WO2018218499A1 - 装甲板、装甲板上射击点的位置检测方法、装置及机器人 - Google Patents

装甲板、装甲板上射击点的位置检测方法、装置及机器人 Download PDF

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Publication number
WO2018218499A1
WO2018218499A1 PCT/CN2017/086591 CN2017086591W WO2018218499A1 WO 2018218499 A1 WO2018218499 A1 WO 2018218499A1 CN 2017086591 W CN2017086591 W CN 2017086591W WO 2018218499 A1 WO2018218499 A1 WO 2018218499A1
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WO
WIPO (PCT)
Prior art keywords
contact voltage
armor
information
screen
voltage
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Application number
PCT/CN2017/086591
Other languages
English (en)
French (fr)
Inventor
魏子涵
陈逸奇
侯奕鹏
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780022599.0A priority Critical patent/CN109069931A/zh
Priority to PCT/CN2017/086591 priority patent/WO2018218499A1/zh
Publication of WO2018218499A1 publication Critical patent/WO2018218499A1/zh
Priority to US16/692,877 priority patent/US20200101387A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H5/00—Armour; Armour plates
    • F41H5/02—Plate construction
    • F41H5/04—Plate construction composed of more than one layer
    • F41H5/0407—Transparent bullet-proof laminatesinformative reference: layered products essentially comprising glass in general B32B17/06, e.g. B32B17/10009; manufacture or composition of glass, e.g. joining glass to glass C03; permanent multiple-glazing windows, e.g. with spacing therebetween, E06B3/66
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • A63F13/212—Input arrangements for video game devices characterised by their sensors, purposes or types using sensors worn by the player, e.g. for measuring heart beat or leg activity
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • A63F13/213—Input arrangements for video game devices characterised by their sensors, purposes or types comprising photodetecting means, e.g. cameras, photodiodes or infrared cells
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/80—Special adaptations for executing a specific game genre or game mode
    • A63F13/837—Shooting of targets
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/90—Constructional details or arrangements of video game devices not provided for in groups A63F13/20 or A63F13/25, e.g. housing, wiring, connections or cabinets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H5/00—Armour; Armour plates
    • F41H5/007—Reactive armour; Dynamic armour
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
    • F41J5/00—Target indicating systems; Target-hit or score detecting systems
    • F41J5/04—Electric hit-indicating systems; Detecting hits by actuation of electric contacts or switches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/045—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using resistive elements, e.g. a single continuous surface or two parallel surfaces put in contact
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
    • A63F2300/8076—Shooting
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/041—Indexing scheme relating to G06F3/041 - G06F3/045
    • G06F2203/04107—Shielding in digitiser, i.e. guard or shielding arrangements, mostly for capacitive touchscreens, e.g. driven shields, driven grounds

Definitions

  • the invention relates to the field of robot technology, in particular to a method, a device and a robot for detecting a position of a shooting point on an armor plate and an armor plate.
  • the robot is provided with a screen, which can be used to receive bullets fired by other robots, and count the number of hits of the bullets to count the battle situation; wherein the screens on the existing robots are mostly The capacitive screen, however, not only prevents the robot from detecting the specific location of the bullet, but also increases the manufacturing cost of the robot and increases the weight of the robot.
  • the invention provides a position detecting method, a device and a robot for shooting points on an armor plate and an armor plate, which are used for overcoming the specific position in the prior art that makes the robot unable to detect the hit by the bullet, and also improves the robot.
  • the cost of production increases the weight of the robot.
  • a first aspect of the present invention is to provide an armor plate for mounting on a robot, comprising: an armor shell and a board body mounted on the armor shell, the board body including a display screen and a detecting shot point And a display screen disposed between the resistance screen and the armor shell for displaying a corresponding shooting point according to the detected shooting point position.
  • a second aspect of the present invention is to provide a position detecting method for a shooting point on an armor plate.
  • the illustrated deck includes a resistive screen, the method comprising:
  • the position information of the shooting point is determined according to the contact voltage and the resistance screen size information.
  • a third aspect of the present invention is to provide a position detecting device for a shooting point on an armor plate, the armor plate including a resistive screen, the device comprising:
  • Obtaining a module configured to acquire a contact voltage of a shooting point by using the resistance screen, and obtain resistance screen size information corresponding to the contact voltage
  • a processing module configured to determine location information of the shooting point according to the contact voltage and the resistance screen size information.
  • a fourth aspect of the invention is to provide a robot comprising the above-described armor plate.
  • a fifth aspect of the present invention is to provide a robot including an armor plate and the above position detecting device.
  • the invention provides a method, a device and a robot for detecting a position of a shooting point on an armor plate and an armor plate, by setting the armor plate to include a plate body, and the plate body comprises a display screen and a resistance screen for detecting a position of the shooting point, the resistor
  • the screen can not only detect the specific position of the shooting point, but also has the characteristics of waterproof, dustproof, can still work normally under harsh environment, strong stability, low cost and light weight, thus effectively reducing the production of armor plates. Cost and weight, when the armor plate is installed on the robot, it also effectively reduces the manufacturing cost and weight of the robot, improves the practicability of the armor plate, and is beneficial to the promotion and application of the market.
  • FIG. 1 is a schematic structural view of an armor plate according to an embodiment of the present invention.
  • FIG. 2 is a schematic flow chart of a method for detecting a position of a shooting point on an armor plate according to an embodiment of the present invention
  • FIG. 3 is a schematic flow chart of determining location information of the shooting point according to the contact voltage and resistance screen size information according to an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of determining position information of the shooting point according to the contact voltage and resistance screen size information according to another embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a position detecting device for a shooting point on an armor plate according to an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a robot according to an embodiment of the present invention.
  • 202 a resistance screen
  • 203 a light effect board
  • FIG. 1 is a schematic structural view of an armored deck according to an embodiment of the present invention; with reference to FIG. 1, the present embodiment provides an armor plate that can be used for mounting on a robot, including: an armored shell 1 and The board body 2 is mounted on the armor case 1.
  • the board body 2 includes a display screen 201 and a resistive screen 202 for detecting the position of the shooting point.
  • the display screen 201 is disposed between the resistive screen 202 and the armor shell 1.
  • the corresponding shooting point is displayed according to the detected shooting point position.
  • the armor plate can be mounted to the robot through the armor shell 1.
  • the specific installation method can be screwing or welding. In order to facilitate the replacement and maintenance of the armor plate, the preferred way is: the armor plate is screwed through the armor shell 1 On the robot, it is convenient to install and disassemble the armor plate from the robot.
  • a mounting slot 101 may be disposed on the armor shell 1, and the board body 2 may be installed in the above-mentioned mounting slot 101.
  • the specific shape of the mounting slot 101 may be combined with the board body.
  • the specific shape of 2 is identical. For example, when the plate body 2 has a rectangular structure, the shape of the mounting groove 101 is also a rectangular shape; when the plate body 2 has a square structure, the shape of the mounting groove 101 may also be a square shape.
  • the display 201 on the board 2 can be any of the following: LED array screen, cathode ray tube CRT screen 201, liquid crystal LCD screen 201, plasma display 201, organic electroluminescent diode OLED display Screen 201 and so on, because the LED dot matrix screen has high brightness, ultra-high density, superior antistatic performance, large viewing angle, high permeability, etc. Therefore, it is preferable to set the display 201 For the LED dot matrix screen.
  • the resistive screen 202 since the resistive screen 202 is in direct contact with the detecting bullet fired by the robot, in order to improve the safety and reliability of the use of the resistive screen 202, the outer side of the resistive screen 202 may be covered with a protective resistive screen 202.
  • the protective film may be a silicone film.
  • the protective film may be composed of an acrylic plate and a film covered on the acrylic plate, wherein the acrylic plate may also be replaced by other high-strength materials. Since the protective film is transparent, it can effectively ensure that the resistive screen 202 is not easily damaged, greatly increasing the durability of the resistive screen 202, and also does not affect the effect of detecting the bullet hitting the resistive screen 202. Effectively improve the stability and reliability of the armored deck.
  • the display 201 displays a shooting point corresponding to the detected shooting point position
  • the display screen 201 is electrically connected to the processor, and the processor at this time can For the CPU, MCU or processing circuit, the processor can receive the position of the shooting point detected by the resistance screen 202, and then send the detected shooting point position to the display 201. And the display screen 201 can display the corresponding shooting point according to the detected shooting point position, thereby realizing that the shooting point hitting effect is displayed at the corresponding position on the display screen 201, so that the user can directly position the shooting point.
  • the processor can also control the display effect of the display screen 201, such as overall color, brightness, and display manner. The display may be radiated in a radial manner centering on the position of the shooting point to simulate the light effect after the hit, or may be highlighted only at the position of the shooting point.
  • the armor plate provided in this embodiment is configured to include the board body 2, and the board body 2 includes a display screen 201 and a resistance screen 202 for detecting the position of the shooting point, and the resistance screen 202 can detect not only the shooting point.
  • the specific location is also waterproof, dustproof, still working properly in harsh environments, strong stability, low cost, light weight, etc., thus effectively reducing the manufacturing cost and weight of the armor plate, when the armor plate will be When installed on the robot, it also effectively reduces the manufacturing cost and weight of the robot, improves the practicability of the armor plate, and is beneficial to the promotion and application of the market.
  • the board body 2 may further include: the light board 203
  • the light effect board 203 is disposed between the display screen 201 and the resistance screen 202.
  • the light effect board 203 is generally used to optimize the light emitted by the display screen 201, for example, to homogenize and soften the light emitted by the display screen 201, so that the light emitted by the armor plate has better light effect and enhances the ornamental.
  • the light effect panel 203 can be made of a variety of transparent or translucent materials, such as a milky white acrylic sheet.
  • the light effect board 203 can be screwed or bonded to the armor shell 1 , and the resistive screen 202 can be pasted or screwed with the light board 203; and the board body 2 is installed.
  • the display screen 201 on the board body 2 can be screwed or bonded to the armor case 1.
  • the display screen 201 and the light effect board 203 can be directly connected to the armor shell 1 respectively, and since the armor shell 1 is used for mounting on the robot, the armor shell 1 vibrates with the movement of the robot, therefore,
  • the above screw connection may include a specific implementation manner such as a screw connection, a bolt connection, and a stud connection.
  • the light-effect board 203 can be disposed to be bonded to the resistive screen 202, so that the integrity of the resistive screen 202 can be ensured. It is also effective to prevent a gap from being formed between the resistive screen 202 and the light effect plate 203, thereby ensuring the display effect of detecting the position of the shooting point hit by the bullet.
  • the armor case 1 may be provided with a mounting slot 101 for mounting the board body 2, and the mounting slot 101 is mainly used for mounting the display screen 201, and therefore,
  • the specific shape structure of the mounting slot 101 is the same as the specific shape structure of the display screen 201; and the lighting effect board 203 is also directly connected to the armor housing 1, so that the size of the lighting effect board 203 is larger than the size of the display screen 201, further,
  • the mounting position of the light effect board 203 for connecting with the armor shell 1 is disposed at the edge of the light effect board 203, and the mounting position is also located at the edge of the whole display screen 201, so that the display screen 201 and the loading can be effectively ensured.
  • the stability between the carcass 1 and the connection between the lamp board 203 and the armor shell 1 is stable.
  • the board 2 By arranging the board 2 to further include a light effect board 203 disposed between the display screen 201 and the resistive screen 202, the visibility of the position of the shooting point on the armor plate is effectively improved, and some dynamic effects or others can be displayed.
  • the machine interaction interface is convenient for the user to intuitively understand the specific position of the shooting point, and also improves the accuracy and reliability of the shooting point position detection, and ensures the practicability of the armor plate.
  • FIG. 2 is a schematic flow chart of a method for detecting a position of a shooting point on an armor plate according to an embodiment of the present invention.
  • the present embodiment provides a method for detecting a position of a shooting point on an armor plate.
  • the method is for detecting a specific position of a detection bullet hitting an armor plate, wherein the armor plate comprises a resistance screen, and the method comprises:
  • S101 obtaining a contact voltage of a shooting point by using a resistance screen, and acquiring size information of the resistance screen corresponding to the contact voltage;
  • the shooting point is formed by detecting bullets, and the detecting bullets can be installed on other shooting robots.
  • the shooting robots can shoot each other out of the detection bullets, when detecting the bullets hitting the armor of other robots.
  • the resistance screen When the resistance screen is displayed, the shooting point will be displayed on the resistance screen.
  • the contact voltage of the shooting point can be obtained.
  • the contact voltage of the shooting point can be obtained by the voltage sensor or the voltage collecting circuit.
  • the size information of the resistance screen corresponding to the contact voltage can be obtained according to the contact voltage of the shooting point.
  • the contact voltage of the shooting point and the resistance screen are stored in advance.
  • the contact voltage of the shooting point can include: X-direction contact voltage and Y-direction contact voltage, for convenience of explanation, set the horizontal direction of the resistance screen to X direction, number The value direction is set to the Y direction.
  • the X-direction contact voltage is the horizontal contact voltage of the shooting point
  • the Y-direction contact voltage is the vertical contact voltage of the shooting point
  • the resistance screen size information may include: Height dimension information corresponding to the X-direction contact voltage and width dimension information corresponding to the Y-direction contact voltage.
  • S102 Determine position information of the shooting point according to the contact voltage and the resistance screen size information.
  • the contact voltage and the resistance screen size information can be analyzed and processed, and the position information of the shooting point can be determined according to the analysis processing result, and the specific analysis and processing method can be
  • the method includes: obtaining product information of contact voltage and resistance screen size information, determining a position information of a shooting point corresponding to the product information according to a product information by using a preset database, wherein the product information and the shooting point are stored in the database Corresponding relationship of the position information, so that the accuracy of the acquisition of the position information of the shooting point can be effectively ensured; of course, those skilled in the art can also analyze and process the contact voltage and the size information of the resistance screen by other means, as long as The position information of the shooting point can be accurately obtained, and will not be described here.
  • the position detecting method of the shooting point on the armor plate obtaineds the contact point voltage of the shooting point and the size information of the resistance screen corresponding to the contact voltage, and then determines the shooting point according to the contact voltage and the size information of the resistance screen.
  • the location information not only can accurately and effectively obtain the position information of the shooting point, but also has a simple implementation, convenient operation, fast detection speed and high precision detection, thereby improving the practicability of the position detection method and facilitating market promotion and application.
  • FIG. 3 is a schematic flow chart of determining position information of a shooting point according to contact voltage and resistance screen size information according to an embodiment of the present invention; on the basis of the foregoing embodiment, referring to FIG. 2-3, when the contact voltage is Including the X-direction contact voltage, and the resistance screen size information includes the height dimension information corresponding to the X-direction contact voltage, an achievable way for the acquisition of the shooting point position information is: according to the contact voltage and The resistance screen size information determines the location information of the shooting point, including:
  • S1021 Acquire a Y-direction driving voltage that is previously applied by the resistance screen in the Y direction;
  • the contact voltage includes the X-direction contact
  • the position information that can be acquired at this time is height dimension information corresponding to the X-direction contact voltage
  • the height dimension information is Y-direction length information.
  • Y-direction driving can be applied to the electrode at Y+.
  • the voltage V y-driver , Y- is grounded to the electrode, so that the Y-direction driving voltage applied in advance in the Y direction can be obtained.
  • S1022 Determine Y-axis coordinate information of the shooting point according to the Y-direction driving voltage, the X-direction contact voltage, and the height size information.
  • the Y-direction driving voltage, the X-direction contact voltage, and the height dimension information can be analyzed and processed, and specifically, the X+ direction can be measured as the leading end.
  • the X-direction contact voltage can be obtained.
  • the ratio of the X-direction contact voltage to the V y-driver voltage is equal to the ratio of the contact Y-direction coordinate to the height of the resistive screen;
  • the Y-direction coordinate information is proportional to the product of the height dimension information and the X-direction contact voltage, and the Y-direction coordinate information is inversely proportional to the Y-direction drive voltage.
  • the Y-direction coordinate information may be determined according to the following formula:
  • V x is the X-direction contact voltage
  • V y-drive is the Y-direction drive voltage
  • H is the height dimension information; it should be noted that the coefficient of the above formula is 1, in specific applications The coefficient can also be changed to other values according to specific application scenarios and considerations, for example, the coefficient can be 2, 2.5, 3 or 0.5, and so on.
  • the Y-direction coordinate information of the shooting point can be determined according to the Y-direction driving voltage, the X-direction contact voltage, and the height dimension information, thereby effectively ensuring the Y-direction.
  • the accuracy and reliability of the coordinate information acquisition further improves the accuracy and reliability of the detection method.
  • FIGS. 4 is a schematic flow chart of determining position information of a shooting point according to contact voltage and resistance screen size information according to another embodiment of the present invention; on the basis of the above embodiment, with reference to FIGS. 2 and 4, the contact is The voltage includes: Y-direction contact voltage, and the resistance screen size information includes: when the width dimension information corresponding to the Y-direction contact voltage is used, another achievable manner for obtaining the shooting point position information is: Contact voltage and resistance screen size information to determine the location of the shooting point information includes:
  • the resistive screen when the resistive screen is in use, the one side edge of the resistive screen parallel to the horizontal direction is taken as the X direction, and the side edge of the resistive screen perpendicular to the vertical direction is taken as the Y direction, when the contact voltage includes the Y-direction contact
  • the position information that can be acquired at this time is the width size information corresponding to the Y-direction contact voltage
  • the height dimension information is the X-direction length information.
  • the X-direction drive can be applied to the X+ electrode.
  • the voltage V x-driver , X- is grounded to the electrode, so that the X-direction driving voltage applied in advance to the X direction can be obtained.
  • S1024 Determine X-direction coordinate information of the shooting point according to the X-direction driving voltage, the Y-direction contact voltage, and the width size information.
  • the X-direction driving voltage, the Y-direction contact voltage, and the width dimension information can be analyzed and processed, and specifically, the Y+ direction can be measured as the leading end.
  • the Y-direction contact voltage can be obtained.
  • the ratio of the Y-direction contact voltage to the V x-driver voltage is equal to the ratio of the contact X-direction coordinate to the height of the resistive screen;
  • the X-direction coordinate information is proportional to the product of the Y-direction contact voltage and the width dimension information, and the X-direction coordinate information is inversely proportional to the X-direction drive voltage.
  • the X-direction coordinate information may be determined according to the following formula:
  • x is the X-direction coordinate information
  • V y is the Y-direction contact voltage
  • V x-drive is the X-direction drive voltage
  • W is the width dimension information
  • the X-direction coordinate information of the shooting point can be determined according to the X-direction driving voltage, the Y-direction contact voltage, and the width size information, thereby effectively ensuring the X-direction.
  • the accuracy and reliability of the coordinate information acquisition further improves the accuracy and reliability of the detection method.
  • FIG. 5 is a schematic structural diagram of a position detecting device for a shooting point on an armor plate according to an embodiment of the present invention. and as shown in FIG. 5, the embodiment provides a position detecting device for a shooting point on an armor plate, The detecting device is configured to detect a specific position of a shooting point hitting the armor plate, wherein the armor plate comprises a resistance screen, and the device comprises:
  • the obtaining module 10 is configured to obtain a contact voltage of a shooting point by using a resistance screen, and obtain resistance screen size information corresponding to the contact voltage; wherein the shooting point is formed by detecting a bullet strike.
  • the processing module 20 is configured to determine location information of the shooting point according to the contact voltage and the resistance screen size information.
  • the specific shape and structure of the acquisition module 10 and the processing module 20 are not limited, and the skill is The domain technician can be set according to specific design requirements.
  • the acquisition module 10 can be a voltage sensor or a voltage acquisition circuit, etc.
  • the processing module 20 can be a central processing unit CPU, a microprocessor MCU, or a processing circuit, etc.
  • the foregoing operation steps may be implemented, and are not described here.
  • the specific implementation process and implementation effect of the operation steps of the acquisition module 10 and the processing module 20 in the embodiment are different from the specific implementation processes of the steps S101-S102 in the foregoing embodiment.
  • the implementation effect is the same. For details, refer to the above statement, and details are not described herein again.
  • the position detecting device for the shooting point on the armor plate obtained by the embodiment obtains the contact voltage of the shooting point and the size information of the resistance screen corresponding to the contact voltage through the obtaining module 10, and then the processing module 20 according to the contact voltage and the resistance screen
  • the size information determines the position information of the shooting point, not only can accurately and effectively obtain the position information of the shooting point, and the implementation is simple, the operation is convenient, the detection speed is fast, and the detection precision draft is improved, thereby improving the practicability of the position detecting device. Conducive to the promotion and application of the market.
  • the processing module 20 is configured to: obtain a Y-direction driving voltage that is previously applied by the resistance screen in the Y direction; and according to the Y-direction driving voltage, the X-direction contact voltage, and the height.
  • the size information determines the Y coordinate information of the shooting point.
  • the Y-direction coordinate information is proportional to the product of the height dimension information and the X-direction contact voltage, and the Y-direction coordinate information is inversely proportional to the Y-direction drive voltage.
  • the processing module 20 is configured to: acquire an X-direction driving voltage that is pre-applied to the X-direction of the resistance screen; and according to the X-direction driving voltage, the Y-direction contact voltage, and The width size information determines the X-direction coordinate information of the shooting point.
  • the X-direction coordinate information is proportional to the product of the Y-direction contact voltage and the width dimension information, and the X-direction coordinate information is inversely proportional to the X-direction drive voltage.
  • Yet another aspect of this embodiment provides a robot comprising the armor panel of any of the above embodiments.
  • the robot provided in this embodiment is provided with the above-mentioned armor plate on the robot, and the armor plate may specifically include a plate body, and the plate body includes a display screen and a resistance screen for detecting the position of the shooting point, and the resistance screen can not only detect
  • the specific position of the shooting point is also waterproof, dustproof, can still work normally under harsh environment, strong stability, low cost, light weight, etc., thus effectively reducing the manufacturing cost and weight of the robot and improving
  • the practicality of the robot is conducive to the promotion and application of the market.
  • FIG. 6 is a schematic structural diagram of a robot according to an embodiment of the present invention.
  • a robot 100 which may include an armor plate 101 and any one of the above.
  • the position detecting device 102 in the embodiment, wherein the position detecting device 102 can be mounted on the armor plate 101.
  • the robot 100 provided in this embodiment is provided with a position detecting device 102 on the robot 100, and the position detecting device 102 can acquire the contact voltage of the shooting point and the size information of the resistive screen corresponding to the contact voltage, and then according to the contact
  • the voltage and resistance screen size information determines the position information of the shooting point, and the position information of the shooting point can be obtained accurately and efficiently, and the implementation manner is simple, the operation is convenient, the detection speed is fast, and the detection precision draft is improved, thereby improving the robot 100. Practicality is conducive to the promotion and application of the market.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • Another point that is shown or discussed between each other The coupling or direct coupling or communication connection 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 separate, 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. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • 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.
  • An integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, can be stored in a computer readable storage medium.
  • 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 101 to perform all or part of the steps of the 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.

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Abstract

一种装甲板、装甲板上射击点的位置检测方法、装置及机器人，装甲板用于安装于机器人上，包括：装甲壳（1）和安装于所述装甲壳（1）上的板体（2），所述板体（2）包括显示屏（201）和用于检测射击点位置的电阻屏（202），所述显示屏（201）设置于所述电阻屏（202）与所述装甲壳（1）之间，用于根据所检测到的射击点位置显示对应的射击点。该装甲板、装甲板上射击点的位置检测方法、装置及机器人，不仅可以检测出射击点的具体位置，还具有防水、防灰尘、在恶劣的环境下依旧可以正常工作、稳定性强等特点，从而有效地降低了装甲板的制作成本和重量，当将装甲板安装在机器人上时，还有效地降低了机器人的制作成本和重量，提高了该装甲板的实用性。

Description

装甲板、装甲板上射击点的位置检测方法、装置及机器人 技术领域
本发明涉及机器人技术领域，尤其涉及一种装甲板、装甲板上射击点的位置检测方法、装置及机器人。
背景技术
随着科学技术的飞速发展，机器人技术发展越来越成熟，并且机器人的种类也越来越多，例如：服务机器人、水下机器人、娱乐机器人、军用机器人、农业机器人等，为了促进机器人技术的不断发展，很多国家针对娱乐机器人均会组织一些竞赛，其中，较为常见的一种是射击机器人的对战竞赛。
在对战竞赛中，机器人上设置有屏幕，该屏幕可以用于接收其他机器人所射击出的子弹，通过统计子弹的打中的数量来统计对战情况；其中，现有的机器人上的屏幕大部分为电容屏，然而，这样不但使得机器人无法检测出子弹所击中的具体位置，并且还提高了机器人的制作成本，增大了机器人的重量。
发明内容
本发明提供了一种装甲板、装甲板上射击点的位置检测方法、装置及机器人，用于克服现有技术中存在的使得机器人无法检测出子弹所击中的具体位置，并且还提高了机器人的制作成本，增大了机器人的重量的问题。
本发明的第一方面是为了提供一种装甲板，用于安装于机器人上，包括：装甲壳和安装于所述装甲壳上的板体，所述板体包括显示屏和用于检测射击点位置的电阻屏，所述显示屏设置于所述电阻屏与所述装甲壳之间，用于根据所检测到的射击点位置显示对应的射击点。
本发明的第二方面是为了提供一种装甲板上射击点的位置检测方法，所 述装甲板包括电阻屏，所述方法包括：
利用所述电阻屏获取射击点的触点电压，并获取与所述触点电压相对应的电阻屏尺寸信息；
根据所述触点电压和电阻屏尺寸信息确定所述射击点的位置信息。
本发明的第三方面是为了提供一种装甲板上射击点的位置检测装置，所述装甲板包括电阻屏，所述装置包括：
获取模块，用于利用所述电阻屏获取射击点的触点电压，并获取与所述触点电压相对应的电阻屏尺寸信息；
处理模块，用于根据所述触点电压和电阻屏尺寸信息确定所述射击点的位置信息。
本发明的第四方面是为了提供一种机器人，包括上述的装甲板。
本发明的第五方面是为了提供一种机器人，包括装甲板和上述的位置检测装置。
本发明提供的装甲板、装甲板上射击点的位置检测方法、装置及机器人，通过将装甲板设置为包括板体，而板体包括显示屏和用于检测射击点位置的电阻屏，该电阻屏不仅可以检测出射击点的具体位置，还具有防水、防灰尘、在恶劣的环境下依旧可以正常工作、稳定性强、成本较低、重量轻等特点，从而有效地降低了装甲板的制作成本和重量，当将装甲板安装在机器人上时，还有效地降低了机器人的制作成本和重量，提高了该装甲板的实用性，有利于市场的推广与应用。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明一实施例提供的一种装甲板的结构示意图；
图2为本发明一实施例提供的一种装甲板上射击点的位置检测方法的流程示意图；
图3为本发明一实施例提供的根据所述触点电压和电阻屏尺寸信息确定所述射击点的位置信息的流程示意图；
图4为本发明另一实施例提供的根据所述触点电压和电阻屏尺寸信息确定所述射击点的位置信息的流程示意图；
图5为本发明一实施例提供的一种装甲板上射击点的位置检测装置的结构示意图；
图6为本发明一实施例提供的一种机器人的结构示意图。
图中：
1、装甲壳；        101、安装槽；
2、板体；          201、显示屏；
202、电阻屏；      203、灯效板；
10、获取模块；     20、处理模块；
100、机器人；      101、装甲板；
102、位置检测装置。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特性可以相互组合。
图1为本发明一实施例提供的一种装甲板的结构示意图；参考附图1可知，本实施例提供了一种装甲板，该装甲板可用于安装于机器人上，包括：装甲壳1和安装于装甲壳1上的板体2，板体2包括显示屏201和用于检测射击点位置的电阻屏202，显示屏201设置于电阻屏202与装甲壳1之间，该显示屏201用于根据所检测到的射击点位置显示对应的射击点。
其中，装甲板可以通过装甲壳1安装到机器人上，具体的安装方式可以为螺接或者焊接，为了方便对装甲板进行更换与维护，较为优选的方式为：装甲板通过装甲壳1螺接到机器人上，这样方便将装甲板从机器人上进行安装与拆卸。另外，为了便于将板体2安装在装甲壳1上，可以在装甲壳1上设置有一安装槽101，板体2可以安装在上述的安装槽101内，安装槽101的具体形状可以与板体2的具体形状相一致，例如，当板体2呈类似矩形结构时，安装槽101的形状也为矩形形状；当板体2呈方形结构时，安装槽101的形状也可以为方形形状。
此外，板体2上的显示屏201可以为以下任意一种：发光二极管LED点阵屏、阴极射线管CRT显示屏201、液晶LCD显示屏201、等离子显示屏201、有机电激发光二极管OLED显示屏201等等，由于LED点阵屏具有亮度高、可实现超高密度、抗静电性能优势超强、可视角度大、通透性高等特点，因此，较为优选的，可以将显示屏201设置为LED点阵屏。并且，在具体应用时，由于电阻屏202会与机器人所射击出的检测子弹直接接触，因此，为了提高电阻屏202使用的安全可靠性，电阻屏202外侧还可以覆盖有一用于保护电阻屏202的防护膜，需要说明的是，该防护膜可以为硅胶膜，进一步的，该防护膜可以由亚克力板以及覆盖在亚克力板上的薄膜构成，其中，亚克力板也可以由其他强度高的材料替换，由于该防护膜是透明的，因此，其不但可以有效地保证电阻屏202不易受到损害，大大地增加了电阻屏202的耐用强度，同时也不会影响检测子弹击中电阻屏202的效果，有效地提高了该装甲板使用的稳定可靠性。
另外，在显示屏201显示与所检测到的射击点位置相对应的射击点时，可以由处理器的控制来实现，具体的，该显示屏201电连接有处理器，此时的处理器可以为CPU、MCU或者处理电路，该处理器可以接收到电阻屏202所检测到的射击点位置，而后将所检测到的射击点位置发送至显示屏201， 并可以控制显示屏201根据所检测到的射击点位置显示出相应的射击点，从而实现了在显示屏201上对应的位置处显示出了射击点打击的效果，便于用户直接对射击点的位置进行观察。进一步的，所述处理器还可以控制显示屏201的显示效果，例如整体的色彩、亮度以及显示的方式。所述显示的方式可以是以射击点位置为中心呈辐射状发散以模拟击中后的灯光效果，也可以是仅仅在射击点位置处高亮显示。
本实施例提供的装甲板，通过将装甲板设置为包括板体2，而板体2包括显示屏201和用于检测射击点位置的电阻屏202，该电阻屏202不仅可以检测出射击点的具体位置，还具有防水、防灰尘、在恶劣的环境下依旧可以正常工作、稳定性强、成本较低、重量轻等特点，从而有效地降低了装甲板的制作成本和重量，当将装甲板安装在机器人上时，还有效地降低了机器人的制作成本和重量，提高了该装甲板的实用性，有利于市场的推广与应用。
在上述实施例的基础上，继续参考附图1所示，在对板体2进行设计时，为了进一步提高装甲板上射击点位置显示的明显程度，板体2还可以包括：灯效板203，灯效板203设置于显示屏201与电阻屏202之间。灯效板203一般用于优化显示屏201发出的光线，例如，将显示屏201发出的亮光均匀化、柔和化，从而使装甲板发出的光线的光效较好，增强观赏性。灯效板203可采用多种透明或半透明的材料制成，例如，乳白色的亚克力板。
具体的，在对板体2进行安装设计时，灯效板203可以与装甲壳1螺接或者粘接，电阻屏202可以与灯效板203相粘贴或者螺接；而在将板体2安装在装甲壳1上时，板体2上的显示屏201可以与装甲壳1螺接或者粘接。需要注意的是，显示屏201和灯效板203可以分别直接与装甲壳1相连接，而由于装甲壳1用于安装到机器人上，装甲壳1会随着机器人的运动而产生振动，因此，为了保证显示屏201、灯效板203与装甲壳1之间连接的稳定可靠性，较为优选的，将灯效板203螺接在装甲壳1上，显示屏201螺接在装甲壳1上，上述的螺接可以包括：螺钉连接、螺栓连接、螺柱连接等具体实现方式。而对于电阻屏202与灯效板203之间的连接方式而言，为了减少装甲板的重量，可以将灯效板203设置为与电阻屏202相粘结，这样不但可以保证电阻屏202的完整性，并且还可以有效地防止电阻屏202与灯效板203之间产生间隙，从而保证了检测子弹所击中的射击点位置的显示效果。
需要注意的是，当将板体2安装在装甲壳1上时，装甲壳1上可以设置用于安装板体2的安装槽101，该安装槽101主要用于安装显示屏201，因此，该安装槽101的具体形状结构与显示屏201的具体形状结构相同；而灯效板203也直接与装甲壳1相连接，因此，灯效板203的尺寸会大于显示屏201的尺寸，进一步的，灯效板203上用于与装甲壳1相连接的安装位置设置于灯效板203的边缘处，并且该安装位置也位于显示屏201整体的边缘处，这样可以有效地保证显示屏201与装甲壳1之间、灯效板203与装甲壳1之间连接的稳定可靠性。
通过将板体2设置为还包括设置于显示屏201与电阻屏202之间的灯效板203，有效地提高了装甲板上射击点位置显示的明显程度，并且可以显示一些动态效果或者其他人机交互界面，便于用户直观地了解到射击点的具体位置，并且也提高了射击点位置检测的准确可靠性，保证了该装甲板的实用性。
图2为本发明一实施例提供的一种装甲板上射击点的位置检测方法的流程示意图，参考附图2可知，本实施例提供了一种装甲板上射击点的位置检测方法，该检测方法用于对检测子弹打击到装甲板上的具体位置进行检测，其中，装甲板包括电阻屏，该方法包括：
S101：利用电阻屏获取射击点的触点电压，并获取与触点电压相对应的电阻屏尺寸信息；
其中，射击点是由检测子弹打击所形成，该检测子弹可以安装在其他射击机器人上，在对战竞赛中，射击机器人之间可以互相射击出检测子弹，当检测子弹打中其他机器人的装甲板上的电阻屏时，电阻屏上会显示出射击点，此时，可以获取该射击点的触点电压，具体的，可以通过电压传感器或者电压采集电路获取射击点的触点电压。在获取到射击点的触点电压之后，可以根据该射击点的触点电压获取到与该触点电压相对应的电阻屏尺寸信息，具体的，预先存储有射击点的触点电压与电阻屏尺寸信息的对应关系，因此，在获取到触点电压之后，可以查询上述的对应关系确定与该触点电压相对应的电阻屏尺寸信息；需要说明的是，射击点的触点电压可以包括：X向触点电压和Y向触点电压，为了便于说明，将电阻屏的水平方向设置为X向，数 值方向设置为Y向，此时，X向触点电压即为射击点的水平方向触点电压，Y向触点电压即为射击点的竖直方向触点电压；电阻屏尺寸信息可以包括：与X向触点电压相对应的高度尺寸信息、与Y向触点电压相对应的宽度尺寸信息。
S102：根据触点电压和电阻屏尺寸信息确定射击点的位置信息。
在获取到触点电压和相对应的电阻屏尺寸信息之后，可以对该触点电压和电阻屏尺寸信息进行分析处理，并可以根据分析处理结果确定射击点的位置信息，具体的分析处理方法可以包括：获取触点电压与电阻屏尺寸信息的乘积信息，利用预先设置的数据库、并根据乘积信息确定与该乘积信息相对应的射击点的位置信息，其中，数据库中存储有乘积信息与射击点的位置信息的对应关系，从而可以有效地保证射击点位置信息获取的准确可靠性；当然的，本领域技术人员还可以采用其他的方式来对触点电压和电阻屏尺寸信息进行分析处理，只要能够准确获取到射击点的位置信息即可，在此不再赘述。
本实施例提供的装甲板上射击点的位置检测方法，通过获取射击点的触点电压以及与触点电压相对应的电阻屏尺寸信息，进而根据触点电压和电阻屏尺寸信息确定射击点的位置信息，不仅可以准确、有效地获取到射击点的位置信息，并且实现方式简单、便于操作、检测速度快、检测精度稿，从而提高了该位置检测方法的实用性，有利于市场的推广与应用。
图3为本发明一实施例提供的根据触点电压和电阻屏尺寸信息确定射击点的位置信息的流程示意图；在上述实施例的基础上，继续参考附图2-3可知，当触点电压包括X向触点电压，电阻屏尺寸信息包括与X向触点电压相对应的高度尺寸信息时，对于射击点位置信息的获取方式而言，一种可实现的方式为：根据触点电压和电阻屏尺寸信息确定射击点的位置信息包括：
S1021：获取电阻屏在Y向上预先施加的Y向驱动电压；
其中，在电阻屏处于使用状态时，将电阻屏平行于水平方向的一侧边缘作为X向，将电阻屏垂直于竖直方向的一侧边缘作为Y向，当触点电压包括X向触点电压时，此时所能够获取的位置信息即为与X向触点电压相对应的高度尺寸信息，该高度尺寸信息即为Y向长度信息，此时，可以在Y+向电极处施加Y向驱动电压Vy-driver，Y-向电极接地，从而可以获取到Y向上预先 施加的Y向驱动电压。
S1022：根据Y向驱动电压、X向触点电压以及高度尺寸信息确定射击点的Y向坐标信息。
在获取到Y向驱动电压、X向触点电压以及高度尺寸信息之后，可以对Y向驱动电压、X向触点电压以及高度尺寸信息进行分析处理，具体的，可以在X+向作为引出端测量，可以获取到X向接触电压，由于电阻屏中的ITO层均匀导电，X向触点电压与Vy-driver电压之比等于触点Y向坐标与电阻屏的高度之比；从而可以获得：Y向坐标信息与高度尺寸信息和X向触点电压的乘积呈正比，Y向坐标信息与Y向驱动电压呈反比。
具体的，在获取到Y向驱动电压、X向触点电压以及高度尺寸信息之后，可以根据以下公式确定Y向坐标信息：
Figure PCTCN2017086591-appb-000001
其中，y为Y向坐标信息，Vx为X向触点电压，Vy-drive为Y向驱动电压，H为高度尺寸信息；需要注意的是，上述公式的系数为1，在具体应用时，其系数还可以根据具体的应用场景、考虑因素而变为其他数值，例如：其系数可以为2、2.5、3或者0.5等等。
在获取到Y向驱动电压、X向触点电压以及高度尺寸信息之后，可以根据Y向驱动电压、X向触点电压以及高度尺寸信息确定射击点的Y向坐标信息，有效地保证了Y向坐标信息获取的准确可靠性，进一步提高了该检测方法的精确可靠性。
图4为本发明另一实施例提供的根据触点电压和电阻屏尺寸信息确定射击点的位置信息的流程示意图；在上述实施例的基础上，继续参考附图2、4可知，在触点电压包括：Y向触点电压，电阻屏尺寸信息包括：与Y向触点电压相对应的宽度尺寸信息时，对于射击点位置信息的获取方式而言，另一种可实现的方式为：根据触点电压和电阻屏尺寸信息确定射击点的位置信息包括：
S1023：获取电阻屏在X向上预先施加的X向驱动电压；
其中，在电阻屏处于使用状态时，将电阻屏平行于水平方向的一侧边缘作为X向，将电阻屏垂直于竖直方向的一侧边缘作为Y向，当触点电压包括Y向触点电压时，此时所能够获取的位置信息即为与Y向触点电压相对应的宽度尺寸信息，该高度尺寸信息即为X向长度信息，此时，可以在X+向电 极处施加X向驱动电压Vx-driver，X-向电极接地，从而可以获取到X向上预先施加的X向驱动电压。
S1024：根据X向驱动电压、Y向触点电压以及宽度尺寸信息确定射击点的X向坐标信息。
在获取到X向驱动电压、Y向触点电压以及宽度尺寸信息之后，可以对X向驱动电压、Y向触点电压以及宽度尺寸信息进行分析处理，具体的，可以在Y+向作为引出端测量，可以获取到Y向接触电压，由于电阻屏中的ITO层均匀导电，Y向触点电压与Vx-driver电压之比等于触点X向坐标与电阻屏的高度之比；从而可以获得：X向坐标信息与Y向触点电压和宽度尺寸信息的乘积呈正比，X向坐标信息与X向驱动电压呈反比。
具体的，在获取到X向驱动电压、Y向触点电压以及宽度尺寸信息之后，可以根据以下公式确定X向坐标信息：
Figure PCTCN2017086591-appb-000002
其中，x为X向坐标信息，Vy为Y向触点电压，Vx-drive为X向驱动电压，W为宽度尺寸信息；需要注意的是，上述公式的系数为1，在具体应用时，其系数还可以根据具体的应用场景、考虑因素而变为其他数值，例如：其系数可以为1.5、4、4.5或者0.5等等。
在获取到X向驱动电压、Y向触点电压以及宽度尺寸信息之后，可以根据X向驱动电压、Y向触点电压以及宽度尺寸信息确定射击点的X向坐标信息，有效地保证了X向坐标信息获取的准确可靠性，进一步提高了该检测方法的精确可靠性。
图5为本发明一实施例提供的一种装甲板上射击点的位置检测装置的结构示意图；参考附图5所示，本实施例提供了一种装甲板上射击点的位置检测装置，该检测装置用于对打击到装甲板上的射击点的具体位置进行检测，其中，装甲板包括电阻屏，该装置包括：
获取模块10，用于利用电阻屏获取射击点的触点电压，并获取与触点电压相对应的电阻屏尺寸信息；其中，射击点是由检测子弹打击形成。
处理模块20，用于根据触点电压和电阻屏尺寸信息确定射击点的位置信息。
其中，对于获取模块10和处理模块20的具体形状结构不做限定，本领 域技术人员可以根据具体的设计需求进行设置，例如：获取模块10可以为电压传感器或者电压采集电路等，处理模块20可以为中央处理器CPU、微处理器MCU或者是处理电路等等；只要能够实现上述操作步骤即可，在此不再赘述，另外，本实施例中获取模块10和处理模块20所实现操作步骤的具体实现过程以及实现效果与上述实施例中步骤S101-S102的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
本实施例提供的装甲板上射击点的位置检测装置，通过获取模块10获取射击点的触点电压以及与触点电压相对应的电阻屏尺寸信息，进而处理模块20根据触点电压和电阻屏尺寸信息确定射击点的位置信息，不仅可以准确、有效地获取到射击点的位置信息，并且实现方式简单、便于操作、检测速度快、检测精度稿，从而提高了该位置检测装置的实用性，有利于市场的推广与应用。
在上述实施例的基础上，继续参考附图5所示，在触点电压包括：X向触点电压，电阻屏尺寸信息包括：与X向触点电压相对应的高度尺寸信息时，对于射击点位置信息的获取方式而言，一种可实现的方式为：处理模块20用于：获取电阻屏在Y向上预先施加的Y向驱动电压；根据Y向驱动电压、X向触点电压以及高度尺寸信息确定射击点的Y向坐标信息。
其中，Y向坐标信息与高度尺寸信息和X向触点电压的乘积呈正比，Y向坐标信息与Y向驱动电压呈反比。
本实施例中处理模块20所实现操作步骤的具体实现过程以及实现效果与上述实施例中步骤S1021-S1022的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
在上述实施例的基础上，继续参考附图5所示，在触点电压包括：Y向触点电压，电阻屏尺寸信息包括：与Y向触点电压相对应的宽度尺寸信息时，对于射击点位置信息的获取方式而言，另一种可实现的方式为：处理模块20用于：获取电阻屏在X向上预先施加的X向驱动电压；根据X向驱动电压、Y向触点电压以及宽度尺寸信息确定射击点的X向坐标信息。
其中，X向坐标信息与Y向触点电压和宽度尺寸信息的乘积呈正比，X向坐标信息与X向驱动电压呈反比。
本实施例中处理模块20所实现操作步骤的具体实现过程以及实现效果 与上述实施例中步骤S1023-S1024的具体实现过程以及实现效果相同，具体可参考上述陈述内容，在此不再赘述。
本实施例的又一方面提供了一种机器人，该机器人上包括上述任意一个实施例中的装甲板。
本实施例提供的机器人，通过在机器人上设置有上述的装甲板，而装甲板具体可以包括板体，而板体包括显示屏和用于检测射击点位置的电阻屏，该电阻屏不仅可以检测出射击点的具体位置，还具有防水、防灰尘、在恶劣的环境下依旧可以正常工作、稳定性强、成本较低、重量轻等特点，从而有效地降低了机器人的制作成本和重量，提高了该机器人的实用性，有利于市场的推广与应用。
图6为本发明一实施例提供的一种机器人的结构示意图，参考附图6所示，本实施例的另一方面提供了一种机器人100，该机器人100可以包括装甲板101和上述任意一个实施例中的位置检测装置102，其中，位置检测装置102可以安装在装甲板101上。
本实施例提供的机器人100，通过在机器人100上设置有位置检测装置102，该位置检测装置102可以获取射击点的触点电压以及与触点电压相对应的电阻屏尺寸信息，进而根据触点电压和电阻屏尺寸信息确定射击点的位置信息，不仅可以准确、有效地获取到射击点的位置信息，并且实现方式简单、便于操作、检测速度快、检测精度稿，从而提高了该机器人100的实用性，有利于市场的推广与应用。
以上各个实施例中的技术方案、技术特性在与本相冲突的情况下均可以单独，或者进行组合，只要未超出本领域技术人员的认知范围，均属于本申请保护范围内的等同实施例。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特性可以忽略，或不执行。另一点，所显示或讨论的相互之间 的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器101(processor)执行本发明各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。
以上仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特性进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (21)

  1. 一种装甲板，其特征在于，用于安装于机器人上，包括：装甲壳和安装于所述装甲壳上的板体，所述板体包括显示屏和用于检测射击点位置的电阻屏，所述显示屏设置于所述电阻屏与所述装甲壳之间，用于根据所检测到的射击点位置显示对应的射击点。
  2. 根据权利要求1所述的装甲板，其特性在于，所述板体还包括：灯效板，所述灯效板设置于所述显示屏与电阻屏之间。
  3. 根据权利要求2所述的装甲板，其特性在于，所述灯效板与所述装甲壳螺接。
  4. 根据权利要求2所述的装甲板，其特性在于，所述电阻屏与所述灯效板相粘贴。
  5. 根据权利要求1-4中任意一项所述的装甲板，其特性在于，所述显示屏与所述装甲壳螺接。
  6. 根据权利要求1-4中任意一项所述的装甲板，其特性在于，所述显示屏包括以下至少之一：
    发光二极管LED点阵屏、阴极射线管CRT显示屏、液晶LCD显示屏、等离子显示屏、有机电激发光二极管OLED显示屏。
  7. 根据权利要求1-4中任意一项所述的装甲板，其特性在于，所述电阻屏外侧还覆盖有一用于保护所述电阻屏的防护膜。
  8. 一种装甲板上射击点的位置检测方法，其特征在于，所述装甲板包括电阻屏，所述方法包括：
    利用所述电阻屏获取射击点的触点电压，并获取与所述触点电压相对应的电阻屏尺寸信息；
    根据所述触点电压和电阻屏尺寸信息确定所述射击点的位置信息。
  9. 根据权利要求8所述的方法，其特性在于，所述触点电压包括：X向触点电压，所述电阻屏尺寸信息包括：与所述X向触点电压相对应的高度尺寸信息；
    根据所述触点电压和电阻屏尺寸信息确定所述射击点的位置信息，包括：
    获取所述电阻屏在Y向上预先施加的Y向驱动电压；
    根据所述Y向驱动电压、X向触点电压以及高度尺寸信息确定所述射击点的Y向坐标信息。
  10. 根据权利要求9所述的方法，其特性在于，所述Y向坐标信息与所述高度尺寸信息和X向触点电压的乘积呈正比，所述Y向坐标信息与所述Y向驱动电压呈反比。
  11. 根据权利要求8所述的方法，其特性在于，所述触点电压包括：Y向触点电压，所述电阻屏尺寸信息包括：与所述Y向触点电压相对应的宽度尺寸信息；
    根据所述触点电压和电阻屏尺寸信息确定所述射击点的位置信息，包括：
    获取所述电阻屏在X向上预先施加的X向驱动电压；
    根据所述X向驱动电压、Y向触点电压以及宽度尺寸信息确定所述射击点的X向坐标信息。
  12. 根据权利要求11所述的方法，其特性在于，所述X向坐标信息与所述Y向触点电压和宽度尺寸信息的乘积呈正比，所述X向坐标信息与所述X向驱动电压呈反比。
  13. 根据权利要求8-12中任意一项所述的方法，其特性在于，所述射击点是由检测子弹打击形成。
  14. 一种装甲板上射击点的位置检测装置，其特征在于，所述装甲板包括电阻屏，所述装置包括：
    获取模块，用于利用所述电阻屏获取射击点的触点电压，并获取与所述触点电压相对应的电阻屏尺寸信息；
    处理模块，用于根据所述触点电压和电阻屏尺寸信息确定所述射击点的位置信息。
  15. 根据权利要求14所述的装置，其特性在于，所述触点电压包括：X向触点电压，所述电阻屏尺寸信息包括：与所述X向触点电压相对应的高度尺寸信息；所述处理模块，用于：
    获取所述电阻屏在Y向上预先施加的Y向驱动电压；
    根据所述Y向驱动电压、X向触点电压以及高度尺寸信息确定所述射击 点的Y向坐标信息。
  16. 根据权利要求15所述的装置，其特性在于，所述Y向坐标信息与所述高度尺寸信息和X向触点电压的乘积呈正比，所述Y向坐标信息与所述Y向驱动电压呈反比。
  17. 根据权利要求14所述的装置，其特性在于，所述触点电压包括：Y向触点电压，所述电阻屏尺寸信息包括：与所述Y向触点电压相对应的宽度尺寸信息；所述处理模块，用于：
    获取所述电阻屏在X向上预先施加的X向驱动电压；
    根据所述X向驱动电压、Y向触点电压以及宽度尺寸信息确定所述射击点的X向坐标信息。
  18. 根据权利要求17所述的装置，其特性在于，所述X向坐标信息与所述Y向触点电压和宽度尺寸信息的乘积呈正比，所述X向坐标信息与所述X向驱动电压呈反比。
  19. 根据权利要求14-18中任意一项所述的装置，其特性在于，所述射击点是由检测子弹打击形成。
  20. 一种机器人，其特征在于，包括权利要求1-7中任意一项所述的装甲板。
  21. 一种机器人，其特征在于，包括装甲板和权利要求14-19中任意一项所述的位置检测装置。
PCT/CN2017/086591 2017-05-31 2017-05-31 装甲板、装甲板上射击点的位置检测方法、装置及机器人 WO2018218499A1 (zh)

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