireless communication component is used for cooperative combat among a plurality of the robot target vehicles, and the robot target vehicles are in communication connection with the background command control module;
the power supply assembly provides a driving power supply for the robot target car.
3. The system for robot target training capable of autonomous antagonism of claim 2, wherein the positioning navigation module has two positioning navigation modes, an outdoor mode and an indoor mode, wherein the outdoor mode adopts a GNSS + INS mode, and the indoor mode adopts a SLAM + INS mode; the environment detection obstacle avoidance assembly comprises a 360-degree laser scanning radar and an ultrasonic radar; the movable chassis component is a wheeled or crawler-type electric trolley chassis.
4. The autonomically opposable robotic target training system according to claim 1, wherein the video surveillance module includes a stationary surveillance camera assembly and a mobile surveillance camera assembly, wherein,
the fixed monitoring camera assembly is arranged around the training target range;
the mobile monitoring camera assembly is used for monitoring training personnel or a target range target, and is mounted on an aerial track above the training target range to move along with the monitoring target; the mobile monitoring camera component comprises a mobile camera, a stability-increasing cradle head, a core control panel, an image tracking panel, a mobile motor pulley, an aerial track and a communication module; the core control board is respectively connected with the image tracking board, the stability augmentation cloud platform and the moving motor pulley, the image tracking board is connected with the moving camera, the moving camera is fixed on the stability augmentation cloud platform, and the aerial track is arranged above the training target range;
the core control board controls the motion of the stability augmentation cloud platform to realize target tracking according to target miss distance information output by the image tracking board, receives the positions of other mobile monitoring cameras, and controls the mobile motor pulley to move to follow the target when the target is separated from the view field of the mobile camera.
5. The autonomous antagonistic robotic target training system according to claim 1, wherein said background command and control module comprises a target vehicle path designing and target marking functional unit, a control instruction transmitting and information displaying functional unit, a target range video monitoring functional unit and a training information statistical management functional unit, wherein,
the robot target vehicle path designing and target area marking functional unit is used for planning a running route of the robot target vehicle by the background command control module and marking a moving area of the robot target vehicle on an electronic map;
the control instruction sending and information displaying functional unit sends a combat training mode or an independent control instruction to one or more robot target vehicles through the background command control module, and the robot target vehicles perform corresponding actions according to the command;
the video monitoring function unit of the target range monitors the condition of the target range in real time by the background command control module;
and the training information statistics and management functional unit is used for acquiring and counting the training information of the robot target car and the training personnel in real time by the background command control module and generating a score report.
6. The autonomically opposable robotic target training system of claim 2, wherein the image recognition tracking counter-strike component is disposed on a front half portion of the robotic target car, the image recognition tracking counter-strike component including a detection recognition camera, an image processing unit, a master control circuit, a three-axis stability-enhancing pan-tilt, and a laser firing gun, wherein,
the image processing unit is connected with the detection and identification camera, the main control circuit is respectively connected with the image processing unit, the three-axis stability-increasing cradle head and the laser shooting gun, and the laser shooting gun and the detection and identification camera are vertically overlapped and fixed on the three-axis stability-increasing cradle head;
when the detection and recognition camera shoots an image of an enemy target, the image processing unit processes the image acquired by the detection and recognition camera, the target is recognized through feature matching, the miss distance information of the image target is calculated and output to the main control circuit, the main control circuit outputs a servo driving signal to control the posture movement of the three-axis stability-increasing pan-tilt, the enemy personnel target is automatically tracked and locked, and the laser shooting gun is started to shoot the locked enemy target so as to realize the automatic counterattack of the robot target car.
7. The autonomous antagonistic robotic target training system of claim 2, wherein the stereoscopic target assembly comprises a target, a servo motor, and a flipping mechanism, wherein,
the target is fixed on the turnover mechanism, and the servo motor drives the turnover mechanism to turn over clockwise by 90 degrees;
when the target is in ejection, two layers of conductive cloth on the surface of the target are punctured, the two layers of conductive cloth can be switched on in a short time, a high-level pulse is generated and sent to a main controller component of the target vehicle, the main controller component judges that the target is in ejection, if the target part is a lethal zone, the main controller component controls the servo motor to drive the turnover mechanism to turn over, the target on the turnover mechanism is turned over, and the robot target vehicle is eliminated and stops moving for standing by in situ; if the target part is a non-lethal area, the main controller component controls the robot target car to move rapidly to interfere enemy personnel to hit again, and controls the image recognition tracking counterattack component to recognize counterattack enemy targets.
8. The autonomically antagonistic robotic target training system of claim 4, wherein the stability augmentation pan-tilt is a two-axis pan-tilt containing at least yaw and pitch movements.
9. The autoantagonistic robotic target training system of claim 6, wherein the detection recognition camera is comprised of a visible light, thermal imaging camera for 360 degree rotational scanning of the surrounding environment.
10. A control method for the autonomous antagonistic robotic target training system according to any one of claims 1 to 9, comprising:
the video monitoring module transmits video information of a real-time monitoring training target range to the background command control module;
and the background command control module controls the robot target car and the training personnel to simulate actual combat according to the video information of the training target range.
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Application publication date: 20210813 |