CN115888130A - Martial art arena trolley and control method thereof - Google Patents
Martial art arena trolley and control method thereof Download PDFInfo
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- CN115888130A CN115888130A CN202211528382.6A CN202211528382A CN115888130A CN 115888130 A CN115888130 A CN 115888130A CN 202211528382 A CN202211528382 A CN 202211528382A CN 115888130 A CN115888130 A CN 115888130A
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention relates to the technical field of intelligent robots, in particular to a martial art arena trolley and a control method thereof.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a martial art arena trolley and a control method thereof.
Background
The robot martial art arena is a new event in the Chinese robot contest. The main contents of it are: two completely autonomous robots sense the position and the posture of the robots and the position and the direction of opponents by using various sensors on a 2.4-by-2.4-meter arena, and compete against each other by using various actuators to attack each other.
At present, a martial arts arena trolley and a control method thereof are provided in the chinese patent application with publication number CN107678423A, publication date of 2018, 2, 9 and publication number of CN107678423A, wherein the method comprises the following steps: the trolley comprises a trolley main body, a control system, an execution system and a sensing system; the control system, the execution system and the perception system are all installed on the trolley main body, wherein the perception system comprises: a plurality of edge detection sensors, a plurality of arena detection sensors, and a plurality of enemy car detection sensors; the edge detection sensors, the stage detection sensors and the enemy car detection sensors are uniformly arranged around the center vertical line of the chassis.
Aiming at the related technology in the file, the inventor thinks that as many as 20 sensors are used in the design to monitor various conditions of the trolley, the dead weight of the trolley is invisibly increased by combining the installation structure of the sensors, so that the flexibility of the trolley is greatly influenced, the competition failure is easily caused due to insufficient flexibility, meanwhile, the action of the trolley during avoidance can be influenced due to insufficient flexibility, the effective avoidance of the attack of the enemy on the trolley can not be realized, and the confrontation result is influenced.
Disclosure of Invention
The invention aims to provide a martial art arena trolley and a control method thereof, which overcome the defects in the prior art, the martial art arena trolley adopts a front camera mechanism and a rear camera mechanism to replace the traditional sensor structure, the number of structural members is reduced, the number of the sensors is reduced, the control steps are reduced, the control program is simpler, the execution program is smoother, the overall weight of the trolley is reduced due to the reduction of the structural members and the sensors, the flexibility of the trolley is improved, and the trolley is easier to avoid and move in the confrontation process.
In order to achieve the purpose, the invention provides a martial arts arena trolley, which adopts the following technical scheme:
the utility model provides a wushu arena dolly, includes the chassis, chassis intermediate junction rotary mechanism, moving mechanism is connected to the rotary mechanism below, camera mechanism before one side is connected above the chassis, keep away from above the chassis preceding camera mechanism one side and connect back camera mechanism, be close to the inboard installation rotating electrical machines frame of back camera mechanism above the chassis, the lower margin stand is connected in chassis below four corners, install universal ball below the lower margin stand, be close to preceding camera mechanism one side installation controller above the chassis, chassis both sides installation pressure sensor, rotary mechanism both sides installation battery above the chassis, the shell body is connected in the chassis outside, shell body installation guide pulley mechanism.
By adopting the above scheme, original sensors of each part are replaced by the front camera mechanism and the rear camera mechanism, so that the operation observation process of the trolley is more delicate, the universal ball is adopted as a support at the bottom of the trolley, the direction of the trolley can be changed while the trolley is stable, the controller arranged on the chassis automatically controls all actions of the trolley, and the storage battery can provide good power output for the trolley.
The martial arts arena trolley comprises a rotating motor, the front end of the rotating motor is connected with a driving wheel, the rotating motor is installed on a rotating motor frame, the driving wheel is connected with a synchronous belt, the other side of the synchronous belt is connected with a driven wheel, and a moving mechanism is connected to the lower portion of the driven wheel.
By adopting the scheme, the rotating motor drives the driving wheel to rotate forward and backward, the driving wheel drives the driven wheel to rotate in the same direction through the synchronous belt, and finally the driven wheel drives the moving mechanism below the driven wheel to move in different directions.
The martial arts arena trolley comprises a moving disc, a moving motor plate is installed in the middle of the moving disc, a double-shaft motor is installed on the moving motor plate, two ends of the double-shaft motor are connected with a main wheel connecting shaft, a main wheel penetrates through the main wheel connecting shaft, the other end of the main wheel connecting shaft is connected with a damping spring, an auxiliary wheel is installed at the vertical position of the moving disc and the main wheel, a driven wheel is connected to the upper surface of the moving disc, a bearing is connected to the upper end of the moving disc, and the bearing is installed on a chassis.
Through adopting above-mentioned scheme, two play axle motors drive the main wheel connecting axle and rotate, drive the main wheel by the main wheel connecting axle again and rotate, and the effectual help main wheel of damping spring carries out the shock attenuation, leads to the main wheel connecting axle to drop when preventing to receive the impact, and the auxiliary wheel can provide auxiliary stay for moving mechanism, also can make the removal more stable simultaneously.
According to the martial art arena trolley, the front camera mounting rack is mounted on one side of the chassis, and the rear camera mounting rack is mounted on one side, far away from the front camera mounting rack, of the chassis.
The martial art arena trolley comprises a front camera mechanism and a front camera rotating motor, wherein the first camera rotating motor is installed on a front camera installation frame, the front end of the first camera rotating motor is connected with a first flange, a front camera frame is connected to the first flange, one side of the front camera frame is connected with a front camera shell through a first bolt, a first digital steering engine is installed on one side, far away from the first bolt, of the inner side of the front camera shell, the front end of the first digital steering engine penetrates through the front camera shell to be connected with a first steering wheel, the first steering wheel is connected with the front camera frame, and a front camera is installed in the middle of the front camera shell.
Through adopting above-mentioned scheme, first camera rotating electrical machines carries out horizontal pivoted power for preceding camera to make preceding camera can accomplish 360 rotations, the rethread first digit steering wheel carries out angle modulation to preceding camera, makes preceding camera can be to observing from top to bottom.
The martial art arena trolley comprises a rear camera mechanism and a rear camera, wherein the rear camera mechanism comprises a second camera rotating motor, the second camera rotating motor is installed on a rear camera installation frame, the front end of the second camera rotating motor is connected with a second flange, a rear camera frame is connected to the second flange, one side of the rear camera frame is connected with a rear camera shell through a second bolt, a second digital steering engine is installed on one side, far away from the second bolt, in the rear camera shell, the front end of the second digital steering engine penetrates through the rear camera shell to be connected with a second steering wheel, the second steering wheel is connected with the rear camera frame, and a rear camera is installed in the middle of the rear camera shell.
Through adopting above-mentioned scheme, second camera rotating electrical machines carries out horizontal pivoted power for back camera head to make the back camera can accomplish 360 rotations, rethread second digit steering wheel carries out angle modulation to the back camera, makes the back camera can be to observing from top to bottom.
As above, one side of the outer shell is provided with the front steep slope, one side of the outer shell, which is far away from the front steep slope, is provided with the rear steep slope, and the lower end of the front steep slope and the lower end of the rear steep slope are provided with the guide wheel mechanism.
The martial arts arena trolley comprises a guide wheel supporting block, the guide wheel supporting block is installed on an outer shell, a guide wheel motor is installed on the guide wheel supporting block on one side, the front end of the guide wheel motor is connected with a guide wheel main shaft, a guide wheel connecting block penetrates through the guide wheel main shaft, the front end of the guide wheel connecting block is connected with a guide wheel support, the front end of the guide wheel support is connected with a guide wheel shaft, a guide wheel is connected between the guide wheel shaft, a guide wheel limiting block is installed above the guide wheel supporting block, a guide wheel limiting shaft is connected between the guide wheel limiting block, and the guide wheel limiting block is installed on the outer shell.
By adopting the scheme, the guide wheel motor drives the guide wheel main shaft to rotate, then the guide wheel main shaft drives the guide wheel connecting block, the guide wheel bracket and the guide wheel to complete angle adjustment, then the front driving power provided by the moving mechanism is used for completing the action of loading the trolley on the platform, and after the trolley completes the loading procedure, the guide wheel motor drives the guide wheel to retract to the guide wheel limiting shaft to stop.
In a second aspect, the invention provides a martial art arena trolley control method, which adopts the following technical scheme:
a martial art arena cart control method comprising: acquiring a first visual signal of a front camera, a second visual signal of a rear camera and a third induction signal of a pressure sensor;
judging whether the martial art arena trolley is on the arena or not according to the first visual signal; when the martial art arena trolley is not on the arena, the feedback controller executes the entering program;
when the martial art arena trolley is on the arena, whether the martial art arena trolley reaches the edge of the arena or not is judged according to the first visual signal and the second visual signal, and an enemy martial art arena trolley is searched according to the first visual signal and the second visual signal;
when the martial art arena trolley is positioned at the edge of the arena, but no enemy is around the martial art arena trolley, the feedback controller executes a search program;
when the martial art arena trolley is not arranged on the edge of the arena but an enemy martial art arena trolley is arranged around the martial art arena trolley, the feedback controller executes an attack program;
when the martial arena dolly is at the edge of the arena and there are enemy martial arena dollies around it, a spin evasive procedure is performed.
According to the martial art arena trolley control method, the searching program comprises the steps of judging the position of a martial art arena trolley according to the first visual signal transmitted by the front camera and the second visual signal transmitted by the rear camera;
if the front and back are close to each other, the martial art arena trolley is under the arena;
if no shelter is arranged at the front and back close distances or a shelter is arranged at only one side of the martial art arena, the martial art arena trolley is arranged on the arena;
if the martial arena dolly is on the arena, starting a search program to search for the martial arena dolly for the enemy;
when the search program finds the enemy martial art arena trolley to start executing the attack program;
the attack program comprises the steps that the position of the enemy martial art arena trolley is locked according to a first visual signal transmitted by the front camera and a second visual signal transmitted by the rear camera;
if the enemy martial art arena trolley is under the arena, the enemy martial art arena trolley is moved to the position close to the enemy martial art arena trolley, and the enemy martial art arena trolley is prevented from being put on the arena;
if the enemy martial art arena trolley is on the arena, the enemy martial art arena trolley is pushed to the lower part of the arena, and then the action is repeated;
if the enemy martial art arena trolley is on the arena and attacking the martial art arena trolley of our party, executing a rotation evasive program;
the avoidance program comprises a step of judging whether the martial art arena trolley is attacked or not according to a first visual signal transmitted by a front camera, a second visual signal transmitted by a rear camera and a third induction signal of the pressure sensor;
if the enemy martial art arena trolley is in the attack range, the enemy martial art arena trolley is moved out of the attack range of the enemy martial art arena trolley, and then the attack program is executed to attack the enemy martial art arena trolley;
if the enemy martial art arena car attacks the arena, the program of entering the arena is executed, and the program is repeatedly executed.
Compared with the prior art, the invention has the beneficial effects that:
1. the trolley adopts the front camera mechanism, the rear camera mechanism and the pressure sensor to replace the infrared or laser sensor structure in the prior art, reduces structural members required for mounting the sensors, reduces the overall weight of the trolley, improves the flexibility of the trolley, and increases the evading capability of the trolley when the trolley is attacked;
2. the trolley reduces the number of the sensors, thereby reducing the steps of the control program, enabling the control program to be more refined, reducing the probability of BUG when the control program runs, and strengthening the control force of the trolley.
Drawings
FIG. 1 is a schematic view of the overall structure of the chassis of the present invention;
FIG. 2 is a schematic view of a rotary mechanism of the present invention;
FIG. 3 is a schematic view of the moving mechanism of the present invention;
FIG. 4 is a schematic view of the outer housing structure of the present invention;
FIG. 5 is a schematic view of the overall structure of the present invention;
FIG. 6 is a schematic diagram of the structure of FIG. 1 at A in accordance with the present invention;
FIG. 7 is a schematic view of the structure of FIG. 2 at B in accordance with the present invention;
FIG. 8 is a schematic diagram of the structure of FIG. 2 at C in accordance with the present invention;
FIG. 9 is a schematic diagram of the structure of FIG. 7 at D in accordance with the present invention;
FIG. 10 is a schematic diagram of the structure of FIG. 8 at E in accordance with the present invention;
FIG. 11 is a schematic diagram of the structure of FIG. 3 at F in accordance with the present invention;
FIG. 12 is a schematic diagram of the structure of FIG. 11 at G in accordance with the present invention;
FIG. 13 is a schematic view of the structure of FIG. 4 at H in accordance with the present invention;
fig. 14 is a schematic diagram of the structure at I in fig. 4 according to the present invention.
In the figure: 1. a chassis; 2. a rotation mechanism; 201. a rotating electric machine; 202. a driving wheel; 203. a driven wheel; 204. a synchronous belt; 3. a front camera mounting bracket; 4. a rear camera mounting bracket; 5. a front camera mechanism; 501. a front camera housing; 502. a front camera head; 503. a first flange; 504. a first camera rotating motor; 505. a first bolt; 506. a front camera; 507. a first digital steering engine; 508. a first rudder disk; 6. a rear camera mechanism; 601. a rear camera housing; 602. a rear camera head; 603. a second flange; 604. a second camera rotating motor; 605. a second bolt; 606. a rear camera; 607. a second digital steering engine; 608. a second rudder disk; 7. a rotating motor frame; 8. a ground column; 9. a universal ball; 10. a controller; 11. a moving mechanism; 1101. a movable tray; 1102. moving the motor plate; 1103. a double output shaft motor; 1104. a main wheel connecting shaft; 1105. a main wheel; 1106. an auxiliary wheel; 1107. a damping spring; 12. a bearing; 13. an outer housing; 14. a front steep slope; 15. a rear steep slope; 16. a pressure sensor; 17. a storage battery; 18. a guide wheel mechanism; 1801. a guide wheel supporting block; 1802. a guide wheel motor; 1803. a guide wheel main shaft; 1804. a guide wheel connecting block; 1805. a guide wheel bracket; 1806. a guide wheel shaft; 1807. a guide wheel; 1808. a guide wheel limiting block; 1809. guide wheel limit shaft.
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 and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Example 1:
the embodiment of the application discloses wushu arena dolly, including chassis 1, 1 intermediate junction rotary mechanism 2 on chassis, moving mechanism 11 is connected to rotary mechanism 2 below, camera mechanism 5 before connecting in one side above the chassis 1, keep away from preceding camera mechanism 5 one side above the chassis 1 and connect back camera mechanism 6, be close to the rotatory motor frame 7 of 6 inboard installations of back camera mechanism above the chassis 1, chassis 1 below four corners connection lower margin stand 8, install universal ball 9 below the lower margin stand 8, be close to preceding camera mechanism 5 one side installation controller 10 above the chassis 1, chassis 1 both sides installation pressure sensor 16, rotary mechanism 2 both sides installation battery 17 above the chassis 1, shell 13 is connected in the chassis 1 outside, shell 13 installation guide wheel mechanism 18 utilizes preceding camera mechanism, back camera mechanism and pressure sensor to give an instruction to the various actions of dolly, has reduced the quantity of sensor and structure, has alleviateed the dead weight of dolly, has increased the flexibility, and universal ball gives the more stable support of dolly, makes the operation of dolly more stable, provides more balanced the electric quantity of both sides when battery and has also avoided the weight to the car body to the circumstances of one side to appear inclining.
Particularly, this embodiment rotary mechanism 2 includes rotating electrical machines 201, the action wheel 202 is connected to rotating electrical machines 201 front end, rotating electrical machines 201 installs on rotating electrical machines frame 7, hold-in range 204 is connected to action wheel 202, from driving wheel 203 is connected to hold-in range 204 opposite side, from driving wheel 203 below connection moving mechanism 11, the rotating electrical machines help the dolly turn to and rotatory operation of dodging, drive the moving mechanism rotation through following the wheel, convenient, swift completion turns to and the rotary motion.
Specifically, this embodiment the moving mechanism 11 includes the moving plate 1101, the moving motor board 1102 is installed in the middle of the moving plate 1101, the double-output shaft motor 1103 is installed on the moving motor board 1102, the two ends of the double-output shaft motor 1103 are connected with the main wheel connecting shaft 1104, the main wheel 1105 passes through the main wheel connecting shaft 1104, the other end of the main wheel connecting shaft 1104 is connected with the damping spring 1107, the moving plate 1101 and the main wheel 1105 are vertically installed with the auxiliary wheel 1106, the driven wheel 203 is connected to the moving plate 1101, the upper end of the moving plate 1101 is connected with the bearing 12, the bearing 12 is installed on the chassis 1, the double-output shaft motor drives the main wheel to move, the forward and backward movement is completed, and the auxiliary wheel makes the vehicle body more stable when moving and turning on the basis of the auxiliary support.
Further, in this embodiment, a front camera mounting bracket 3 is installed on one side of the chassis 1, and a rear camera mounting bracket 4 is installed on one side of the chassis 1 away from the front camera mounting bracket.
Further, the front camera mechanism 5 according to the present embodiment includes a first camera rotating electrical machine 504, the first camera rotating electrical machine 504 is installed on the front camera mounting frame 3, the front end of the first camera rotating electrical machine 504 is connected to a first flange 503, the front camera frame 502 is connected to the first flange 503, one side of the front camera frame 502 is connected to the front camera housing 501 through a first bolt 505, a first digital steering engine 507 is installed on the side of the inner side of the front camera housing 501, which is far away from the first bolt 505, the front end of the first digital steering engine 507 passes through the front camera housing 501 to be connected to a first steering wheel 508, the first steering wheel 508 is connected to the front camera frame 502, the front camera 506 is installed in the middle of the front camera housing 501, the first camera rotating electrical machine completes horizontal rotation of the front camera, so that the front camera can observe any position in the horizontal direction, and the first digital steering engine completes angle adjustment of the front camera in the vertical direction, so that the front camera can observe any position in the vertical direction.
Further, in this embodiment, the rear camera mechanism 6 includes a second camera rotating motor 604, the second camera rotating motor 604 is installed on the rear camera mounting bracket 4, the front end of the second camera rotating motor 604 is connected to a second flange 603, the rear camera 602 is connected to the second flange 603, one side of the rear camera 602 is connected to the rear camera housing 601 through a second bolt 605, a second digital steering engine 607 is installed in the rear camera housing 601 on the side away from the second bolt 605, the front end of the second digital steering engine 607 penetrates through the rear camera housing 601 to be connected to a second steering wheel 608, the second steering wheel 608 is connected to the rear camera 602, the rear camera 606 is installed in the middle of the rear camera housing 601, the second camera rotating motor completes horizontal rotation of the rear camera, so that the rear camera can observe any position in the horizontal direction, and the second digital steering engine completes angle adjustment in the vertical direction, so that the rear camera can observe any position in the vertical direction.
Further, this embodiment shell body 13 one side sets up preceding abrupt slope 14, shell body 13 is kept away from preceding abrupt slope 14 one side and is set up back abrupt slope 15, preceding abrupt slope 14 with 15 lower extremes of back abrupt slope set up guide wheel mechanism 18, and preceding abrupt slope and back abrupt slope are attack position when attacking the procedure, utilize the abrupt slope to lift one side of enemy martial arts arena dolly, make the wheel of enemy martial arts arena dolly hang and lose the impetus to reach the light purpose of arena with enemy martial arts arena dolly pushing down.
Further, in this embodiment, the guide wheel mechanism 18 includes a guide wheel support block 1801, the guide wheel support block 1801 is installed on the outer housing 13, a guide wheel motor 1802 is installed on the guide wheel support block 1801 on one side, the front end of the guide wheel motor 1802 is connected to a guide wheel spindle 1803, a guide wheel connection block 1804 penetrates through the guide wheel spindle 1803, the front end of the guide wheel connection block 1804 is connected to a guide wheel support 1805, the front end of the guide wheel support 1805 is connected to a guide wheel shaft 1806, the middle of the guide wheel shaft 1806 is connected to a guide wheel 1807, a guide wheel limit block 1808 is installed above the guide wheel support block 1801, the middle of the guide wheel limit block 1808 is connected to a guide wheel limit shaft 1809, the guide wheel limit block 1808 is installed on the outer housing 13, the guide wheel exists as an auxiliary structure when the trolley is on the table, the angle of the guide wheel is adjusted by the guide wheel motor, and a driving force is provided by a dual-shaft motor, thereby completing the table-up action.
The implementation principle of gardens sewage treatment system of the embodiment of this application is:
the utility model discloses a martial art arena dolly, including two axle motors, guide pulley motor and two play motors, the first camera rotating electrical machines of at first start-up, the second camera rotating electrical machines, first digital steering wheel, second digital steering wheel and rotating electrical machines, after the martial art arena dolly was put on the stage, guide pulley motor antiport, withdraw the spacing axle department of guide pulley and begin to seek the procedure with the guide pulley, after locking the enemy martial art arena dolly, start the attack procedure, the direction impact to the enemy martial art arena dolly, continue to carry out the attack procedure after pushing down the arena dolly and stop the arena on the enemy martial art arena dolly, through preceding camera, back camera and pressure sensor receive the signal of being attacked, the rotatory program of dodging is started to the controller, it is rotatory towards one direction to drive the martial art arena dolly through the rotating electrical machines, crowd the enemy martial art arena dolly open, thereby avoid pursuing on the enemy martial art arena dolly to move in the opposite direction and pursue the enemy arena dolly, after escaping the enemy arena dolly scope, restart the army and attack the army dolly again, if the army arena dolly is repeatedly carried out before the army dolly.
Example 2:
the embodiment of the application discloses wushu arena dolly control method, includes: the method for acquiring the first visual signal of the front camera 506, the second visual signal of the rear camera 606 and the third sensing signal of the pressure sensor 16 comprises the following specific steps:
judging whether the martial art arena trolley is on the arena or not according to the first visual signal; when the martial art arena trolley is not on the arena, the feedback controller 10 executes the program of entering the arena;
when the martial art arena trolley is on the arena, whether the martial art arena trolley reaches the edge of the arena or not is judged according to the first visual signal and the second visual signal, and an enemy martial art arena trolley is searched according to the first visual signal and the second visual signal;
when the martial arena dolly is positioned at the edge of the arena but no enemy around the martial arena dolly, the feedback controller 10 executes a search program;
when the martial art arena dolly is not at the edge of the arena but there is an enemy martial arena dolly around, the feedback controller 10 executes the attack program;
when the martial arena dolly is at the edge of the arena and there are enemy martial arena dollies around it, a spin evasive procedure is performed.
Further, the search program according to this embodiment includes determining the position of the martial art arena cart according to the first visual signal transmitted by the front camera 506 and the second visual signal transmitted by the rear camera 606;
if the front and back are close to each other, the martial art arena trolley is under the arena;
if no shelter is arranged at the front and back close distances or a shelter is arranged at only one side of the martial art arena, the martial art arena trolley is arranged on the arena;
if the martial art arena trolley is on the arena, starting a search program to search for the martial art arena trolley by the enemy;
when the search program finds that the enemy martial art arena car starts to execute the attack program;
the attack program comprises the steps that the position of the enemy martial art arena trolley is locked according to the first visual signal transmitted by the front camera 506 and the second visual signal transmitted by the rear camera 606;
if the enemy martial art arena trolley is under the arena, the enemy martial art arena trolley is moved to the position close to the enemy martial art arena trolley, and the enemy martial art arena trolley is prevented from being put on the arena;
if the enemy martial art arena trolley is on the arena, the enemy martial art arena trolley is pushed to the lower part of the arena, and then the action is repeated;
if the enemy martial art arena trolley is on the arena and attacking the martial art arena trolley of our party, executing a rotation evasive program;
the avoidance program comprises the steps of judging whether the martial art arena trolley is attacked or not according to the first visual signal transmitted by the front camera 506, the second visual signal transmitted by the rear camera 606 and the third sensing signal of the pressure sensor 16;
if the enemy martial art arena trolley is in the attack range, the enemy martial art arena trolley is moved out of the attack range of the enemy martial art arena trolley, and then the attack program is executed to attack the enemy martial art arena trolley;
if the enemy martial art arena car attacks the arena, the program of entering the arena is executed, and the program is repeatedly executed.
The implementation principle of the garden sewage treatment method in the embodiment of the application is as follows:
the interactive control is carried out on various states of the trolley through the first visual signal, the second visual signal and the third sensing signal, the controller carries out corresponding program processing according to the obtained reaction signal, and when the ongoing program is interrupted suddenly, the trolley carries out program resetting on the trolley according to the signal feedback of the first visual signal and the second visual signal, so that the reaction time of the trolley is shortened, and the reaction time of the trolley is shortened.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "inner", "upper", "top", "bottom", etc. are based on the directions or positional relationships shown in the drawings, which are for convenience of description only, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the invention is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. A martial art arena dolly, includes chassis (1), its characterized in that: the camera device is characterized in that a rotating mechanism (2) is connected to the middle of a chassis (1), a moving mechanism (11) is connected to the lower portion of the rotating mechanism (2), a front camera mechanism (5) is connected to one side of the upper surface of the chassis (1), a rear camera mechanism (6) is connected to one side of the upper surface of the chassis (1) far away from the front camera mechanism (5), a rotating motor frame (7) is installed on the inner side of the rear camera mechanism (6) above the chassis (1), ground foot stand columns (8) are connected to four corners of the lower portion of the chassis (1), universal balls (9) are installed below the ground foot stand columns (8), a controller (10) is installed on one side of the upper surface of the chassis (1) near the front camera mechanism (5), pressure sensors (16) are installed on two sides of the chassis (1), storage batteries (17) are installed on two sides of the upper surface of the chassis (1), an outer shell (13) is connected to the outer side of the chassis (1), and a guide wheel mechanism (18) is installed on the outer shell (13).
2. A martial arts arena cart as claimed in claim 1, wherein: rotary mechanism (2) include rotating electrical machines (201), driving wheel (202) is connected to rotating electrical machines (201) front end, rotating electrical machines (201) are installed on rotating electrical machines frame (7), hold-in range (204) is connected in driving wheel (202), from driving wheel (203) is connected to hold-in range (204) opposite side, from moving mechanism (11) is connected to driving wheel (203) below.
3. A martial arts arena cart as claimed in claim 2, wherein: moving mechanism (11) are including removing dish (1101), remove dish (1101) middle installation removal motor board (1102), two play axle motor (1103) of installation on removal motor board (1102), main round connecting axle (1104) is connected at two play axle motor (1103) both ends, main round (1105) have worn on main round connecting axle (1104), damping spring (1107) are connected to main round connecting axle (1104) other end, remove dish (1101) and main round (1105) vertical position installation auxiliary wheel (1106), connect driven wheel (203) above removing dish (1101), remove dish (1101) upper end connecting bearing (12), bearing (12) are installed on chassis (1).
4. A martial arts arena cart as claimed in claim 1, wherein: the front camera mounting frame (3) is mounted on one side of the chassis (1), and the rear camera mounting frame (4) is mounted on one side, far away from the front camera mounting frame, of the chassis (1).
5. The martial arts arena cart of claim 4, wherein: preceding camera mechanism (5) include first camera rotating electrical machines (504), first camera rotating electrical machines (504) are installed in the front on camera mounting bracket (3), first flange (503) are connected to first camera rotating electrical machines (504) front end, connect preceding camera frame (502) above first flange (503), preceding camera frame (501) are connected through first bolt (505) in preceding camera frame (502) one side, first bolt (505) one side installation first digital steering wheel (507) is kept away from to preceding camera frame (501) inboard, first digital steering wheel (507) front end passes preceding camera frame (501) and connects first steering wheel (508), preceding camera frame (502) are connected in first steering wheel (508), preceding camera (506) are installed in the middle of preceding camera frame (501).
6. The martial arts arena cart of claim 4, wherein: the rear camera mechanism (6) comprises a second camera rotating motor (604), the second camera rotating motor (604) is installed on the rear camera mounting frame (4), the front end of the second camera rotating motor (604) is connected with a second flange (603), a rear camera frame (602) is connected to the upper face of the second flange (603), one side of the rear camera frame (602) is connected with a rear camera shell (601) through a second bolt (605), a second digital steering engine (607) is installed on one side, away from the second bolt (605), of the rear camera shell (601), the front end of the second digital steering engine (607) penetrates through the rear camera shell (601) to be connected with a second steering wheel (608), the second steering wheel (608) is connected with the rear camera frame (602), and a rear camera (606) is installed in the middle of the rear camera shell (601).
7. A martial arts arena cart according to claim 1, wherein: steep slope (14) before shell body (13) one side sets up, steep slope (14) one side sets up back steep slope (15) before shell body (13) is kept away from, preceding steep slope (14) with back steep slope (15) lower extreme sets up guide wheel mechanism (18).
8. A martial arts arena cart as claimed in claim 7, wherein: guide wheel mechanism (18) include guide wheel supporting block (1801), guide wheel supporting block (1801) is installed on shell body (13), one side guide wheel supporting block (1801) installation guide wheel motor (1802), guide wheel main shaft (1803) is connected to guide wheel motor (1802) front end, guide wheel connecting block (1804) has been worn on guide wheel main shaft (1803), guide wheel support (1805) is connected to guide wheel connecting block (1804) front end, guide wheel axle (1806) is connected to guide wheel support (1805) front end, guide wheel axle (1806) intermediate junction guide wheel (1807), guide wheel limiting block (1808) is installed to guide wheel supporting block (1801) top, guide wheel limiting block (1808) intermediate junction guide wheel limiting axle (1809), guide wheel limiting block (1808) is installed on shell body (13).
9. A martial arena dolly control method for effecting control of the martial arena dolly of any one of claims 1 to 8 wherein: the method comprises the following steps: acquiring a first visual signal of a front camera (506), a second visual signal of a rear camera (606) and a third induction signal of a pressure sensor (16);
judging whether the martial art arena trolley is on the arena or not according to the first visual signal; when the martial art arena trolley is not on the arena, the feedback controller (10) executes the entering program;
when the martial art arena trolley is on the arena, whether the martial art arena trolley reaches the edge of the arena or not is judged according to the first visual signal and the second visual signal, and an enemy martial art arena trolley is searched according to the first visual signal and the second visual signal;
when the martial art arena trolley is positioned at the edge of the arena, but no enemy is around the martial art arena trolley, the feedback controller (10) executes a search program;
when the martial arena dolly is not on the edge of the arena but there is an enemy martial arena dolly around, the feedback controller (10) executes the attack program;
when the martial arena dolly is at the edge of the arena and there are enemy martial arena dollies around it, a spin evasive procedure is performed.
10. The martial arts arena cart control method of claim 9, wherein: the searching program comprises the step of judging the position of the martial art arena trolley according to the first visual signal transmitted by the front camera (506) and the second visual signal transmitted by the rear camera (606);
if the front and back are close to each other, the martial art arena trolley is under the arena;
if no shelter is arranged at the front and back close distances or a shelter is arranged at only one side of the martial art arena, the martial art arena trolley is arranged on the arena;
if the martial art arena trolley is on the arena, starting a search program to search for the martial art arena trolley by the enemy;
when the search program finds that the enemy martial art arena car starts to execute the attack program;
the attack program comprises the steps that the position of a cart of an enemy martial art arena is locked according to a first visual signal transmitted by a front camera (506) and a second visual signal transmitted by a rear camera (606);
if the enemy martial art arena trolley is under the arena, the enemy martial art arena trolley is moved to the position close to the enemy martial art arena trolley, and the enemy martial art arena trolley is prevented from being put on the arena;
if the enemy martial art arena trolley is on the arena, the enemy martial art arena trolley is pushed to the lower part of the arena, and then the action is repeated;
if the enemy martial art arena trolley is on the arena and attacking the martial art arena trolley of our party, executing a rotation evasive program;
the avoidance program comprises a step of judging whether the martial art arena trolley is attacked or not according to a first visual signal transmitted by a front camera (506), a second visual signal transmitted by a rear camera (606) and a third induction signal of the pressure sensor (16);
if the enemy martial art arena trolley is in the attack range, the enemy martial art arena trolley is moved out of the attack range of the enemy martial art arena trolley, and then the attack program is executed to attack the enemy martial art arena trolley;
if the enemy martial art arena car attacks the arena, the program of entering the arena is executed, and the program is repeatedly executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211528382.6A CN115888130A (en) | 2022-12-01 | 2022-12-01 | Martial art arena trolley and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211528382.6A CN115888130A (en) | 2022-12-01 | 2022-12-01 | Martial art arena trolley and control method thereof |
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| Publication Number | Publication Date |
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| CN115888130A true CN115888130A (en) | 2023-04-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211528382.6A Pending CN115888130A (en) | 2022-12-01 | 2022-12-01 | Martial art arena trolley and control method thereof |
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| CN106310665A (en) * | 2016-09-07 | 2017-01-11 | 防灾科技学院 | Robot used for martial arts arena contest |
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