CN215749177U - Intelligent target system of tactical anti-terrorism robot - Google Patents
Intelligent target system of tactical anti-terrorism robot Download PDFInfo
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- CN215749177U CN215749177U CN202120363249.4U CN202120363249U CN215749177U CN 215749177 U CN215749177 U CN 215749177U CN 202120363249 U CN202120363249 U CN 202120363249U CN 215749177 U CN215749177 U CN 215749177U
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Abstract
The utility model provides an intelligent target system of a tactical anti-terrorist robot, which comprises an intelligent target mobile platform, target scoring equipment, a base station node and a master control center, wherein the intelligent target mobile platform is connected with the target scoring equipment; the intelligent target system of the tactical anti-terrorism robot can realize instant positioning, autonomous navigation and obstacle avoidance, and has the advantages of simple structure, convenient operation and convenient maintenance; by adopting the UWB ultra-bandwidth wireless communication technology, the communication speed and the communication reliability are very high, and the centimeter-level positioning accuracy can be achieved; the target platform adopts a four-wheel eight-zone structure, reduces tire wear caused by the traditional four-wheel differential speed, is flexible in steering and good in trafficability in a narrow space; the intelligent target system can realize path planning, autonomous navigation and obstacle avoidance, and is simple to operate and easy to maintain.
Description
Technical Field
The utility model relates to the technical field of intelligent targets, in particular to an intelligent target system of a tactical anti-terrorism robot.
Background
The unmanned target is used for fighting under the informatization condition, the environment is complex, the condition is variable, the confrontation is violent, higher requirements are provided for the fighting skill, the strain capacity and the psychological pressure resistance of fighters, the progress of the scientific technology and the need of military fight preparation promote the development of the unmanned target.
The tactical anti-terrorism robot target system plays a great role in the military shooting training process, is mainly used for simulating the action of gangsters, is generally based on a mobile platform, and mainly comprises the following three schemes:
(1) the light rail or the section bar is laid in the field to serve as the guide rail, the target can move back and forth in the rail, the speed is controllable, and the defects that the original field needs to be modified when the rail is laid, the workload is large, the movement route of the target is fixed, and the predictability is achieved;
(2) the method comprises the following steps of laying a magnetic strip in a field, and acquiring the position deviation of a target relative to a target tracking path by measuring a magnetic field signal on the path, so as to realize the control and navigation of the target, wherein the defects are that the magnetic strip is easy to damage and needs to be maintained regularly, and a magnetic tape needs to be laid again when the path is changed;
(3) open-loop control, set for the target at initial position coordinate, rely on the motor encoder real-time computation current position of target self, the advantage does not need to make the change to the place, uses portably, and the shortcoming is that the precision requirement to the motor encoder is higher, can not form big closed-loop control, often walks many times the back position and has very big deviation.
SUMMERY OF THE UTILITY MODEL
Aiming at the problems in the prior art, the utility model aims to provide an intelligent target system of a tactical anti-terrorism robot, which has the functions of real-time positioning, autonomous obstacle avoidance and navigation, is flexible to turn, can carry different target reporting devices such as a lifting target, a falling target, a chest ring target, a humanoid target and the like, and is used for simulating different training scenes.
In order to achieve the purpose, the utility model adopts the following technical scheme to realize the purpose:
an intelligent target system of a tactical anti-terrorist robot comprises an intelligent target moving platform, target scoring equipment, a base station node and a master control center.
The intelligent target moving platform comprises an upper cover plate and a lower vehicle body; the upper cover plate is connected with the lower vehicle body through a hinge, and different target scoring equipment can be carried on the upper cover plate according to actual training requirements; the front end surface and the rear end surface of the lower vehicle body are respectively provided with two ultrasonic obstacle avoidance modules, the ultrasonic modules adopt a self-sending and self-receiving mode, the ultrasonic induction threshold value is adjustable, and the ultrasonic obstacle avoidance modules are connected with a main controller through a wired serial communication interface; the left side surface and the right side surface of the lower vehicle body are respectively provided with two walking modules; the walking module mainly comprises a rubber wheel assembly, a direct current brushless motor and a planetary reduction gearbox, wherein a high-resolution photoelectric encoder is integrated in the direct current brushless motor; the middle of the left side surface and the middle of the right side surface of the lower vehicle body are respectively provided with a handle, so that the lower vehicle body is convenient to transport and carry, the upper power-on switch and the emergency stop switch are vertically distributed on the center of the rear end surface, and two sides of the switch are respectively provided with a row of aerial plugs and antennae. Steering engines are respectively arranged at four opposite corners in the lower vehicle body, each walking module CAN independently steer, and the steering engines are in cascade connection with the main controller through a CAN bus to communicate; the bottom of the lower vehicle body is provided with a battery box, an attitude sensing module is arranged below the battery box and used for sensing the pose of the intelligent mobile target platform in real time, and the data are sent to the main controller through a serial 485 interface; a main controller is arranged right above the battery box, two walking drivers are respectively arranged on the left side and the right side of the main controller, and the walking drivers are in cascade connection with the main controller through a CAN bus and are in communication with the main controller; a solid-state contactor, a power supply shunt and a label node are arranged in an area, close to the aerial plug, on the front side of the main controller; the system comprises a solid-state contactor, a power supply shunt, a label node, a main controller and a plurality of modules, wherein the solid-state contactor is used for charging control of a target platform, the power supply shunt is used for shunting the power supply of a battery to each module in the vehicle, and the label node is used for real-time positioning of the target platform and is communicated with the main controller through a USB interface; the rear side of the main controller is provided with a wireless network bridge in an area close to the front end face of the lower vehicle body, and the wireless network bridge is communicated with the main control center through a wireless network.
Preferably, the target scoring equipment is carried on the intelligent target moving platform, and corresponding target scoring equipment can be selected according to training requirements, so that the target lifting, the target swinging, the target side-turning and the target fixing are supported.
Preferably, the base station node and the tag node are composed of an MCU micro-control chip, an UWB wireless transceiver chip, an FLASH extended memory, a USB interface circuit, a PCB antenna, a clock chip and a power module, wherein the output end of the MCU micro-control chip is connected with the UWB wireless transceiver chip, the FLASH extended memory and the USB interface circuit, the output end of the UWB wireless transceiver chip is connected with the PCB antenna, the clock chip is connected with the MCU micro-control chip, and the power module is connected with the MCU micro-control chip, the UWB wireless transceiver chip and the clock chip.
The utility model has the beneficial effects that:
1. by adopting the scheme, the intelligent target system of the tactical anti-terrorism robot can realize instant positioning, autonomous navigation and obstacle avoidance, and has the advantages of simple structure, convenience in operation and convenience in maintenance;
2. by adopting the UWB ultra-bandwidth wireless communication technology, the communication speed and the communication reliability are very high, and the centimeter-level positioning accuracy can be achieved;
3. the target platform adopts a four-wheel eight-zone structure, reduces tire wear caused by the traditional four-wheel differential speed, is flexible in steering and good in trafficability in a narrow space;
4. the intelligent target system can realize path planning, autonomous navigation and obstacle avoidance, and is simple to operate and easy to maintain.
Drawings
FIG. 1 is a system layout diagram according to embodiment 1 of the present invention;
FIG. 2 is a side view of the intelligent target mobile platform of embodiment 1 of the present invention;
fig. 3 is a rear view of an intelligent target mobile platform according to embodiment 1 of the present invention;
fig. 4 is an internal view of the intelligent target mobile platform according to embodiment 1 of the present invention;
fig. 5 is a schematic diagram of structures of a base station node and a tag node in embodiment 1 of the present invention.
In the figure: 1-an intelligent target mobile platform; 2-target reporting equipment; 3-a base station node; 4-a master control center; 5-upper cover plate; 6, lower vehicle body; 7-a hinge; 8-an ultrasonic obstacle avoidance module; 9-a walking module; 10-a rubber wheel assembly; 11-a dc brushless motor; 12-a planetary reduction gearbox; 13-a handle; 14-power-on switch; 15-emergency stop switch; 16-aerial plug; 17-an antenna; 18-steering engine; 19-a battery box; 20-attitude sensing module; 21-a main controller; 22-a walking driver; 23-a solid state contactor; 24-a power shunt; 25-a label node; 26-wireless bridge.
Detailed Description
In order to further understand the objects, structures, features and functions of the present invention, the following embodiments are described in detail.
Referring to fig. 1, an intelligent target system of a tactical anti-terrorist robot includes an intelligent target mobile platform 1, a target scoring device 2, a base station node 3, and a main control center 4.
Referring to fig. 2, fig. 3 and fig. 4, the intelligent mobile target platform 1 includes an upper cover plate 5 and a lower vehicle body 6; the upper cover plate 5 is connected with the lower vehicle body 6 through a hinge 7, and different target scoring equipment can be carried on the upper cover plate 5 according to actual training requirements; the front end surface and the rear end surface of the lower vehicle body 6 are respectively provided with two ultrasonic obstacle avoidance modules 8, the ultrasonic modules 8 adopt a self-generating and self-receiving mode, the ultrasonic induction threshold value is adjustable, and the ultrasonic obstacle avoidance modules are connected with a main controller 21 through a wired serial communication interface; two walking modules 9 are arranged on the left side surface and the right side surface of the lower vehicle body 6; the walking module 9 mainly comprises a rubber wheel component 10, a direct current brushless motor 11 and a planetary reduction gearbox 12, wherein a high-resolution photoelectric encoder is integrated in the direct current brushless motor 11; the middle of the left side surface and the middle of the right side surface of the lower vehicle body are respectively provided with a handle 13 which is convenient for transportation and carrying, the upper electric switch 14 and the emergency stop switch 15 are vertically distributed on the center of the rear end surface, and two sides of the switches are respectively provided with a row of aviation plugs 16 and antennas 17. Steering engines 18 are respectively arranged at four opposite corners in the lower vehicle body 6, each walking module 9 CAN independently steer, and the steering engines 18 are in communication with a main controller 21 through CAN bus cascade connection; the bottom of the lower vehicle body 6 is provided with a battery box 19, an attitude sensing module 20 is arranged below the battery box, data are sent to a main controller 21 through a 485 interface, and the attitude sensing module 20 is used for sensing the pose of the intelligent mobile target platform 1 in real time; a main controller 21 is arranged right above the battery box 19, two walking drivers 22 are respectively arranged on the left side and the right side of the main controller, and the walking drivers 22 are in communication with the main controller 21 through CAN bus cascade; the area of the front side of the main controller 21 close to the aviation plug 16 is provided with a solid-state contactor 23, a power supply shunt 24 and a label node 25; the solid-state contactor is used for charging control of the target platform 1, the power supply shunt 24 is used for shunting the power supply of the battery to each module in the vehicle, and the label node 25 is used for real-time positioning of the target platform and is communicated with the main controller 21 through a USB interface; the rear side of the main controller 20 is provided with a wireless network bridge 26 near the front end surface area of the lower vehicle body 6, and the wireless network bridge communicates with the main control center 4 through a wireless network.
Referring to fig. 1, the target scoring device 2 is mounted on the intelligent target moving platform 1, and can select a corresponding target scoring device according to training requirements, so as to support target lifting and falling, target swinging, target side turning and target fixing.
Referring to fig. 5, the base station node 2 and the tag node 25 are composed of an MCU micro-control chip, an UWB wireless transceiver chip, a FLASH expansion memory, a USB interface circuit, a PCB antenna, a clock chip, and a power module, wherein an output end of the MCU micro-control chip is connected to the UWB wireless transceiver chip, the FLASH expansion memory, and the USB interface circuit, an output end of the UWB wireless transceiver chip is connected to the PCB antenna, the clock chip is connected to the MCU micro-control chip, and the power module is connected to the MCU micro-control chip, the UWB wireless transceiver chip, and the clock chip.
The present invention has been described in relation to the above embodiments, which are only exemplary of the implementation of the present invention. It should be noted that the disclosed embodiments do not limit the scope of the utility model. Rather, it is intended that all such modifications and variations be included within the spirit and scope of this invention.
Claims (4)
1. The utility model provides a tactics anti-terrorism robot intelligent target system which characterized in that: the system comprises an intelligent target mobile platform, target scoring equipment, a base station node and a master control center;
the intelligent target moving platform comprises an upper cover plate and a lower vehicle body, wherein the upper cover plate is connected with the lower vehicle body through a hinge, different target reporting devices can be carried on the upper cover plate according to actual training requirements, two ultrasonic obstacle avoidance modules are arranged on the front end surface and the rear end surface of the lower vehicle body, the ultrasonic obstacle avoidance modules adopt a self-sending and self-receiving mode, the ultrasonic induction threshold value is adjustable, and the ultrasonic obstacle avoidance modules are connected with a main controller through a wired serial communication interface; the left side and the right side of the lower vehicle body are respectively provided with two walking modules, each walking module mainly comprises a rubber wheel assembly, a direct current brushless motor and a planetary reduction gearbox, wherein the direct current brushless motor is internally integrated with a high-resolution photoelectric encoder; an upper switch and an emergency stop switch are distributed on the upper and lower parts of the right center of the rear end surface, and a row of aviation plugs and antennas are respectively arranged on two sides of the switches; four opposite corners in the lower vehicle body are respectively provided with steering engines, and the steering engines are in cascade connection with a main controller through a CAN bus and are communicated with the main controller; the bottom of the lower vehicle body is provided with a battery box, an attitude sensing module is arranged below the battery box, and the attitude sensing module sends data to the main controller through a serial 485 interface; a main controller is arranged right above the battery box, two walking drivers are respectively arranged on the left side and the right side of the main controller, and the walking drivers are communicated with the main controller through CAN bus cascade; a solid-state contactor, a power supply shunt and a label node are arranged in an area, close to the aerial plug, on the front side of the main controller; the system comprises a solid-state contactor, a power supply shunt, a label node, a main controller and a plurality of modules, wherein the solid-state contactor is used for charging control of a target platform, the power supply shunt is used for shunting the power supply of a battery to each module in the vehicle, and the label node is used for real-time positioning of the target platform and is communicated with the main controller through a USB interface; the rear side of the main controller is provided with a wireless network bridge in an area close to the front end face of the lower vehicle body, and the wireless network bridge is communicated with the main control center through a wireless network.
2. The tactical anti-terrorist robotic intelligent target system of claim 1, wherein: the target scoring equipment is carried on the intelligent target moving platform, and corresponding target scoring equipment can be selected according to training requirements, so that the target lifting, the target swinging, the target side turning or the target fixing are supported.
3. The tactical anti-terrorist robotic intelligent target system of claim 1, wherein: the base station node and the label node are composed of an MCU micro-control chip, a UWB wireless transceiver chip, a FLASH extended memory, a USB interface circuit, a PCB antenna, a clock chip and a power module, wherein the output end of the MCU micro-control chip is connected with the UWB wireless transceiver chip, the FLASH extended memory and the USB interface circuit, the output end of the UWB wireless transceiver chip is connected with the PCB antenna, the clock chip is connected with the MCU micro-control chip, and the power module is connected with the MCU micro-control chip, the UWB wireless transceiver chip and the clock chip.
4. The tactical anti-terrorist robotic intelligent target system of claim 1, wherein: the middle of the left side surface and the middle of the right side surface of the lower vehicle body are respectively provided with a handle.
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| CN202120363249.4U CN215749177U (en) | 2021-02-08 | 2021-02-08 | Intelligent target system of tactical anti-terrorism robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146647A (en) * | 2021-02-08 | 2021-07-23 | 南京润景丰创信息技术有限公司 | Tactical robot intelligent target system and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146647A (en) * | 2021-02-08 | 2021-07-23 | 南京润景丰创信息技术有限公司 | Tactical robot intelligent target system and control method thereof |
| CN113146647B (en) * | 2021-02-08 | 2024-06-14 | 南京润景丰创信息技术有限公司 | Tactical robot intelligent target system and control method thereof |
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