CN211824077U

CN211824077U - Intelligent robot target

Info

Publication number: CN211824077U
Application number: CN201922417876.7U
Authority: CN
Inventors: 王聿彪; 凌云; 张千伟
Original assignee: No 60 Institute of Headquarters of General Staff of PLA
Current assignee: No 60 Institute of Headquarters of General Staff of PLA
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2020-10-30
Anticipated expiration: 2029-12-27

Abstract

The utility model discloses an intelligent robot target, which comprises a movable platform, at least one human-shaped target, a side turning mechanism component and a lifting mechanism component, wherein the side turning mechanism component is arranged on the movable platform; the side turning mechanism assembly is connected with the lifting mechanism assembly and controls the lifting mechanism assembly to rotate and position at any position of 0-360 degrees; the human-shaped target is installed on the lifting mechanism assembly, and the lifting mechanism assembly controls the human-shaped target to lift, fall and position at any position of 0-90 degrees relative to the movable platform. The utility model has the advantages that the middle-lift reversing motor is provided with the brake, and when the intelligent robot target is powered off, the brake can keep the motor at the position before the power off; the starting and reversing motor utilizes the zero position of the servo control system which is matched by the shielding piece and the photoelectric switch, and is matched with the starting and reversing motor encoder to control the starting and reversing motor to reach a designated position in real time, so that the starting and reversing motor can be started and stopped at any position within the range of 0-90 degrees.

Description

Intelligent robot target

Technical Field

The utility model relates to an intelligent robot target, a robot target that can play location in real time specifically says, belongs to simulation training technical field.

Background

The military and police most often adopt traditional fixed targets in shooting training, and at present, the intelligent individual soldier target which moves autonomously is rarely adopted for shooting training. The traditional fixed target or track target has definite predictability due to fixed or known positions, is not beneficial to restoring a real shooting training scene, and cannot achieve a good training effect. Shooting training products of this type are increasingly unable to meet the ever-increasing demands for combat training.

With the current advance of actual combat training of military police live-bomb tactics shooting, the requirement on the fidelity of the motion characteristics of a virtual enemy simulated by a motion target is higher and higher, the traditional fixed track type mobile target or the camera shooting guide type mobile target cannot dynamically and vividly control the position of the target according to the training, and the requirement of the current actual bomb tactics shooting actual combat training cannot be met.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem and overcome prior art's defect, provide an intelligent robot target that can real-time motion, rotation and rise.

In order to solve the technical problem, the intelligent robot target provided by the utility model comprises a movable platform and at least one human-shaped target, and further comprises a side turning mechanism component and a lifting mechanism component, wherein the side turning mechanism component is arranged on the movable platform;

the side turning mechanism assembly is connected with the lifting mechanism assembly and controls the lifting mechanism assembly to rotate and position at any position of 0-360 degrees;

the human-shaped target is installed on the lifting mechanism assembly, and the lifting mechanism assembly controls the human-shaped target to lift, lift and position at any position of 0-90 degrees relative to the movable platform.

In the utility model, the side-turning mechanism component comprises a driving speed reducer, a first photoelectric switch and a first baffle, and two rotating shafts which can rotate simultaneously are arranged on the driving speed reducer; the first blocking piece/the first photoelectric switch is arranged on any rotating shaft, the first photoelectric switch/the first blocking piece is fixedly arranged on the outer side of the first blocking piece/the first photoelectric switch, and the first blocking piece controls the on/off of the first photoelectric switch; the other rotating shaft is used for connecting the lifting mechanism assembly.

The utility model discloses in, drive decelerator is including the side-turning servo motor and turbine worm reducer, and the side-turning servo motor is connected with turbine worm reducer's input.

In the utility model, the lifting and falling mechanism component comprises a lifting and falling driving device, a second photoelectric switch and a second baffle, and the second photoelectric switch/the second baffle is arranged on an output shaft of the lifting and falling driving device and can rotate along with the output shaft; the second photoelectric switch is fixedly arranged on the outer side of the second photoelectric switch/the second baffle, and the second baffle controls the on/off of the second photoelectric switch; and the output shaft of the lifting and reversing driving device is used for being connected with the human-shaped target.

The utility model discloses in, play drive arrangement that falls including playing servo motor and the right angle type planetary gear reduction gear, play servo motor and the input of right angle type planetary gear reduction gear of falling is connected.

The utility model discloses in, movable platform includes the automobile body, install 4 independent drive's respectively honeycomb formula shock attenuation wheels on the automobile body.

The utility model discloses in, automobile body the place ahead sets up the supersound and keeps away barrier subassembly, the supersound keeps away barrier subassembly and adopts 5 from receiving spontaneous ultrasonic ranging sensor to constitute.

The utility model discloses in, automobile body the place ahead sets up the supersound and keeps away barrier subassembly, the supersound keeps away barrier subassembly and adopts 5 at least from receiving spontaneous ultrasonic ranging sensor to constitute.

The beneficial effects of the utility model reside in that: (1) the lifting and reversing mechanism assembly is driven by a servo motor matched with a right-angle planetary gear reducer, the lifting and reversing motor is provided with a brake, and when the intelligent robot target is powered off, the brake can keep the motor at a position before the power off; meanwhile, the starting and reversing motor utilizes the zero position of the servo control system matched by the shielding piece and the photoelectric switch, when the intelligent robot target is subjected to initial power-on self-test, the starting and reversing motor returns to the zero position (reversing target position), and the starting and reversing motor encoder is matched by taking the zero position as a starting point, so that the starting and reversing motor is controlled to reach the specified position in real time, the starting and reversing motor can start and stop at any position within the range of 0-90 degrees, and the reliable starting and reversing positioning of the intelligent robot target is realized; (2) through the cooperation among the moving platform, the lifting mechanism and the side turning mechanism, the fidelity of the intelligent robot target is ensured, and the shooting training effect can be greatly improved; (3) the side-turning mechanism assembly is driven by matching a servo motor with a worm gear reducer, the self-locking property of the worm gear reducer is utilized, the target can be kept at a stop position after the intelligent robot target is powered off, the target cannot freely rotate freely, meanwhile, a zero position is provided for a servo control system by matching a shielding sheet with a photoelectric switch, when the intelligent robot target is powered on for the first time for self-inspection, a side-turning motor returns to the zero position, the zero position is used as a starting point, and a side-turning motor encoder is matched to control the side-turning motor to reach a specified position in real time, so that the side-turning motor can rotate at any position within the range of 0-360 degrees and stop positioning; (4) the intelligent robot target adopts a four-wheel differential steering chassis, and a power system adopts servo drive, so that the accuracy and reliability of the wheel speed control of four driving wheels of the target vehicle can be ensured; meanwhile, the honeycomb damping wheel is made of high polymer materials and has the design of longitudinal and transverse damping cavities, so that the weight of the tire is greatly reduced, and the damping effect is improved; meanwhile, the intelligent robot target can be used continuously after the bullet hits the tire, so that the survivability of the intelligent robot target in a live ammunition training environment is greatly improved; and (5) the ultrasonic obstacle avoidance assembly is formed by combining at least 5 self-receiving ultrasonic ranging sensors, so that the detection range of 180 degrees ahead can be ensured.

Drawings

FIG. 1 is a schematic structural diagram 1 of an intelligent robot target;

FIG. 2 is a schematic structural diagram of an intelligent robot target 3;

FIG. 3 is a diagram of the internal structure of the intelligent robot target;

FIG. 4 is a view of the side steering mechanism assembly;

fig. 5 is a structural view of the tilting mechanism assembly.

Wherein: 1-a vehicle body, 2-an upper cover plate, 2-1-a servo drive motor, 2-2-a servo motor driver, 2-3 direct current contactors, 2-4 wiring terminals, 2-5 electric part supports, 2-6 main control circuit boards, 2-7 measurement and control radio stations, 2-8-RTK communication radio stations, 2-9 circuit board supports, 2-10 side-turn motor servo drivers, 2-11 horns, 2-12 battery boxes, 3-three-dimensional humanoid targets, 3-1 side-turn motors, 3-2 turbine worm reducers, 3-3 fixed seats, 3-4 bearing flanges, 3-5 first rotating shafts, 3-6 conductive slip rings, 3-7 lifting mechanism component mounting plates and 3-8 first photoelectric switch supports, 3-9 of a first shielding sheet, 3-10 of a first photoelectric switch, 3-11 of a second rotating shaft 1, 4-of-a-reverse mechanism component, 4-1 of a box body, 4-2 of a reverse motor, 4-3 of a right-angle planetary gear reducer, 4-4 of a rocker arm, 4-5 of a strobe light, 4-6 of a motor bracket, 4-7 of a rotating shaft flange, 4-8 of a second shielding sheet, 4-9 of a second photoelectric switch bracket, 4-10 of a second photoelectric switch, 4-11 of a reverse motor servo driver, 4-12 of a target reporting circuit board, 5-of a measurement and control antenna, TRK communication antenna, 6-of a power switch, a navigation plug, an indicator light, 7-of a survival state display lamp, 8-of a lateral rotation mechanism component, 9-GPS/BD positioning antenna, 10-of an ultrasonic obstacle avoidance component, 11-honeycomb damping wheel.

Detailed Description

The following detailed description of embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that only the preferred embodiment of the invention has been shown in the drawings and is not to be considered limiting of its scope. Various obvious modifications, changes and equivalents of the embodiments of the present invention can be made by those skilled in the art based on the embodiments shown in the drawings, and all of them are within the protection scope of the present invention.

As shown in fig. 1 and 2, the outdoor intelligent robot target in the present embodiment includes a vehicle body 1, and the vehicle body 1 is a trapezoidal box body provided with an upper cover plate 2.

Two honeycomb shock attenuation wheels 11 are respectively installed to the both sides of automobile body 1, and the tire of honeycomb shock attenuation wheel 11 adopts current macromolecular material technology preparation, and the design has vertical and horizontal shock attenuation chamber, can lighten automobile body 1 weight like this, also can play fine shock attenuation effect, promotes the mobility of outdoor intelligent robot target. Meanwhile, the intelligent robot target can be continuously used after the bullet hits the tire, so that the survivability of the intelligent robot target in an outdoor live ammunition training environment is greatly improved.

The front end of the vehicle body 1 is provided with an ultrasonic obstacle avoidance assembly 10. The ultrasonic obstacle avoidance assembly 10 is formed by combining 5 self-receiving ultrasonic distance measuring sensors, the beam angle of each ultrasonic distance measuring sensor is 10-20 degrees, and after the 5 ultrasonic sensors are assembled and installed at different installation angles, 180-degree detection range in the front 10 meters can be ensured, so that the ultrasonic obstacle avoidance assembly can replace a laser radar to carry out self-obstacle avoidance, the cost is greatly reduced, and the stability and the reliability of the operation of a robot target are improved.

The rear end of the vehicle body 1 is provided with a power switch 6, an aviation plug, an indicator light and the like.

The middle of the front end of the upper cover plate 2 of the vehicle body 1 is provided with a GPS/BD positioning antenna 9. The GPS/BD positioning antenna is connected to a GPS/BD positioning system, and the GPS/BD positioning system adopts an RTK real-time dynamic control system. The intelligent robot target utilizes the GPS/BD positioning system to realize outdoor real-time positioning and realize a path tracking function, and utilizes the positioning information of the target vehicle and the positioning information provided by the GPS/BD positioning system on the training personnel body to ensure that the target faces shooting personnel in real time through the side turning mechanism component in the moving process of the intelligent robot target, and utilizes the laser engagement system to carry out reverse attack on the training personnel, thereby being closer to actual combat.

2 front end right corners of apron are equipped with survival status display lamp 7, and the survival status display lamp adopts high bright three-colour warning light, and red, yellow, green three-colour corresponds the target respectively and hits, the burden wound, three kinds of normal survival statuses.

The middle of the cover plate 2 is provided with a side-turning mechanism assembly 8. The lifting mechanism assembly 4 is arranged above the side-turning mechanism assembly 8, and the three-dimensional humanoid target 3 is arranged on a rocker arm of the lifting mechanism assembly 4.

The measurement and control antenna and the RTK communication antenna 5 are respectively arranged on two sides of the rear end of the cover plate 2, the measurement and control antenna is connected with the measurement and control radio station, and the RTK communication antenna 5 is connected with the RTK communication radio station.

The three-dimensional human-shaped target 3 adopts a conductive multi-part target-reporting technology, can realize the target-reporting of the head, the chest, the heart, the abdomen and other five parts in a subarea manner, and can also simulate the infrared characteristics of the target to adapt to the requirement of night training. The three-dimensional human-shaped target 3 is the prior art, and the technical scheme is not described any more.

As shown in FIG. 3, two sets of servo drive motors 2-1 are coaxially arranged in the vehicle body 1 at the front and back, the servo drive motors 2-1 are low-voltage servo motors, and servo motor drivers 2-2 for four drive motors are arranged near the servo motors 2-1. In this embodiment, adopt four-wheel differential to turn to the chassis, driving system adopts servo drive, can ensure the accuracy and the reliability of the fast control of four drive wheel of automobile body.

The loudspeaker 2-11 is arranged at the center position in the vehicle body 1, a plurality of audio data can be written in the loudspeaker 2-11, the loudspeaker has the advantages of small volume, dust and water prevention, high tone quality, embedded installation and the like, and different voice data can be customized according to requirements.

An electric component bracket 2-5 and a circuit board bracket 2-9 are respectively arranged on the left side inside the vehicle body 1.

A lateral rotation motor servo driver 2-10 is arranged below an electric part support 2-5, and a measurement and control radio station 2-7, an RTK communication radio station 2-8, a direct current contactor 2-3 and a wiring terminal 2-4 are respectively arranged above the electric part support 2-5. The measurement and control radio stations 2-7 and the RTK communication radio stations 2-8 both adopt LoRa wireless communication modules, wherein the measurement and control radio stations 2-7 are responsible for communicating with the measurement and control station and networking communication between the target vehicle and the target vehicle, and the RTK communication radio stations 2-8 are responsible for communicating with the RTK reference station.

And a circuit board support 2-9 is simultaneously arranged above the electric support 2-5, a main control circuit board 2-6 is arranged above the circuit board support 2-9, and a battery box 2-12 is arranged on the right side in the vehicle body 1.

As shown in FIG. 4, the side-turn mechanism assembly 8 comprises a side-turn motor 3-1 and a worm gear reducer 3-2, the side-turn motor 3-1 is a low-voltage servo motor and is provided with a corresponding low-voltage servo driver, and the side-turn motor 3-1 is matched with the worm gear reducer 3-2 for transmission.

The side-turning motor 3-1 is installed at the input end of the worm gear reducer 3-2, the second rotating shaft 3-11 is installed at one side of the output end of the worm gear reducer 3-2, the fixing seat 3-3 is installed at one side of the output end of the worm gear reducer 3-2, the bearing flange 3-4 is installed on the fixing seat 3-3, the first rotating shaft 3-5 is fixed with the second rotating shaft 3-11 through the bearing flange 3-4, and the first rotating shaft 3-5 and the second rotating shaft 3-11 rotate simultaneously.

The bearing flange 3-4 is fixedly connected with the upper cover plate 2, and finally the flange surface of the first rotating shaft 3-5 is provided with the lifting mechanism component mounting plate 3-7.

And a conductive slip ring 3-6 is arranged above the mounting plate 3-7 of the lifting mechanism component, and the conductive slip ring 3-6 is used for communicating with the lifting mechanism component and transmitting various energy sources and signals.

A photoelectric first switch bracket 3-8 is arranged on the side surface of the bearing flange 3-4, a first photoelectric switch 3-10 is arranged on the first photoelectric switch bracket 3-8, and a first shielding sheet 3-9 is arranged at one end of a second rotating shaft 3-11. The shielding piece 3-9 rotates along with the second rotating shaft 3-11 to control the first photoelectric switch 3-10 to be switched on or switched off, so that the transfer and stop of the side-rotating motor 3-1 at any position of 0-360 degrees can be controlled in real time. By utilizing the self-locking property of the worm gear and worm reducer, the target can be kept at a stop position and cannot freely rotate after the power of the robot target is cut off; meanwhile, a zero position is provided for the side-rotating motor 3-1 through the matching of the first shielding piece 3-9 and the first photoelectric switch 3-10 as a zero resetting position of the target vehicle for each power-on self-detection.

As will be understood by those skilled in the art, the mounting positions of the first shielding plate 3-9 and the first photoelectric switch 3-10 may be exchanged as necessary.

As shown in FIG. 5, the lifting mechanism assembly 4 adopts a rectangular box body 4-1 with a cover plate. A lifting and reversing motor 4-2 and a right-angle planetary gear reducer 4-3 are arranged in the box body 4-1, and the lifting and reversing motor 4-2 is a low-voltage servo motor.

The output shaft of the right-angle planetary gear reducer 4-3 is provided with a motor bracket 4-6, and the motor bracket 4-6 is used for supporting the lifting motor 4-2.

A rotating shaft flange 4-7 is arranged on an output shaft of the right-angle planetary gear reducer 4-3, a second shielding sheet 4-8 is arranged at one end of the rotating shaft flange 4-7, and a second photoelectric switch bracket 4-9 and a second photoelectric switch 4-10 are arranged on the side surface of the motor bracket 4-6. The lifting and reversing motor 4-2 is matched with a right-angle planetary gear reducer 4-3 to realize that the lifting and reversing motor 4-2 is provided with a brake, and when the intelligent robot target is powered off, the brake can keep the lifting and reversing motor 4-2 at a position before the power off. The second shielding piece 4-8 is matched with the second photoelectric switch 4-10, so that the rocker arm 4-4 can be kept at any position of 0-90 degrees relative to the box body 4-1 to lift and stop. Namely, the second shielding piece 4-8 is matched with the second photoelectric switch 4-10 to provide a zero position for the starting and reversing motor 4-2 to serve as a zero returning position of the target vehicle for the self-detection during each power-on process.

A reverse motor servo driver 4-11 is arranged at the side edge of the rear end in the box body 4-1, and a target scoring circuit board 4-12 is arranged at the rear side in the box body 4-1.

The two sides of the outer part of the box body 4-1 are respectively provided with a rocker arm 4-4, and the rocker arms 4-4 are used for connecting the three-dimensional human-shaped target 3.

A strobe lamp 4-5 is arranged in front of the outer part of the box body 4-1, the strobe lamp adopts a yellow strobe lamp, the frequency is adjustable for 1-30 times/minute, and the strobe lamp can be used for simulating the effect of firing fire of a weapon, so that the training environment is more vivid during night training.

According to the technical scheme, the vehicle body 1, the upper cover plate 2 and the box body 4-1 are made of bulletproof steel plates, and can prevent 95 guns from shooting at a distance of 25 m.

In the technical scheme, the ultrasonic obstacle avoidance module 10 can be replaced by a laser radar with higher cost, and SLAM (immediate positioning and mapping or concurrent mapping and positioning) mapping can be performed when the laser radar is equipped.

In practical application, also can adopt a set of intelligent robot tactics training system that many intelligent robot targets can constitute, network deployment to many target cars, realize independently formation, formation switching, formation gather control function such as scattered to can carry out the subject setting to many target cars, realize multiple training scene (including not being limited to removal shooting, hostage rescue, corridor gun battle, square chase, tactics antagonism etc.), for example tactics antagonism subject: after the subjects start, three or four robot targets of the enemy start to carry out grouping cooperative propulsion according to a preset route, when the training personnel are identified, the behaviors of reverse attack, surround attack and the like are shown, the training personnel need to shoot all the robot targets before the robot targets reach the own place, and when the robot targets smoothly reach the own place and are not shot, the task fails.

The portable measurement and control station and the robot target vehicle, the robot target vehicle and the RTK reference station and the robot target all adopt an LoRa wireless communication module, the LoRa wireless communication module uses a frequency modulation technology of a unique form, a plurality of devices can use the same frequency band, as long as each device adopts different data rates, fixed-point transmission, broadcast transmission and channel monitoring functions are supported.

The formation cooperative control algorithm is a following navigation method, a navigator is selected from a group of robots by the algorithm, the pose of the navigator is taken as a reference base point, and other following robots calculate respective target positions in real time according to a set formation form and drive to the target positions according to a preset control strategy.

The technical scheme of the utility model, what carry out external control's adoption to outdoor intelligent robot target is portable observing and controlling station, modules such as integrated industrial computer, display, communication system, power management system in observing and controlling station, and install host computer observing and controlling software in the industrial computer, can realize the observing and controlling to many robot targets.

The upper computer software can gather robot target state information in real time to show in real time at the upper computer software, the information of gathering includes: current cruising ability, communication signal intensity, target vehicle working state, hit state, apparent and hidden state, movement speed, movement direction and the like. The host computer software can set up relevant attributes such as typical training subjects, robot operation, and the operation attribute includes: motility, agility, physical strength values, aggressiveness, offensive power, synergistic ability and the like. The host computer software can carry out file access to the key information in the system work, including: system boot time, operating time, status information, training achievements, user configuration, and the like. The upper computer software can process and analyze the information collected in the training process, and after the training is finished, a statistical form can be automatically generated, wherein the statistical form comprises a target hitting position, target hitting time, target hitting times and the like. The above-mentioned parts are prior art and are not intended to be protected by the present disclosure, and the description is provided to assist those skilled in the art to better understand the present disclosure.

Use outdoor intelligent robot target to expand the explanation to technical scheme in this embodiment, in practical application the utility model discloses a technical scheme also can be applied to indoor shooting training.

Some preferred embodiments of the present invention have been described in detail above. On the basis of this, a person skilled in the art can carry out obvious modifications, variations and combinations of various features in different embodiments, which are within the scope of the invention.

Claims

1. An intelligent robot target, includes a movable platform and at least one humanoid target, its characterized in that: the side turning mechanism assembly is arranged on the movable platform;

2. The intelligent robotic target of claim 1, wherein: the side-turning mechanism assembly comprises a driving speed reducer, a first photoelectric switch and a first baffle, wherein two rotating shafts capable of rotating simultaneously are arranged on the driving speed reducer; the first blocking piece/the first photoelectric switch is arranged on any rotating shaft, the first photoelectric switch/the first blocking piece is fixedly arranged on the outer side of the first blocking piece/the first photoelectric switch, and the first blocking piece controls the on/off of the first photoelectric switch; the other rotating shaft is used for connecting the lifting mechanism assembly.

3. The intelligent robotic target of claim 2, wherein: the driving speed reducer comprises a side-turning servo motor and a worm and gear speed reducer, and the side-turning servo motor is connected with the input end of the worm and gear speed reducer.

4. The intelligent robotic target of any one of claims 1 to 3, wherein: the lifting and reversing mechanism assembly comprises a lifting and reversing driving device, a second photoelectric switch and a second blocking piece, and the second photoelectric switch/the second blocking piece is arranged on an output shaft of the lifting and reversing driving device and can rotate along with the output shaft; the second photoelectric switch is fixedly arranged on the outer side of the second photoelectric switch/the second baffle, and the second baffle controls the on/off of the second photoelectric switch; and the output shaft of the lifting and reversing driving device is used for being connected with the human-shaped target.

5. The intelligent robotic target of claim 4, wherein: the lifting and falling driving device comprises a lifting and falling servo motor and a right-angle planetary gear reducer, and the input ends of the lifting and falling servo motor and the right-angle planetary gear reducer are connected.

6. The intelligent robotic target of claim 4, wherein: the movable platform comprises a vehicle body, and 4 honeycomb type damping wheels which are respectively and independently driven are mounted on the vehicle body.

7. The intelligent robotic target of claim 6, wherein: the front of the vehicle body is provided with an ultrasonic obstacle avoidance assembly, and the ultrasonic obstacle avoidance assembly is composed of 5 self-receiving and self-generating ultrasonic distance measuring sensors.

8. The intelligent robotic target of any one of claims 1 to 3, wherein: the movable platform comprises a vehicle body, and 4 honeycomb type damping wheels which are respectively and independently driven are mounted on the vehicle body.

9. The intelligent robotic target of claim 8, wherein: the front of the vehicle body is provided with an ultrasonic obstacle avoidance assembly, and the ultrasonic obstacle avoidance assembly is composed of at least 5 self-receiving and self-generating ultrasonic distance measuring sensors.