WO2017147782A1

WO2017147782A1 - Calibration method for armor sensing component of robot, apparatus, and system

Info

Publication number: WO2017147782A1
Application number: PCT/CN2016/075168
Authority: WO
Inventors: 贝世猛; 杨川
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-03-01
Filing date: 2016-03-01
Publication date: 2017-09-08
Also published as: CN107073726A; CN107073726B

Abstract

Provided is a calibration method for an armor sensing component of a robot, comprising: acquiring a detection value of an armor sensor (22) when armor of a robot is struck by a calibration bullet (101); acquiring a current standard damage value according to a correspondence relationship between a muzzle velocity of the calibration bullet and a preset standard damage value (102); and standardizing a relationship between the detection value and the damage value according to the current standard damage value and the detection value (103). According to the calibration method for an armor sensing component of a robot, a relationship between the detection value and the damage value of a sensor (22) is standardized, so that damage values of different robots are equivalent to a standard damage value when armor of the robots is struck by bullets fired at an identical velocity, thereby ensuring the fairness of competition.

Description

Calibration method, device and system for robotic armor sensing assembly

Technical field

The present invention relates to the field of robot technology, and in particular, to a method, device and system for calibrating an armored sensing component of a robot.

Background technique

With the rapid development of smart technology, a series of robot competitions have appeared in the world.

The robot competition is one of a series of robot competitions, which is the attack and defense competition of two or more robots on the specified venue. Each robot's armor is equipped with a sensor component of the robot damage value, which can sense the impact force generated by the ball hit by the enemy robot, and can convert the impact force into the corresponding damage value caused by the enemy robot. .

If the pinballs fired in the same speed and direction have different damage values for different robots, then the fairness of the game will be lost. Therefore, a calibration method and device for the robotic armor sensor assembly are needed, and the robot armor is used before the game. The sensing device is calibrated to ensure the fairness of the game.

Summary of the invention

In view of the above-mentioned deficiencies in the prior art, the present invention provides a calibration method, apparatus, and system for an armored sensing component of a robot for solving different damage values of different types of robots caused by the same speed and direction of the projectile in the prior art. Lose the issue of fairness in the game.

A first aspect of the present invention provides a method of calibrating a robotic armor sensing assembly, comprising:

Obtaining a detected value of the armored sensor when the armor of the detected robot is struck by the calibration bullet;

Obtain the current standard damage value according to the correspondence between the exit speed of the calibration bomb and the preset standard damage value;

And associating the detected value with the damage value according to the current standard damage value and the detected value.

A second aspect of the present invention provides a calibration system for a robotic armor sensing assembly, comprising: one or more processors, operating separately or in concert;

The processor is configured to acquire the detected value of the armored sensor when the armor of the detected robot is struck by the calibration bullet; and obtain the current standard damage value according to the correspondence between the exit speed of the calibration bomb and the preset standard damage value. And calibrating the relationship between the detected value and the damage value according to the current standard damage value and the detected value.

The calibration method and device for the armored sensing component of the robot of the present invention, by calibrating the correlation between the detected value of the sensor and the damage value, so that different robots are equal to the standard damage value when hitting the robot armor with the bullet of the same speed. In order to ensure the fairness of the game.

A third aspect of the present invention provides a calibration apparatus for a robotic armor sensing assembly, comprising: a transmitting assembly including: a transmitting cavity for accommodating a calibration bomb, a driving emitter for driving a calibration bomb emission, and Measuring device

Wherein, the measuring device is mounted on the transmitting end of the transmitting cavity for measuring the exiting speed of the calibration bomb, or for measuring the launching force for driving the calibration bomb.

The calibration system of the armor sensing assembly of the robot of the present invention, the calibration device comprises a measuring device for measuring the exit velocity of the calibration bomb or the driving force for driving the calibration bomb, and the measuring device can measure the measured exit velocity or the measured driving calibration bomb. The emitted emission force is sent to the processor, so that the processor acquires the current standard damage value according to the correspondence between the exit speed of the calibration bomb and the preset standard damage value. Moreover, by using the calibration device provided by the present invention, the workload can be reduced and the calibration efficiency can be improved.

DRAWINGS

1 is a schematic flow chart of a calibration method of an armored sensing component of a robot according to Embodiment 1 of the present invention;

2 is a schematic structural diagram of a calibration system for an armored sensing component of a robot according to Embodiment 3 of the present invention;

FIG. 3 to FIG. 6 are schematic structural diagrams of different angles of calibration of the armored sensing component of the robot provided by the present invention.

Reference mark:

21-processor; 22-sensor;

1-emitting assembly; 11-emissive cavity;

12-driven emitter; 13-measuring device;

131-measuring cavity; 121-friction wheel;

14-positioning member; 141-mounting frame;

142-positioning frame; 1421-positioning column;

14211-column body; 15-support frame;

151-supporting plate; 152-supporting seat;

1511-sliding track; 1512-slider;

1513-limit member; 1515-elastic buffer member;

153-pitch motor; 1514-card slot;

16-lifting member; 161-upper carrier plate;

162-support shaft; 1611-upper chute;

1621-main support shaft; 1622-auxiliary support shaft;

16221-fixing member; 163-lower carrying plate;

1631-down groove; 16211-main card joint;

17-horizontal axis motor; 16212-auxiliary card joint.

detailed description

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Embodiment 1

The embodiment provides a calibration method for the armored sensing component of the robot. FIG. 1 is a schematic flowchart of a method for calibrating the armored sensing component of the robot according to the first embodiment of the present invention. The method can be applied to a control chip, a processor, and the like. As shown in Figure 1, the method includes:

Step 101: Acquire a detected value of the armored sensor when the armor of the detected robot is hit by the calibration bullet.

Step 102: According to the correspondence between the exit speed of the calibration bomb and the preset standard damage value, Take the current standard damage value.

Step 103: Calibrate the relationship between the detected value and the damage value according to the current standard damage value and the detected value.

In order to avoid different robots in the process of confronting the game, when the armor of the robot is hit by the bullet with the same exit speed, the damage value of the armor detected by different robots is not equal, and the problem of fairness of the game is lost. The calibration method of the armor sensing component of the robot in this embodiment.

Specifically, the armor of the robot is provided with a sensor, and the sensor may be one or more. The sensor may be any one or more of a speed sensor, a pressure sensor, and an acceleration sensor.

The calibration bullets may be the same as or different from the bullets used in the actual game. Preferably, the calibration bullets are the same bullets used in the real game.

In addition, the sensor is disposed on the armor, and may be one or more.

Since the exit velocity of the calibration bomb is corresponding to the preset standard damage value, the exit velocity of the calibration bomb can be obtained, and the current calibration is obtained according to the correspondence between the exit velocity of the calibration bomb and the preset standard damage value. The standard damage value corresponding to the ejection speed of the bomb is the current standard damage value. Among them, the standard damage value increases as the exit velocity of the calibration bomb increases.

Further, the correlation between the detected value and the damage value is calibrated according to the detected value and the standard damage value, so that when the calibration bullet of the exit speed hits the armor, the obtained damage value is equal to the standard damage value.

It should be noted that, in the calibration method of the robot sensing component provided by the embodiment, since the relationship between the detected value and the standard damage value is finally corrected, even if the armor structure and the sensor of the robot of different participants are different. The damage value can also be calibrated to the standard damage value, that is, the calibration method provided by the embodiment can be applied to the armor surface and the sensor of any structure.

The calibration method of the robot sensing component provided by the embodiment is to calibrate the correlation between the detected value of the sensor and the damage value, so that different robots are equal to the standard damage value when hitting the robot armor with the same speed bullet. Can guarantee the fairness of the game.

Embodiment 2

Based on the first embodiment, the first embodiment further supplements the first embodiment.

Since the detected value of the sensor is related to the speed at which the calibration bomb strikes the armor, multiple schools are fired. The quasi-bomb, and the speed of the multiple calibration bombs are different, so that the correspondence between the exit velocity and the detection of the sensor can be more accurately obtained.

Specifically, the relationship between the calibration detection value and the damage value may be implemented as follows:

The first implementation manner is: acquiring a detection value, and determining an association model between the detection value and the damage value according to the number of the detection values.

The correlation coefficient of the association model is obtained according to the detected value and the current standard damage value, and the correlation between the detected value and the damage value is calibrated according to the correlation coefficient and the correlation model.

For example, if there are four detected values, that is, four calibration bombs with different speeds are transmitted, an association model having three correlation coefficients between the detected value and the damage value may be determined according to the four detected values, for example, for example, The correlation model may be H=aF ² +bF+c, where F is the detected value, H is the damage value, and a, b, and c are the correlation coefficients. The correlation coefficient a, b, and c can be solved by substituting the detection value corresponding to each emission velocity and the standard damage value corresponding to each emission velocity into the correlation model.

Of course, if the detection value is one, that is, only one calibration bomb is emitted for calibration, an association model with only one correlation coefficient may be established. For example, the correlation model may be H=eF, where e is the correlation coefficient.

Further, the correlation between the detected value and the damage value is calibrated according to the correlation model, so that when the calibration bullet of a certain exit velocity hits the armor, the obtained damage value is equal to the standard damage value.

Among them, in the first implementation manner, the correlation model is determined according to the number of calibration bombs. However, if the order of the detected values in the correlation model is high, it is easy to cause the measured values of the sensors measured by different robots to be similar, but the difference in the resulting damage values is large.

For the sensor implementation measured by the high-order correlation model in the first implementation, the measured values are not much different, but the difference in the resulting damage value is very large. Preferably, the relationship between the detected value and the damage value is a linear relationship, and the above problem can be avoided.

Therefore, another preferred implementation manner is: setting a linear correlation model in advance, and determining the correlation coefficient according to the preset linear correlation model, the detected value, and the standard damage value.

Further, the correlation between the detected value and the damage value is calibrated according to the correlation coefficient and the linear correlation model. For example, the linear correlation model can be preset to be H=cF+d, where F is the detected value, H is the damage value, and c and d are the correlation coefficients. The detection value corresponding to each exit velocity and the standard damage value corresponding to each exit velocity are substituted into the correlation model to obtain the correlation coefficient.

Wherein, if the number of detected values is greater than the number of correlation coefficients, multiple correlations can be found The number is averaged as the final correlation coefficient.

Further, according to the correlation model, that is, the relationship between the current standard damage value and the detected value, the correlation between the detected value and the damage value is calibrated, so that when the calibration bullet of a certain exit speed hits the armor, the damage is obtained. The value is equal to the standard damage value.

In addition, the detection value varies depending on the type of the sensor, and includes at least one of the following: the pressure value when the calibration bullet hits the armor surface, and the speed at which the calibration bullet strikes the armor surface.

For example, if the sensor is a speed sensor or an acceleration sensor, the detected value is the speed at which the calibration bullet hits the armor surface. If the sensor is a pressure sensor, the detected value is the pressure value of the calibration bomb hitting the armor surface.

It should be noted that, in this embodiment, only the method for giving the two association models and the relationship between the calibration detection value and the damage value is exemplarily provided, but is not limited thereto.

The calibration method of the robot sensing component provided by the embodiment can determine the correlation between the detected value and the damage value through multiple calibration bombs, thereby improving the accuracy of the relationship between the damage value and the detected value, and further ensuring the detection. The accuracy of the relationship between the value and the damage value.

Embodiment 3

The embodiment provides a calibration system for the armored sensing component of the robot. FIG. 2 is a schematic structural diagram of a calibration system for the armored sensing component of the robot according to the third embodiment of the present invention. As shown in FIG. 2, the calibration system includes: Including: one or more processors 21, working separately or in cooperation, the processor 21 is configured to acquire the detected value of the armored sensor when the armor of the detected robot is struck by the calibration bomb; according to the exit speed of the calibration bomb Correspond to the preset standard damage value, obtain the current standard damage value; calibrate the relationship between the detected value and the damage value according to the current standard damage value and the detected value.

Since the exit velocity of the calibration bomb has a corresponding relationship with the preset standard damage value, the processor 21 can acquire the exit velocity of the calibration bomb, and obtain the corresponding relationship between the exit velocity of the calibration bomb and the preset standard damage value. The standard damage value corresponding to the exit velocity of the current calibration bomb is the current standard damage value. Among them, the standard damage value increases as the exit velocity of the calibration bomb increases.

Further, the processor 21 calibrates the correlation between the detected value and the damage value according to the detected value and the standard damage value, so that when the calibration bullet of the exit speed hits the armor, the obtained damage value is equal to the standard damage value.

It should be noted that, in the calibration system of the robot sensing component provided by the embodiment, since the processor 11 finally corrects the correlation between the detected value and the standard damage value, even the armor structure and the sensor of the robot of different participating parties Differently, the damage value can also be calibrated to the standard damage value, that is, the calibration system provided by the embodiment can be applied to the armor surface and the sensor of any structure.

In the calibration system of the robot sensing component provided by the embodiment, the processor 21 calibrates the correlation between the detected value of the sensor and the damage value, so that different robots attack the robot armor with the same speed and the standard damage value. Equal, so as to ensure the fairness of the game.

Embodiment 4

Based on the third embodiment shown in FIG. 2 above, the third embodiment will be further supplemented.

Since the detection value of the sensor is related to the speed at which the calibration bullet strikes the armor, a plurality of calibration bombs are fired, and the exit speeds of the plurality of calibration bombs are different, so that the correspondence between the exit velocity and the detection of the sensor can be more accurately obtained.

Specifically, the processor 21 is configured to acquire the detected value of the armored sensor when the armor of the detected robot is hit by a plurality of calibration bullets having different exit speeds.

The processor 21 calibrates the relationship between the detected value and the damage value by using the following implementation manner:

The first implementation manner is: the processor 21 acquires the detection value, and determines an association model of the relationship between the detection value and the damage value according to the number of the detection values.

The processor 21 acquires the correlation coefficient of the association model according to the detected value and the current standard damage value, and calibrates the correlation between the detected value and the damage value according to the correlation coefficient and the correlation model.

For example, if there are four detected values, that is, four calibration bombs with different speeds are transmitted, the processor 21 can determine that the correlation between the detected value and the damage value is three correlation coefficients based on the four detected values. A model in which a plurality of association models are pre-stored in the processor 21, so that an adaptive association model can be selected according to the number of detected values. For example, the processor 21 may determine, according to the number of detected values, an association module having three correlation coefficients, where the association model may be H=aF ² +bF+c, where F is a detection value and H is a damage value, a. Both b and c are correlation coefficients. The correlation coefficient a, b, and c can be solved by substituting the detection value corresponding to each emission velocity and the standard damage value corresponding to each emission velocity into the correlation model.

Of course, if the detection value is one, that is, only one calibration bomb is emitted for calibration, Establish an association model with only one correlation coefficient. For example, the association model can be H=eF, where e is the correlation coefficient.

Further, the processor 21 calibrates the correlation between the detected value and the damage value according to the correlation model, so that when the calibration bullet of a certain exit velocity hits the armor, the obtained damage value is equal to the standard damage value.

In the first implementation manner, the processor 21 determines the association model according to the number of calibration bombs. However, if the order of the detected values in the determined correlation model is high, it is easy to cause the detected values of the sensors measured by different robots to be small, but the difference of the damage values output by the final processor 21 is large.

For the sensor implementation measured by the high-order correlation model in the first implementation, the measured values are not much different, but the difference in the resulting damage value is very large. Preferably, the relationship between the detected value of the processor and the damage value is a linear relationship, and the above problem can be avoided.

Therefore, another preferred implementation manner is that the linear correlation model is preset in the processor 21, and the correlation coefficient is determined according to the preset linear correlation model, the detected value, and the standard damage value.

Further, the processor 21 calibrates the correlation between the detected value and the damage value according to the correlation coefficient and the linear correlation model. For example, the processor 21 may preset the linear correlation model as H=cF+d, where F is the detected value, H is the damage value, and c and d are the correlation coefficients. The detection value corresponding to each exit velocity and the standard damage value corresponding to each exit velocity are substituted into the correlation model to obtain the correlation coefficient.

Wherein, if the number of detected values is greater than the number of correlation coefficients, the processor 21 may obtain an average of the obtained plurality of correlation coefficients as the final correlation coefficient.

Further, the processor 21 calibrates the correlation between the detected value and the damage value according to the correlation model, that is, the current standard damage value and the correlation between the detected values, so that when the calibration bullet of a certain exit speed hits the armor, The resulting damage value is equal to the standard damage value.

In addition, as shown in FIG. 2, the calibration system further includes a sensor 22 communicatively coupled to the processor 21 for detecting a detected value when the bullet hits the armor. Specifically, the sensor 22 may be any one or more of a speed sensor, a pressure sensor, and an acceleration sensor.

For example, if the sensor 22 is a speed sensor, the detected value is the speed at which the calibration bullet hits the armor surface, and if the sensor is a pressure sensor, the detected value is the pressure value at which the calibration bomb hits the armor surface.

In the calibration system of the robot sensing component provided by this embodiment, the processor 11 can pass multiple The calibration bomb determines the relationship between the detected value and the damage value, which can improve the accuracy of the relationship between the damage value and the detected value, and further ensure the accuracy of the relationship between the detected value and the damage value.

Embodiment 5

The embodiment provides a calibration device for the robotic armor sensing assembly, and the calibration device is configured to emit a calibration bomb to the armor of the detected robot when performing the calibration methods of the first embodiment and the second embodiment. FIG. 3 to FIG. 6 are schematic structural diagrams of different angles of calibration of the armored sensing component of the robot provided by the present invention. As shown in FIGS. 3 to 6, the calibration apparatus includes a transmitting assembly 1 including a transmitting cavity 11 for accommodating a calibration bomb, a driving emitter 12 for driving the calibration bomb emission, and a measuring device 13.

The specific driving form of the driving emitter 12 may be to provide a transmitting force by a spring, or to provide an emitting force by a driving motor, or to provide an emitting force by means of pneumatic driving, hydraulic driving or the like.

The measuring device 13 is mounted on the transmitting end of the transmitting cavity 11 for measuring the exit velocity of the calibration bomb.

Optionally, the measuring device 13 may include a measuring cavity having two ports and a phototube (not shown) disposed in the measuring cavity 131 at two ports of the measuring cavity and a timing module (not shown) Out), when the calibration bomb passes the first photocell, the photocell is blocked, and the trigger timer starts counting. When the calibration bomb passes the second photocell, the timing module is triggered to end. According to the timing result of the timing module and the length of the measuring cavity, the speed of the measuring bomb can be obtained.

The timing module can be independent of the processor, and the timing module is communicatively coupled to the processor. Of course, the timing module can also be a functional module in the processor.

Alternatively, the measuring device 13 is used to measure the emission force that drives the calibration bomb emission, and the measuring device 13 can be specifically selected according to the driving form of the driving emitter 12. For example, if the driving emitter 12 is driven by a spring, the measuring device 13 may be a dynamometer that measures the spring tension.

In addition, if the amount measured by the measuring device 13 is the emitting force, the measuring device 13 may be disposed at other positions, and is not limited to the transmitting end disposed at the transmitting cavity 11.

The measuring device 13 can send the measured exit velocity or the measured launching force of the driving calibration bomb to the processor, so that the processor acquires the current according to the correspondence between the exit velocity of the calibration bomb and the preset standard damage value. Standard damage value. The processor may adopt any of the processors provided in Embodiment 3 and Embodiment 4.

It should be noted that, if the measuring device 13 sends to the processor the driving force for driving the calibration bomb, the processor can obtain the exit velocity of the calibration bomb according to the quality of the calibration bomb and the distance between the transmitting component 1 and the detected robot.

Embodiments of the present invention provide a calibration device for an armored sensing component of a robot. In order to ensure that the same exit velocity has the same damage value for different robots, it is first necessary to measure the exit velocity of the calibration bomb, so the calibration device is The measuring device is installed on the transmitting end of the transmitting cavity, and is used for measuring the exiting speed of the calibration bomb or driving the launching force of the calibration bomb, and then performing subsequent calibration according to the correspondence between the exiting speed and the preset standard damage value. jobs.

Embodiment 6

As shown in FIG. 3 to FIG. 6, on the basis of the above-mentioned fifth embodiment, the driving and emitting member 12 includes two friction wheels 121 for driving the bullet emission, and the two friction wheels 121 are disposed in parallel at the exit end of the emission chamber 11 and Between the measuring devices 13, the gap between the two friction wheels 121 is aligned with the calibration ejection opening of the firing chamber 11.

Specifically, when the calibration bomb is launched, the calibration bomb falls into the gap between the two friction wheels 121 via the calibration bullet outlet of the firing chamber 11.

Further, the friction wheel 121 is connected to the driving member to obtain a driving force, and the two friction wheels 121 rotate, thereby extruding and emitting the calibration bomb between the two friction wheels.

The driving member for providing the driving force to the friction wheel 121 may be a spring or an elastic rubber band or the like.

Embodiment 6

On the basis of the above-mentioned fifth embodiment, as shown in FIG. 3 to FIG. 6, preferably, the driving and emitting member 12 further includes: a driving motor (not shown) connected to the friction wheel 121, and the driving motor drives two. The friction wheels 121 rotate in opposite directions to each other, and the calibration bombs located between the two friction wheels are extruded and emitted.

Among them, the mutual reverse rotation means that the directions of rotation of the two friction wheels 121 are different. Of course, the rotational speeds of the two friction wheels 121 need to be the same.

Specifically, the drive motor is fixed to the wheel center of the friction wheel 121 through the drive shaft. Optionally, each friction wheel 121 has its corresponding drive motor.

Preferably, a speed sensor for obtaining a driving speed of the driving motor is provided in the driving motor. The speed sensor can feed back the obtained speed of the driving motor to the processor, and the processor can further control the speed of the driving motor according to the speed of the driving motor.

Optionally, the speed sensor is a Hall sensor.

The calibration device for the robotic armor sensing assembly provided by the embodiment provides driving force for the calibration bomb by driving the two friction wheels 121 by using a driving motor, and further, the precision of the motor driving is high, and the speed sensor is disposed in the driving motor. The speed sensor can feed back the obtained speed of the driving motor to the processor, and the speed is convenient.

Example 7

On the basis of any of the foregoing embodiments 5 and 6, the calibration device of the robotic armor sensing assembly provided in this embodiment further includes: fixed connection with the transmitting component 1 and used for The positioning member 14 of the transmitting assembly 1 is positioned.

The positioning member 14 is specifically configured to position the transmitting assembly 1 before the transmitting assembly 1 emits the calibration bomb, so that the position between the transmitting assembly 1 and the armor of the detected robot is relatively fixed.

Optionally, the positioning member 14 includes: a mounting bracket 141 fixed to the transmitting assembly 1 and a positioning bracket 142 fixed to the mounting bracket 141. The positioning bracket 142 includes a plurality of positioning posts 1421 for perpendicular contact with the surface of the armor.

The mounting bracket 141 is used for mounting and fixing the entire positioning member 14. The specific structure of the mounting bracket 141 can be modified according to the structure of the transmitting assembly 1. The mounting bracket 141 is detachably fixed to the transmitting assembly 1.

Optionally, in order to facilitate maintenance, or to replace the positioning member 14 of different structures, the mounting bracket 141 can be detachably sleeved at the exit end of the transmitting cavity 11, for example, when the transmitting cavity 11 has a cylindrical structure, the mounting frame 141 and the emitting frame Between the cavities 11 may be provided with a mating thread structure to achieve detachability of the mounting bracket 141. Alternatively, the mounting bracket 141 and the transmitting cavity 11 are provided with screw holes, and the mounting bracket 141 and the transmitting cavity are fixed by bolts, thereby detaching the mounting bracket 141.

Of course, when the mounting bracket 141 and the transmitting assembly 1 are also bonded and fixed.

Additionally, the spacer 142 includes a plurality of locating posts 1421 for perpendicular contact with the surface of the armor. In use, the positioning post 1421 is in contact with the armor surface of the detected robot to effect fixation of the firing assembly 1. Further, the positioning post 1421 is disengaged from the armor surface, and the calibration bomb is fired toward the armor at this time.

Wherein, when the positioning post 1421 is disengaged from the armor surface, since the positioning post 1421 is fixedly connected to the emitting component, the positioning post can be separated from the armor surface by moving the transmitting component 1.

Alternatively, the positioning post 1421 is a telescopic structure. After the positioning is achieved, the positioning post 1421 is separated from the armor surface by shortening the length of the positioning post 1421.

In addition, the positioning post 1421 is a telescopic structure and can be adjusted by adjusting the length of different positioning posts 1421. Degree, to achieve the positioning of the irregular armor.

The embodiment further provides a specific structure of the positioning post. As shown in FIG. 3 to FIG. 6 , the positioning post 1421 includes a column body 14211 . One end of the column body 14211 is provided with a contact tube body 14212 for increasing the contact area.

The contact tube body 14212 is used for contacting the armor when the positioning post 1421 and the armor are positioned. The contact area of the contact tube body 14212 can increase the friction force and better achieve the positioning.

The column body 14211 and the contact tube body 14212 may be a hollow tubular structure or a solid tubular structure. Specifically, the shape of the column body 14211 and the contact tube body 14212 can be modified according to actual needs. For example, the column body 14211 can be a cylindrical type or a rectangular column. The surface of the contact tube body 14212 in contact with the armor can also be modified according to the shape of the armor, as long as the area of the surface contacting the tube body 14212 and the armor can be increased to increase the frictional force, and the positioning can be achieved.

In addition, the material of the column body 14211 may be the same as or different from the material of the contact tube body 14212. The material of the column body 14211 and the material of the contact tube body 14212 may be a metal material or a plastic material.

When the positioning post 1421 is a telescopic structure, the embodiment provides a specific embodiment. The positioning post 1421 includes a first tube body fixed to the mounting frame 141 and a second tube body sleeved outside the first tube body, wherein a first tube body and the second tube body are disposed between Cooperating threads such that the first tubular body is movable along the length of the second tubular body.

Specifically, the length of the positioning post 1421 can be retracted by screwing the first tube. Among them, a special case is that the first pipe body can be the contact pipe body 14212.

Embodiments of the present invention provide a calibration apparatus for an armored sensing assembly of a robot, wherein the calibration apparatus includes a positioning member 14 fixedly coupled to the transmitting assembly 1 for positioning the transmitting assembly 1, and the positioning frame 14 can be better The realization of the positioning between the armor surface of the detected robot, and thus the accuracy of the calibration method of the sensor assembly of the robot armor. In addition, the positioning member 14 can be fixed to the armor surface of different structures by specifically adopting a telescopic structure.

Example eight

On the basis of any of the foregoing embodiments 5 to 7 , as shown in FIG. 3 to FIG. 6 , the calibration device of the armored sensing component of the robot provided by the embodiment further includes: a support for supporting the transmitting component 1 . The frame 15 includes a support plate 151 and is fixed under the support plate. The support base 152, wherein the launching assembly 1 is mounted on the support plate 151.

Of course, the launching assembly 1 can also be mounted below the support plate 151, that is, suspended below the support plate 151.

The supporting plate 151 is provided with a sliding rail 1511. The sliding rail 1511 is provided with a sliding member 1512 slidable along the sliding rail 1511 and fixed to the transmitting assembly 1.

Since the slider 1512 can slide along the slide rail 1511 and is fixedly coupled to the launching assembly 1, the launching assembly 1 can be caused to slide on the slide rail 1511. By sliding the firing assembly 1, the distance between the transmitting assembly 1 and the armor of the detected robot can be adjusted.

In addition, when the launching assembly 1 fires a bullet, since a certain recoil force, that is, a recoil force of the bullet emission, if the transmitting assembly 1 is fixedly connected to the supporting plate 151, the connecting unit 1 and the supporting plate 151 are inevitably connected. damage. If the launching assembly 1 can slide through the sliding track 1511, it can act as a buffer when the calibration bomb is launched.

Specifically, if the sliding rail 1511 is a groove structure, the sliding member 1512 includes a convex structure that cooperates with the sliding rail 1511. Of course, the sliding rail 1511 may also be a convex structure, and the sliding member includes a groove structure that cooperates with the sliding rail 1511.

In addition, the number of the sliding rails 1511 may be one. In order to reduce the pressure of the single sliding rails 1511, the number of the sliding rails 1511 is preferably two, which can reduce the wear caused by excessive pressure, and can also ensure the transmitting assembly 1 Smoothness when sliding on the slide rail 1511.

The calibration device of the armor sensing assembly of the robot provided by the embodiment, wherein the sliding assembly 1511 is disposed on the supporting plate, and the transmitting assembly 1 is connected to the sliding rail 1511 through the sliding member 1512, so that the transmitting assembly 1 is adjusted by sliding the rail The displacement on the 1511 in turn adjusts the distance from the armor of the detected robot armor.

Example nine

On the basis of the eighth embodiment, as shown in FIG. 3 to FIG. 6 , the calibration device of the armor sensing component of the robot provided by the embodiment further includes: a limiting mechanism for defining the position of the sliding member 1512, and the limiting mechanism includes The limiting member 1513 and the elastic buffering member 1515 are connected to the sliding member 1512 via the elastic buffering member 1515. The limiting member 1513 is configured to be engaged with the supporting plate 151.

The limiting member 1513 can function as a fixing for the slider 1512, that is, it can function as a fixing for the transmitting assembly 1. For example, if the support plate 151 has an inclination angle with respect to the horizontal direction, the stopper 1513 can be used to prevent the emission assembly 1 from slipping out in the direction in which the inclination angle is inclined.

The specific locking position of the limiting member 1513 is not specifically limited. For example, the limiting member 1513 can be snapped to the end of the supporting plate 151 near the calibration ejection, or can be coupled to the end of the supporting plate 151 away from the calibration ejection. . Of course, the limiting member 1513 can also be snapped to other positions of the supporting plate 151.

Specifically, the shape of the limiting member 1513 can be changed according to the shape of the supporting plate 151. Alternatively, in an achievable manner, the limiting member 1513 is provided with a recessed portion, and the recessed portion and one end of the supporting plate 151 are disposed. Card access.

In addition, when the launching assembly 1 fires the calibration bomb, the elastic cushioning member 1515 can serve to cushion the recoil of the collimating bomb. The elastic cushioning member 1515 may specifically be a spring, a rubber or the like.

The calibration device of the armor sensing assembly of the robot provided by the embodiment further includes a limiting mechanism for defining the position of the sliding member 1512, so that the transmitting component 1 fixed to the sliding member 1512 can be fixed to prevent the transmitting component. 1 slides out along the sliding track 1511.

Example ten

In the calibration device of the armored sensing component of the robot provided in this embodiment, as shown in FIG. 3 to FIG. 6 , between the supporting plate 151 and the supporting base 152 , the embodiment of the eighth embodiment and the ninth embodiment of the present invention is provided. A pitch motor 153 is connected to one end of the pitch drive shaft by a pitch drive shaft. Among them, the pitch motor 153 is used to control the pitch angle of the support plate 151, thereby adjusting the emission angle of the transmitting assembly 1.

Optionally, on the basis of the foregoing embodiment 9, the supporting plate 151 is provided with a locking groove 1514 for engaging with the limiting member 1513. The engaging groove 1514 may be disposed at one end of the supporting plate 151 near the calibration ejection, or may be disposed at one end of the supporting plate 151 away from the calibration ejection.

By providing the snap groove 1514, it is possible to prevent the stopper 1513 from being ratched when it is engaged with the support plate 151.

In addition, an optional embodiment manner is that the snap groove 1514 is disposed at a position of the non-end portion of the support plate 151, for example, at a position intermediate the support plate 151, so that the plurality of directions can be The limiting member 1513 performs a limit.

In the calibration device of the armor sensing assembly of the robot provided in the embodiment, the support plate 151 and the support base 152 are fixed by the pitch transmission shaft, and one end of the pitch transmission shaft is connected with the pitch motor 153. Therefore, the support can be controlled by the pitch motor 153. The pitch angle of the flat plate 151, in turn, adjusts the launch angle of the launching assembly 1.

Embodiment 11

In the embodiment of the fifth embodiment to the tenth embodiment, as shown in FIG. 3 to FIG. 6 , the calibration device for the armored sensing component of the robot provided by the embodiment further includes: being installed under the transmitting component 1 a lifting member 16 for adjusting the height of the transmitting assembly.

Wherein, the lifting member 16 is detachably fixed to the transmitting assembly 1. Optionally, on the basis of the fifth embodiment, the lifting member 16 can be connected to the transmitting cavity 11. Of course, the driving device 12 or the measuring device 13 can also be connected. This embodiment only exemplarily shows an embodiment. .

Of course, the lifting member 16 can also be fixedly fixed to the support plate 151 or the support base 152. The specific mounting position of the specific lifting member 16 can be changed as needed.

The lifting member 16 can be a hydraulic lifting platform or a pneumatic lifting platform. As shown in Figure 3, one of the ways that can be achieved is:

The lifter 16 includes an upper carrier plate 161 for carrying the firing assembly 1 and two sets of oppositely disposed support shafts 162 disposed below the upper carrier plate 161. An upper sliding slot 1611 is disposed on opposite end faces of the upper carrying plate 161, and the two upper sliding slots 1611 are parallel to each other.

The support shaft 162 includes a main support shaft 1621 and an auxiliary support shaft 1622 that are rotatably connected at an intermediate portion. The fixed end of the main support shaft 1621 is rotatably coupled to the upper carrier plate 161, and the sliding end of the auxiliary support shaft 1622 is disposed through the upper portion. The sliding slot 1611 is slidable along the upper sliding slot 1611. The auxiliary latching portion 1612 is provided with a fixing member 16221 for fastening the sliding end.

The sliding end refers to an end that can slide along the upper sliding slot 1611. The fixed end refers to the end that is fixed to the upper carrier plate 161.

Specifically, the fixing member 16221 can be a snap structure. When the sliding end is fastened, the buckle structure clamps the sliding slot 1611 to achieve the fixing of the sliding end. Of course, other structures for fastening the sliding end can be realized. One achievable manner is that the auxiliary engaging portion 16212 and the fixing member 16221 are provided with a mating thread structure. The fixing of the sliding end is achieved by tightening the auxiliary engaging portion 16212 and the fixing member 16221.

In addition, on the basis of the above embodiment, as shown in FIG. 3 to FIG. 6 , the lifting member 16 may further include: a lower carrier plate 163 disposed in parallel with the upper carrier plate 161 and located under the two sets of support shafts 162. The plate 163 is provided with a sliding groove 1631 in a direction parallel to the extending direction of the upper chute 1611.

Since the transmitting assembly 1 has a certain weight, the weight of the upper and lower sides can be balanced by providing the lower carrying plate 163, thereby ensuring the balance of the calibration device.

The sliding end of the main support shaft 1621 is provided with a main engaging portion 16211 which can slide along the sliding groove 1631 through the sliding groove 1631. The fixed end of the auxiliary supporting shaft 1622 is rotatably connected with the lower carrying plate 163.

In addition, the rotatable connection may be any one of a hinged connection, a pivotal connection, etc., which are not enumerated here.

The calibration device of the armor sensing assembly of the robot provided by this embodiment can adjust the emission height of the transmitting component 1 by the lifting member 16.

Example thirteen

On the basis of any of the foregoing embodiments of the fifth embodiment to the twelfth embodiment, as shown in FIG. 3 to FIG. 6 , the calibration apparatus of the armored sensing component of the robot provided by the embodiment further includes: The horizontal axis motor 17 is rotated in the horizontal direction. Wherein, the horizontal axis motor can be connected to the transmitting assembly 1 to directly drive the transmitting assembly 1 to rotate in the horizontal direction.

It is of course also possible to connect with the support plate 151 to drive the support plate 151 to rotate to drive the rotation angle of the firing assembly 1 in the horizontal direction.

Alternatively, it is connected to the support base 152 to drive the support base 152 to rotate.

The mounting position of the specific horizontal axis motor can be variously selected as long as it is possible to adjust the rotation of the transmitting unit 1 in the horizontal direction.

The calibration device of the armor sensing assembly of the robot of the embodiment can adjust the rotation angle at which the launching assembly 1 emits the calibration bomb by installing the horizontal axis motor. Further, the position of the transmitting component 1 when the calibration bomb is fired can be adjusted by the cooperation with the lifting member 16 and the pitch motor 153, and the operation is simple and convenient.

In the several embodiments provided by the present invention, it should be understood that the related apparatus and method disclosed may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. You can choose some of them according to actual needs or All units are used to achieve the objectives of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation of the present invention and the contents of the drawings may be directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A method for calibrating a robotic armor sensing component, comprising:

Obtaining a detected value of the armored sensor when the armor of the detected robot is struck by the calibration bullet;

Obtain the current standard damage value according to the correspondence between the exit speed of the calibration bomb and the preset standard damage value;

And associating the detected value with the damage value according to the current standard damage value and the detected value.
The calibration method according to claim 1, wherein the number of the calibration bullets is plural and the exit speeds are different.
The calibration method according to claim 1, wherein said standard damage value increases as the exit velocity of said calibration bomb increases.
The calibration method according to any one of claims 1 to 3, characterized in that the relationship between the detected value and the damage value is a linear relationship.
The calibration method according to claim 1, wherein the detection value comprises at least one of: a pressure value when the calibration bullet hits the armor surface, and a speed at which the calibration bullet strikes the armor surface.
A calibration system for a robotic armor sensing assembly, comprising: one or more processors, operating separately or in concert;

The processor is configured to acquire the detected value of the armored sensor when the armor of the detected robot is struck by the calibration bullet; and obtain the current standard damage value according to the correspondence between the exit speed of the calibration bomb and the preset standard damage value. And calibrating the relationship between the detected value and the damage value according to the current standard damage value and the detected value.
The calibration system according to claim 6, wherein the processor is configured to acquire a detected value of the armored sensor when the armor of the detected robot is hit by a plurality of calibration bullets having different exit speeds.
The calibration system according to claim 6, wherein the processor is specifically configured to acquire a current standard damage value according to a corresponding relationship that a standard damage value increases as the exit velocity of the calibration bomb increases.
A calibration system according to claim 6 wherein said processor is A linear relationship between the detected value and the damage value is calibrated.
A calibration system according to any one of claims 6-9, further comprising: a sensor communicatively coupled to said processor, said sensor for detecting a detected value when the bullet hits the armor.
The calibration system according to claim 10, wherein said sensor comprises at least one of: a pressure sensor, an acceleration sensor, and a speed sensor.
A calibration device for a robotic armor sensing component, comprising: a transmitting component, the firing component comprising: a transmitting cavity for accommodating a calibration bomb, a driving emitting component for driving the calibration bomb emission, and a measuring device;

Wherein, the measuring device is mounted on the transmitting end of the transmitting cavity for measuring the exiting speed of the calibration bomb, or for measuring the launching force for driving the calibration bomb.
The calibration apparatus according to claim 12, wherein said driving emitter comprises: two friction wheels for driving bullet emission, said two friction wheels being disposed in parallel at an exit end of said firing chamber Between the measuring devices, the gap between the two friction wheels is aligned with the bullet outlet of the firing chamber.
The calibration apparatus according to claim 12, further comprising: a drive motor coupled to the shaft center of the friction wheel, the drive motor driving the two friction wheels to rotate in opposite directions to each other The calibration bomb between the friction wheels is extruded.
The calibration apparatus according to claim 14, wherein a speed sensor for obtaining a drive speed of the drive motor is provided in the drive motor.
A calibration apparatus according to any one of claims 12-15, further comprising: a positioning member fixedly coupled to the firing assembly for positioning the firing assembly.
The calibration apparatus according to claim 16, wherein said positioning member comprises: a mounting bracket fixed to said transmitting assembly and a positioning bracket fixed to said mounting bracket, said positioning bracket including for use with armor The surface is vertically contacted by a plurality of positioning posts.
The calibration apparatus according to claim 17, wherein said positioning post comprises a column body, and one end of said column body is provided with a contact tube for increasing a contact area.
The calibration device according to claim 17 or 18, wherein the positioning post is a telescopic structure.
The calibration apparatus according to claim 12, further comprising: for supporting a support frame of the launching assembly, the support frame includes: a support plate and a support base fixed under the support plate, wherein the launching assembly is mounted on the support plate.
The calibration apparatus according to claim 20, wherein the support plate is provided with a slide rail, and the slide rail is provided with a slide member slidable along the slide rail and fixed to the launching assembly .
The calibration apparatus according to claim 21, further comprising: a limiting mechanism for defining a position of said slider;

The limiting mechanism includes a limiting member and an elastic member, and the limiting member is connected to the sliding member through an elastic buffering member, and the limiting member is configured to be engaged with the supporting plate.
The calibration apparatus according to claim 22, wherein the support plate and the support base are fixed by a pitch transmission shaft, and one end of the pitch transmission shaft is connected to a pitch motor.
The calibration apparatus according to claim 22 or 23, wherein the support plate is provided with a snap groove for engaging with the stopper.
The calibration apparatus according to claim 12, further comprising: a lifter mounted below the launching assembly for adjusting the height of the launching assembly.
The calibration device according to claim 25, wherein the lifting member comprises: an upper carrier plate for carrying the emission assembly, and two sets of oppositely disposed support shafts disposed under the upper carrier plate;

An upper sliding slot is disposed on each of opposite end faces of the upper carrying plate, and the two upper sliding slots are parallel to each other;

The support shaft includes: a main support shaft and an auxiliary support shaft rotatably connected at an intermediate portion, the fixed end of the main support shaft is rotatably connected to the upper carrier plate, and the sliding end of the auxiliary support shaft is provided with a wearer The auxiliary sliding portion of the upper sliding slot is slidable along the upper sliding slot, and the auxiliary clamping portion is provided with a fixing member for fastening the sliding end.
The calibration apparatus according to claim 26, wherein the auxiliary engaging portion and the fixing member are provided with a mating screw structure.
The calibration apparatus according to claim 27, wherein said lifting member further comprises: a lower carrier plate disposed in parallel with said upper carrier plate and located below said two sets of support shafts, said lower carrier plate being Providing a sliding direction in a direction parallel to the extending direction of the upper chute;

a sliding end of the main support shaft is disposed to slide along the sliding groove through the sliding groove The main latching portion has a fixed end of the auxiliary support shaft rotatably coupled to the lower carrier plate.