WO2020133513A1 - 云台系统、移动平台及对战系统 - Google Patents

云台系统、移动平台及对战系统 Download PDF

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Publication number
WO2020133513A1
WO2020133513A1 PCT/CN2018/125836 CN2018125836W WO2020133513A1 WO 2020133513 A1 WO2020133513 A1 WO 2020133513A1 CN 2018125836 W CN2018125836 W CN 2018125836W WO 2020133513 A1 WO2020133513 A1 WO 2020133513A1
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WO
WIPO (PCT)
Prior art keywords
infrared
gimbal
light
battle
mobile platform
Prior art date
Application number
PCT/CN2018/125836
Other languages
English (en)
French (fr)
Inventor
李博文
庄彬
靖昆鹏
黄淮
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
Publication date
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 PCT/CN2018/125836 priority Critical patent/WO2020133513A1/zh
Priority to CN201880039809.1A priority patent/CN110785212A/zh
Publication of WO2020133513A1 publication Critical patent/WO2020133513A1/zh
Priority to US17/172,089 priority patent/US20210162294A1/en

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Classifications

    • 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
    • A63F9/00—Games not otherwise provided for
    • A63F9/02—Shooting or hurling games
    • 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
    • A63F9/00—Games not otherwise provided for
    • A63F9/02—Shooting or hurling games
    • A63F9/0252—Shooting devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • 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
    • A63F13/30—Interconnection arrangements between game servers and game devices; Interconnection arrangements between game devices; Interconnection arrangements between game servers
    • 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
    • A63F13/50—Controlling the output signals based on the game progress
    • A63F13/52—Controlling the output signals based on the game progress involving aspects of the displayed game scene
    • 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
    • A63F13/50—Controlling the output signals based on the game progress
    • A63F13/53—Controlling the output signals based on the game progress involving additional visual information provided to the game scene, e.g. by overlay to simulate a head-up display [HUD] or displaying a laser sight in a shooting game
    • A63F13/537—Controlling the output signals based on the game progress involving additional visual information provided to the game scene, e.g. by overlay to simulate a head-up display [HUD] or displaying a laser sight in a shooting game using indicators, e.g. showing the condition of a game character on screen
    • 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
    • A63F9/00—Games not otherwise provided for
    • A63F9/02—Shooting or hurling games
    • A63F9/0278—Projectiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
    • H04B10/114—Indoor or close-range type systems
    • H04B10/1143—Bidirectional transmission
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/50—Transmitters
    • 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
    • A63F9/00—Games not otherwise provided for
    • A63F9/02—Shooting or hurling games
    • A63F9/0252—Shooting devices therefor
    • A63F2009/0256—Shooting devices therefor with adjustable angle of evaluation
    • 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

Definitions

  • the invention relates to the technical field of robots, in particular to a pan-tilt system, a mobile platform and a combat system.
  • robots can use simulated shooting devices to conduct competitive sports.
  • the robot usually carries a launching device such as a water gun, and scores by shooting the water bomb onto other robots or targets.
  • the main shooting device of the robot is a water gun, which has a single scoring and competitive method, which affects the fun of the game.
  • the invention provides a pan/tilt system, a mobile platform and a combat system, which can complete various interactive functions during the combat and has a strong interest.
  • the present invention provides a gimbal system for shooting competitions.
  • the gimbal system includes a gimbal and a battle information interaction device; the battle information interaction device is provided on the outer side of the gimbal for transmitting and receiving battle information and/or Special effects output based on the battle information.
  • the present invention provides a mobile platform, including a platform body and a pan-tilt system as described above.
  • the pan-tilt system is provided on the platform body.
  • the present invention provides a combat system including at least two teams, each team including at least one mobile platform as described above, and at least one of the following operations can be performed between the mobile platforms through a combat information interaction device : Send and receive match information, and output special effects based on the match information.
  • the gimbal system, the mobile platform and the battle system of the present invention is used for shooting competition.
  • the gimbal system specifically includes a gimbal and a battle information interaction device; wherein, the battle information interaction device is provided on the outer side of the gimbal for Perform one or more of the following operations: send and receive match information, and output special effects based on the match information.
  • the interactive information interaction device can be used to complete the interactive function of the PTZ system during simulated shooting competition, which effectively improves the experience and fun of the competitive game, and there is no obstruction on the outside of the competition information interaction device, and information transmission and/or special effect output can be conveniently Obtained from the outside world and/or obtained from the outside world.
  • FIG. 1 is a schematic structural diagram of a pan/tilt system provided by Embodiment 1 of the present invention.
  • FIG. 2 is a schematic diagram of the internal structure of an infrared transceiver component in a gimbal system according to Embodiment 1 of the present invention
  • FIG. 3 is a partially enlarged schematic view at A in FIG. 2;
  • FIG. 4 is an exploded schematic diagram of a battle information interaction device in a pan/tilt system provided by Embodiment 1 of the present invention
  • FIG. 5 is a schematic structural diagram of an indicator light in a pan/tilt system provided in Embodiment 1 of the present invention.
  • FIG. 1 is a schematic structural diagram of a pan/tilt system provided in Embodiment 1 of the present invention.
  • 2 is a schematic diagram of the internal structure of an infrared transceiver component in a pan/tilt system provided by Embodiment 1 of the present invention.
  • FIG. 3 is a partially enlarged schematic view at A in FIG. 2.
  • FIG. 4 is an exploded schematic diagram of a battle information interaction device in a pan/tilt system provided in Embodiment 1 of the present invention.
  • 5 is a schematic structural diagram of an indicator light in a pan/tilt system provided in Embodiment 1 of the present invention. As shown in FIGS. 1 to 5, the gimbal system in this embodiment is used for shooting competition.
  • the gimbal system includes a gimbal 1 and a battle information interaction device 2.
  • the battle information interaction device 2 is provided outside the gimbal 1. On the side, the battle information interaction device 2 can be used to perform at least one of the following tasks: send and receive battle information and output special effects according to the battle information.
  • the gimbal system may be installed on various fixed platforms or mobile platforms, such as mobile remote control robots, remote control vehicles or other carriers.
  • the gimbal system may include a shooting device (not shown in the figure).
  • the shooting device is used to point to the target and use the projectile to shoot the target, so as to conduct a battle or obtain a shooting score. Since the carrier of the gimbal system is moving in the simulated shooting battle, the shooting device needs to adjust its own shooting angle to ensure that it correctly points to the target to be shot.
  • the shooting device is set on the gimbal 1, and the gimbal 1 has one or more rotating shafts, so it can be rotated around the one or more shafts, and when the gimbal 1 rotates, the shooting device will be in the cloud Driven by stage 1, it rotates around the axis of rotation until it points to the correct shooting angle.
  • the gimbal system and the outside world When conducting simulated shooting battles, in order to control the current simulated battle situation, or to understand the battle information such as the damage suffered by the gimbal system and the carrier in the battle, it is necessary for the gimbal system and the outside world to reliably obtain the battle information. For example, when interacting battle information between multiple PTZ systems, if one or more PTZ systems cause simulated damage to the outside world or sense simulated damage from the outside world (such as other PTZ systems), It can enable each PTZ system and the outside world to reliably and synchronously obtain the corresponding game information and make corresponding responses; and when the corresponding PTZ system needs to issue special commands or enter a special state, it can also output special effects through the game information interactive device. Use various special effects to display commands and status. In this way, the interactive function of the battle information interaction device can be used to complete the interactive function of the pan-tilt system during simulated shooting battle, which effectively improves the experience and fun of competitive games.
  • PTZ system can send and receive information and interact with other players (PTZ system) of the same team, for example, send help information (such as defense information); it can also be with competitors Interact, for example, send attack information or receive attack information.
  • PTZ system the process of interaction of battle information between PTZ systems of different teams is mainly used as an example for description.
  • the battle information interaction device 2 is provided on the outer side of the gimbal 1, so that the battle information interaction device 2 can be exposed to the side of the gimbal 1, whether it is used to transmit battle information Neither the signal nor the signal output by the special effect will be blocked by the structure of the gimbal 1, and the interaction reliability of the battle information is high.
  • the information can be easily obtained by the outside world, for example, the user can observe the special effects of the battle information interaction device 2 output according to the battle information more intuitively and easily .
  • the gimbal 1 may include a shaft arm 11 formed with an installation space, and the installation space is used to accommodate at least the The shooting device carried by the gimbal 1 and the battle information interaction device 2 are arranged on the outer side of the shaft arm 1.
  • the shaft arm 11 can avoid the shooting device, so that the shooting device can realize a relatively large angle of rotation, thereby increasing the shooting angle range of the shooting device.
  • the end of the shaft arm 1 is connected to the shooting device through a rotating shaft, and the shaft arm 1 can be used as the installation basis of the battle information interaction device 2, so that the battle information interaction device 2 is provided on the outer side of the shaft arm 1 for battle information interaction
  • the battle information interaction device 2 is provided on the outer side of the shaft arm 1 for battle information interaction
  • the gimbal 1 may be a two-axis gimbal or a three-axis gimbal, and the gimbal 1 has corresponding shaft arms with different structures and positions, and the combat information interaction device 2 may also have different installation positions.
  • the gimbal 1 is a two-axis gimbal, as shown in FIGS. 1 and 2.
  • the gimbal 1 is provided with a base, the base is provided with components such as a motor 12, and the base is provided with a rotation axis in the vertical direction, so that the shaft arm 11 is configured to rotate around the yaw axis of the gimbal 1 ( Yaw axis) rotation, and drive the shooting device and other components set on the axis arm 11 to point to different angles in the horizontal direction; and the battle information interaction device 2 can be set on the axis arm of the gimbal 1 that rotates around the yaw axis of the gimbal 1 11 and rotate with the axis arm 11 around the yaw axis of the gimbal 1.
  • another rotation axis can be provided on the axis arm 11, and the shooting device is connected to the axis arm 11 through the axis, so that the shooting device can rotate along the pitch axis (Pitch axis), so that the shooting device points to different positions in the vertical direction, In order to ensure that the shooting device points in different directions in space.
  • the gimbal 1 may also be a three-axis gimbal (not shown in the figure).
  • the axis arm used to set the battle information interaction device may be configured to surround the gimbal
  • the roll axis (Roll axis) rotates.
  • the gimbal can rotate relative to the base around the yaw axis
  • the axis arm in the gimbal can be configured to rotate around the roll axis
  • a rotation axis can also be provided on the axis arm to allow the shooting device to pass through the rotation axis It is connected to the axis arm and can rotate along the pitch axis.
  • the shaft information arm rotating around the roll axis can be provided with a battle information interaction device.
  • the battle information interaction device can rotate with the shaft arm around the roll axis of the gimbal.
  • the specific rotation axis about which the axis arm 11 is configured needs to be determined according to the specific type and structure of the gimbal.
  • the axis arm 11 can also be configured to rotate about the pitch axis, and the gimbal can also not It is limited to two-axis or three-axis gimbals, but can be other rotation axis numbers and structures.
  • the shaft arm 11 may be a U-shaped shaft arm or a Y-shaped shaft arm, that is, one end of the shaft arm 11 has two ends separated from each other, and the shaft The two ends of the arm 11 are located on both sides of the shooting device. At this time, both ends of the shaft arm 11 are located on the outer side of the gimbal 1, and the shooting device is protected by the shaft arm 11.
  • the two ends of the shaft arm 11 can form a penetrating installation space, when the shooting device is disposed between the two ends of the shaft arm 11, its rotation is less restricted by the shaft arm 11 and can be achieved Large rotation range.
  • the two separated ends of the shaft arm 11 may be arranged symmetrically with respect to the shooting device. At this time, the structure of the gimbal system is more beautiful and symmetrical.
  • the battle information interaction device 2 may be located at the end of the shaft arm 11.
  • the combat information interaction device 2 may be provided at the connection between the shaft arm 11 and the rotating shaft for rotating the shooting device around the pitch axis.
  • the end of the shaft arm 11 can generally be provided with a driving element such as a motor, setting the combat information interaction device 2 at this position can facilitate the appearance design based on the original design, thereby improving aesthetics; in addition, because the shaft arm
  • the end of the motor provided in 11 (that is, the end of the shaft arm 11 provided with two ends, wherein only one of the two ends can be provided with a motor) can form an outer surface with a larger area, so it can be
  • the combat information interaction device 2 has a relatively large installation space, and the end of the shaft arm 11 has a high height, and the position is conspicuous and unobstructed, which is convenient for signal transmission and effect output of the combat information interaction device 2.
  • the battle information interaction device 2 may use a non-contact manner to realize signal transmission and induction.
  • the battle information interaction device 2 can use infrared signals to realize the transmission and reception of battle information and the output of special effects, wherein the infrared signals can carry the identification information of the PTZ system, so that other PTZ systems can distinguish the source of the battle information.
  • the battle information interaction device 2 may include an infrared transceiver component 21 for transmitting and receiving battle information.
  • a status display component 22 can be provided on the PTZ 1 and various sound and light special effects can be used to realize the special effect output of the battle information.
  • the battle information interaction device 2 may include at least one of the infrared transceiver component 21 and the status display component 22.
  • the status display component 22 is only an optional means for the PTZ system to output special effects.
  • the PTZ system realizes the special effect output, it can be achieved not only by the status display component 22 but also by other components. , For example, sound output system.
  • the infrared transceiver component 21 can send and receive infrared signals, and use the infrared signals to transmit battle information. Since the infrared signal has the characteristic of propagating along a straight line, the infrared transceiving components 21 may have two or more. These infrared transceiving components 21 are arranged on the peripheral side of the pan/tilt 1 in the horizontal direction, so the pan/tilt system can be horizontal Objects in different directions around the direction (such as other pan/tilt systems) receive or send infrared signals, and reliably transmit and interact with battle information.
  • the angle range occupied by the front and rear of the gimbal system is small, while the angle range occupied by the side is large. Because of the gimbal system, the side is more convenient for outside observation.
  • the infrared transceiver module 21 when the infrared transceiver module 21 is arranged on the side of the gimbal 1, the infrared transceiver module 21 can cover a larger range in the horizontal circumferential direction, and the infrared transceiver module 21 is less obstructed by the structure in front of and behind the platform of the gimbal system. Let the infrared transceiver component 21 have a good signal transceiving range.
  • the infrared transceiver component 21 may be located on the outer side of the gimbal 1. At this time, the infrared transceiver component 21 is less obstructed by the PTZ system's own structure, and has a good field of vision and a more comprehensive signal coverage, so that the transmission and interaction of the interactive information of the battle is more reliable.
  • the infrared transceiver assembly 21 is located at the end of the shaft arm 11. In this way, on the one hand, it is convenient to set up the infrared transceiver component 21; on the other hand, the infrared transceiver component 21 is less obstructed, which can ensure the normal transmission and reception of the interactive information of the match.
  • the infrared transceiving module 21 may have components dedicated to receiving and transmitting infrared signals.
  • the infrared transceiver component 21 specifically includes an infrared transmitter 211 and an infrared receiver 212, wherein the infrared transmitter 211 is used to transmit to the outside, such as other opponents in the battle.
  • the infrared signal of the first match information, the infrared receiver 212 is used to receive the infrared signal from the outside, which carries the second match information.
  • the PTZ system in the simulated shooting battle can interact with the outside world through infrared signals.
  • the first and second battle information are included in the battle information, and the content and meaning of the first and second battle information may be the same or different.
  • the first battle information may include attack information (for example, sending attack information to an opponent) and defense information (for example, sending defense information to a teammate to prompt defense), and the second battle information may be used to indicate The opponent's attack information, or teammate's defense information, such as the attack and injury issued by the opponent.
  • attack information for example, sending attack information to an opponent
  • defense information for example, sending defense information to a teammate to prompt defense
  • the second battle information may be used to indicate The opponent's attack information, or teammate's defense information, such as the attack and injury issued by the opponent.
  • the infrared transceiver 21 has a horizontal transmission range and/or reception range of 360° in the horizontal direction. In this way, the gimbal system can realize the omnidirectional transmission and reception of infrared signals in the horizontal direction.
  • the signal transmission or reception angle of a single infrared transmitter 211 or a single infrared receiver 212 is relatively limited, and usually only covers a narrow angle range. Therefore, when the infrared transceiver component 21 of the gimbal system is transmitting and receiving infrared signals, in order to expand the coverage of the signal, the gimbal system can transmit and receive infrared signals omnidirectionally in the horizontal direction.
  • the number of the infrared emitter 211 and the infrared receiver 212 are at least two, the orientation of each infrared emitter 211 is different, and the orientation of each infrared receiver 212 is also different.
  • a plurality of infrared transmitters 211 and a plurality of infrared receivers 212 are provided in the infrared transceiver module 21, and different infrared transmitters 211 and infrared receivers 212 can be directed in different directions and angles.
  • a plurality of infrared transmitters 211 and infrared receivers 212 with different orientations can cover a larger angle and range together.
  • the infrared transmitter 211 and the infrared receiver 212 may have different numbers and setting angles.
  • the single infrared transmitter 211 or the single infrared receiver 212 when the models and specifications of the infrared transmitter 211 or the infrared receiver 212 are different, the single infrared transmitter 211 or the single infrared receiver 212 will also have different The signal coverage angle and coverage range, therefore, for different models and specifications of infrared transmitters 211 or infrared receivers 212, there will also be different numbers in a single infrared transceiver module 21.
  • the infrared transmitters 211 and infrared receivers 212 in the infrared transceiving assembly 21 may have a variety of different arrangements and arrangements. The various arrangements and installation positions of the infrared transmitter 211 and the infrared receiver 212 in each infrared transceiver module 21 are described in detail below.
  • At least two infrared transmitters 211 may be located on both sides of the at least two infrared receivers 212 in the horizontal direction.
  • the infrared transmitter 211 and the infrared receiver 212 will be arranged on the peripheral side of the pan/tilt head system along the horizontal direction, that is, in the horizontal direction, the infrared transmitter 211 is located outside the infrared receiver 212.
  • the infrared transmitter 211 is located on both sides of the infrared receiver 212, the infrared transmitter 211 is less blocked by the infrared receiver 212, and a larger coverage can be obtained, thereby improving the reliability of infrared signal transmission.
  • the infrared receiver 212 may be located on both sides of the infrared transmitter 211 in the horizontal direction, so that the infrared receiver 212 can obtain a larger coverage area, and the specific setting method may be based on the infrared receiver 212 and the infrared transmitter 211 The specific specifications and quantities are adjusted accordingly, without limitation here.
  • the gimbal system and its carrier can be located on the ground. At this time, the gimbal system and other external opponents are located at the same or similar heights. Therefore, as an optional setting method, the infrared transmitter can be used The orientation of at least one of the 211 and the infrared receiver 212 is set to the horizontal direction.
  • the orientation of the infrared emitter 211 or the infrared receiver 212 is along the horizontal direction, there is no space angle between the two adjacent infrared emitters 211 or the two adjacent infrared receivers 212 , But only the angle in the horizontal direction. In this way, the interval or included angle between the infrared transmitter 211 and the infrared receiver 212 is small, which can achieve a large coverage range in the horizontal direction and improve the reliability of infrared signal transmission and reception.
  • the infrared emitter 211 may be oriented in the horizontal direction
  • the infrared receiver 212 may be oriented in the horizontal direction
  • the infrared emitter 211 and the infrared receiver 212 may be oriented in the horizontal direction. There are no restrictions here.
  • the infrared transmitter 211 and the infrared receiver 212 may have different numbers.
  • the number of infrared receivers 212 in a single infrared transceiver component 21 is three, for example, infrared receiver 212a, infrared receiver 212b, and infrared receiver 212c, and the three infrared
  • the orientation of the receiver is along the front side of the gimbal 1, the side of the gimbal 1, and the side and rear of the gimbal 1, respectively.
  • the infrared transceiver components 21 are generally located on both sides of the pan/tilt system in the horizontal direction, at this time, the three infrared receivers 212a, infrared receiver 212b, and infrared receiver 212c in each infrared transceiver component 21 can communicate with each other. They are arranged at an angle and point to different ranges and angles of the gimbal 1 in the horizontal direction, thereby covering the area on the corresponding side of the gimbal system. With the cooperation of two or more infrared transceiver components 21, the infrared signal of the pan/tilt system in the horizontal circumferential direction can be realized.
  • the infrared receiver 212a, the infrared receiver 212b, and the infrared receiver 212c inside each infrared transceiver component 21 may have a specific angle range.
  • the angle between the orientations of every two adjacent infrared receivers 212 may be greater than or equal to 70 degrees and less than or equal to 110 degrees.
  • the infrared receiver 212a, the infrared receiver 212b, and the infrared receiver 212c have appropriate intervals and included angles, which can ensure that the coverage areas between two adjacent infrared receivers 212 are connected to each other or have a certain overlapping area , And the range covered by the three infrared receivers 212 is relatively large.
  • each infrared transceiver module 21 the orientation of each adjacent two infrared receivers 21 may be vertical or approximately vertical.
  • the three infrared receivers that is, the infrared receiver 212a, the infrared receiver 212b, and the infrared receiver 212c may collectively cover an angle range of about 180 degrees.
  • the number of infrared emitters 211 is two, for example, an infrared emitter 211a and an infrared emitter 211b, and the clamp between the orientations of the two infrared emitters 211a and 212b
  • the angle may be greater than or equal to 90 degrees and less than or equal to 110 degrees.
  • the infrared emitter 211a and the infrared emitter 211b will also have appropriate intervals and included angles to ensure that the coverage areas of the infrared emitters 211 are connected to each other and jointly cover a larger area.
  • the two infrared emitters 211a and the infrared emitter 211b can also jointly cover an angular range of about 180 degrees.
  • the included angle between the orientations of the two infrared emitters 211 may be 100 degrees or close to 100 degrees.
  • a plurality of different infrared transmitters 211 can be made Together with the infrared receiver 212, it covers a larger range.
  • the infrared transceiver component 21 further includes a circuit board 213, and the infrared transmitter 211 and the infrared receiver 212 are electrically connected to the circuit board 213.
  • the circuit board 213 can provide power and control signals for the infrared transmitter 211 and the infrared receiver 212, so that the infrared transmitter 211 and the infrared receiver 212 can realize normal signal transmission and reception.
  • the circuit board 213 may be a printed circuit board (Printed Circuit Board, PCB) and other different forms.
  • the infrared transceiver assembly 21 further includes a fixing frame 214, so that the circuit board 213 can be arranged on the fixing frame 214, and both the infrared transmitter 211 and the infrared receiver 212 are arranged on the circuit board 213 or the fixing frame 214.
  • the fixing frame 214 itself can be connected to other structures of the infrared transceiver assembly 21 or the pan/tilt system to achieve the fixation of the infrared transmitter 211 and the infrared receiver 212 on the pan/tilt system.
  • the outer surface of the gimbal 1 is provided with an accommodating groove 13 extending in the horizontal direction, and the infrared transceiver assembly 21 is It can be located in the accommodating groove 13. Since the accommodating groove 13 extends along the horizontal direction, the length direction of the fixing frame 214 can also be along the horizontal direction, so that both the infrared emitter 211 and the infrared receiver 212 can be arranged and arranged along the horizontal direction.
  • the front and rear ends of the accommodating groove 13 may have openings 131, at least part of the infrared transmitter 211, or at least part of the infrared receiver 212 will be exposed to the front and back sides of the gimbal 1 through the opening 131.
  • the accommodating groove 13 does not block the signal transmission of the infrared transmitter 211 and the infrared receiver 212 in the horizontal direction, thereby ensuring that the infrared transceiver component 21 has a larger signal transmission range.
  • the groove wall of the accommodating groove 13 protrudes toward the outside of the gimbal 1 in the horizontal direction, and the protrusion height of the middle of the groove wall of the accommodating groove 13 is greater than the groove wall of the accommodating groove 13 The protruding height of the end.
  • the height of the groove wall of the accommodating groove 13 will match the installation position and angle of the infrared transmitter 211 and the infrared receiver 212 in the infrared transceiving component 21, so as to protect the infrared transceiving component 21 while avoiding the accommodating groove
  • the end of the groove wall of 13 affects the signal transceiving range of the infrared transceiving assembly 21.
  • the gimbal system may also include The cover plate 14 through which light passes is covered on the accommodating groove 13. At this time, the infrared transmitter 211, the infrared receiver 212, the circuit board 213 and other components in the infrared transceiver module 21 are all blocked under the cover plate 14.
  • the cover plate 14 itself can be made of a material that only allows infrared light to pass through, so the cover plate 14 can block the structure inside the accommodating groove 13, improve the aesthetics of the gimbal 1, and keep the infrared transceiver component 21 still normal Signal transceiving function.
  • the cover plate 14 When the cover plate 14 is used to block the infrared transceiver component 21, in order to avoid the structure of the cover plate 14 and the like affecting the signal transceiving range of the infrared transceiver component 21, optionally, the cover plate 14 may protrude outside the gimbal 1, and The cover plate 14 has a visible area in the front-rear direction of the gimbal 1. In this way, no matter the side of the gimbal 1 or the front or rear of the gimbal 1, a part of the cover plate 14 can be seen, so the structure of the front or rear of the gimbal 1 will not be located on the cover.
  • the infrared transceiver component 21 inside the board 14 causes obstruction, and the infrared transmitter 211 or the infrared receiver 212 can transmit or receive infrared signals from this part of the area, thereby realizing a large signal coverage.
  • the battle state interaction device 2 may further include a state display component 22, which is used to send during the battle according to the PTZ system
  • the specific structure and function of the status display unit 22 will be described in detail below.
  • the status display component 22 when the status display component 22 displays the battle information, it mainly refers to detecting the strike damage received by the PTZ system, and displaying the battle information including the strike damage.
  • the battle information may include one or more of the following: the blood volume of the gimbal system during the battle, and whether the gimbal system is hit by projectiles during the battle.
  • the gimbal system can have a certain amount of simulated blood when it is fighting, and when it is hit by projectiles or other attack methods, the simulated blood will decrease. Therefore, the status display component 22 can display the blood volume of the pan/tilt system during the battle in real time; in addition, when the pan/tilt system is hit by projectiles, the status display component 22 can also display to let the operator and the audience know the situation. In addition, the battle status displayed by the status display component 22 may also include whether the gimbal system is in a special state (release special skills or the blood volume drops to a certain limit, etc.).
  • the status display component 22 When the status display component 22 displays the battle information, it can be displayed to the outside world through different means such as lights and sound effects. In this way, the status display component 22 can allow the PTZ system to intuitively display the current status of the battle, thus allowing the operator And the audience can easily obtain the current battle status of the PTZ system, so as to clearly grasp the battle situation of the simulated battle.
  • the status display component 22 may specifically include one or more indicator lights 221, and the indicator lights 221 are used to display the corresponding battle information by changing the lighting state.
  • the indicator light 221 may have one or more of the following variable lighting states: the color of the indicator light 221, the light emitting frequency of the indicator light 221, the brightness of the indicator light 221, the light emitting duration of the light indicator 221, and the light emission of the indicator light 221 The area of the area, etc.
  • the indicator light 221 may have a relatively diverse light-emitting state, for example, the indicator light 221 is a multi-color indicator light, and indicates different battle states by emitting bright lights of different colors.
  • the indicator light 221 is cyan, it indicates that the gimbal system is in the connected mode, or when the indicator light 221 is red and blue, it indicates that the gimbal system is in the ready state.
  • the indicator light 221 may have a plurality of different light-emitting areas, and use different light-emitting areas to distinguish different battle information.
  • the indicator light 221 may also have different states such as constant light or blinking, and when the indicator light 221 blinks, it may have different flashing frequencies, and different battle states may be through the constant light/blinking state and blinking of the indicator light 221 itself Frequency.
  • the indicator 221 can be changed Fast frequency flashes.
  • the indicator lights 221 may also have different brightness, and distinguish the corresponding battle status of the PTZ system according to the brightness.
  • the indicator light 221 may use different single light-emitting states and a combination of multiple light-emitting states to represent different information, which will not be repeated here.
  • the status of the PTZ system is displayed through the indicator 221 and other devices.
  • the light state of the indicator 221 changes, it can be intuitively and clearly observed by the operator or the audience of the PTZ system, so the operator and the audience can also compare It is easy to know the current situation of the simulated battle, which is convenient for the operator to operate, and can also improve the fun of the simulated battle.
  • the indicator light 221 has at least two independently emitting light-emitting areas.
  • different light-emitting areas can be controlled to independently emit light, thereby representing different battle information.
  • the light-emitting state of each light-emitting area may include one or more of the following: a constant light state, a constant light-off state, and a blinking state.
  • different battle information can be displayed. Since the indicator light 221 is divided into different light-emitting areas, the indicator light can indicate different information according to the different light-emitting states of each light-emitting area.
  • the indicator light 221 may be turned on or off only a specific light-emitting area, and the specific light-emitting area may be used to indicate specific battle information.
  • the light-emitting area in the indicator lamp 221 is turned on or off in a specific order, so as to achieve a marquee effect and the like.
  • the indicator lights 221 are at least two groups, and the two groups of indicator lights 221 are respectively set at the level of the gimbal 1 The circumferential side of the direction. In this way, indicator lights 221 are indicated in all directions of the PTZ system, so that the operator and the audience can observe the real-time battle status of the PTZ system.
  • the indicator lights 221 may be two groups, and the two groups of indicator lights 221 are respectively disposed on both sides of the gimbal in the horizontal direction. In this way, indicator lights 221 are provided on both sides of the PTZ system to facilitate the operator and the audience to observe the real-time battle status of the PTZ system.
  • the indicator light 221 may also be provided at the end of the shaft arm 11.
  • the end of the shaft arm 11 can generally be provided with a driving element such as a motor, setting the indicator light 221 at this position can facilitate the harmonization of the appearance and improve the aesthetics; in addition, due to the connection between the shaft arm 11 and the rotating shaft It has a high height, and the end of the shaft arm 11 provided with the rotating shaft can generally form an outer surface with a larger area, so the indicator light 221 is more conspicuous when the indicator light 221 is provided at the connection between the shaft arm 11 and the rotating shaft. The indication effect is better.
  • the indicator light 221 is located at the end of the shaft arm 11, and accordingly, as an optional embodiment, the indicator light 221 may be a ring shape, and the indicator light 221 surrounds the rotation axis (for example, the pitch axis) Outside the end. Since the indicator light 221 is a circular light bar, the indicator light 221 can occupy a larger area of the outer surface of the gimbal 1 to have a better indication effect; at the same time, the ring formed by the indicator light 221 surrounds the outer side of the pitch axis, so A more coordinated visual effect can be formed between the indicator light 221 and the shaft arm 11, so that the gimbal system has better aesthetics.
  • the ring-shaped indicator light 221 may include one or more light bar segments.
  • the indicator lamp 221 includes a ring-shaped light bar segment, or includes a plurality of light bar segments enclosed in a ring together.
  • the indicator light 221 includes at least two light bar segments 222, and the light bar segments 222 are all arc-shaped, and the light bar segments 222 together form a ring shape.
  • the light bar segment 222 in the indicator 221 may specifically include a first light bar segment 222a and a second light bar segment 222b, and the first light bar segment 222a and the second light bar segment 222b are respectively It is provided on the upper and lower sides of the infrared transceiver module 21.
  • the two light bar segments 222 can be arranged symmetrically with respect to the infrared transceiver component 21, so that the infrared transceiver component 21 and the indicator light 221 are organically combined, thereby effectively using the limited installation space on the gimbal and improving the aesthetics of the gimbal system degree.
  • each light bar segment 222 is divided into at least two light emitting regions. Therefore, each light bar segment 222 can control different light-emitting areas to independently emit light to represent different battle information.
  • the specific manner in which the light bar segment 222 is divided into a plurality of different light-emitting regions has been exemplified in the foregoing embodiment, and will not be repeated here.
  • the light bar segment 222 includes at least two LED lights 2221 arranged at intervals, between each adjacent two LED lights 2221
  • the light-shielding portion 2222 is provided.
  • the light-shielding part 2222 can isolate two adjacent LED lamps 2221, so that each LED lamp 2221 is in an independent light-emitting area, and the light emitted by other LED lamps 2221 is isolated by the light-shielding part 2222 and cannot be affected To the light emitting area of the LED lamp 2221. In this way, independent light emission of different light emitting regions can be achieved.
  • each light bar segment 222 may be divided into four mutually independent light emitting regions by the light shielding part 2222.
  • the gimbal system in this embodiment is used for shooting competition.
  • the gimbal system specifically includes a gimbal and a battle information interaction device; wherein, the battle information interaction device is provided on the outer side of the gimbal and used to perform one or more of the following operations : Send and receive match information, and output special effects based on the match information.
  • the interactive function of the battle information interaction device can be used to complete the interactive function of the PTZ system during simulated shooting battle, which effectively improves the experience and fun of the competitive game, and there is no obstruction on the outside of the battle interaction device, and information transmission and/or special effect output can be conveniently Obtained from the outside world and/or obtained from the outside world.
  • Embodiment 2 of the present invention also provides a mobile platform.
  • the mobile platform provided in this embodiment specifically includes a platform main body and the pan/tilt system described in the foregoing embodiments, and the pan/tilt system is provided on the platform main body.
  • the specific structure, function and working principle of the gimbal system have been described in detail in the foregoing first embodiment, and will not be repeated here.
  • the mobile platform in this embodiment can be used to simulate competitive games such as shooting competitions, and achieve scoring and competitive effects by shooting projectiles at targets or opponents.
  • the PTZ system of the mobile platform includes a battle information interaction device, it can effectively and reliably implement the functions of injury detection and battle status display, and effectively enhance the viewing and interestingness of competitive games.
  • the mobile platform can be a variety of different types of vehicles.
  • the mobile platform may be a mobile robot on the ground and perform simulated shooting battles on the ground.
  • the mobile platform can also be an aircraft and compete in the sky.
  • the mobile platform specifically includes a platform main body and a pan-tilt system, and the pan-tilt system is set on the platform main body; wherein, the pan-tilt system is used for shooting battles, and the pan-tilt system specifically includes a pan-tilt and battle information interaction device; battle information
  • the interactive device is set on the outside of the gimbal and is used to perform one or more of the following operations: send and receive match information, and output special effects based on the match information.
  • the mobile platform can use the interactive information interaction device to complete the interactive function of the PTZ system during simulated shooting competition, which effectively improves the experience and fun of the competitive game, and there is no occlusion outside the interactive interaction device, and information transmission and/or special effect output can be Conveniently obtained from the outside world and/or obtained by the outside world.
  • Embodiment 3 of the present invention also provides a battle system, which includes at least two teams, and each team includes at least one mobile platform as described in the foregoing embodiment. At least one of the following operations: send and receive match information, and output special effects based on the match information.
  • a battle system which includes at least two teams, and each team includes at least one mobile platform as described in the foregoing embodiment.
  • each mobile platform in the battle system is divided into multiple different teams, and different teams can play competitive games such as shooting.
  • each PTZ system interacts with the outside world in battle information, it can send and receive information and interact with other PTZ systems of the same team, such as sending collaborative information, help information, or formation instructions, etc.; It can be to interact with competitors, such as sending attack information or receiving attack information.
  • each PTZ system can interact with players of the current team or competitors located in other teams through the battle information interaction device, thereby realizing the interaction of battle information.
  • the PTZ system in each mobile platform can also output special effects based on the received and sent battle information, so that the outside world can intuitively understand the battle situation and strengthen the interaction between man and machine.
  • the combat system in this embodiment includes at least two teams, and each team includes at least one mobile platform as described in the foregoing embodiment, and at least one of the following operations is performed between the mobile platforms through the combat information interaction device: sending and receiving combat information, according to Special effects output for battle information.
  • the mobile platform can use the interactive information interaction device to complete the interactive function of the PTZ system during simulated shooting competition, which effectively improves the experience and fun of the competitive game, and there is no obstruction on the outside of the interactive game device, and information transmission and/or special effect output can be Conveniently obtained from the outside world and/or obtained by the outside world.

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Abstract

一种云台系统、移动平台及对战系统，云台系统用于射击对战，云台系统包括：云台（1）和对战信息交互装置（2）；对战信息交互装置（2）设置在云台（1）的外侧面，用于收发对战信息和/或根据对战信息进行特效输出。

Description

云台系统、移动平台及对战系统 技术领域
本发明涉及机器人技术领域，尤其涉及一种云台系统、移动平台及对战系统。
背景技术
随着科技的不断发展，机器人等自动控制装置得到了越来越广泛的应用，并出现在娱乐竞技领域之中。
目前，在一些竞技比赛中，机器人可以利用模拟的射击装置进行对战竞技。其中，机器人通常携带有水弹枪等发射装置，并通过将水弹射击到其它机器人或者是靶标上而取得得分。
然而，目前机器人主要的射击装置为水弹枪，得分和竞技手段单一，影响了对战的趣味性。
发明内容
本发明提供一种云台系统、移动平台及对战系统，能够在对战时完成多种互动功能，趣味性较强。
第一方面，本发明提供一种云台系统，用于射击对战，云台系统包括云台和对战信息交互装置；对战信息交互装置设置在云台的外侧面，用于收发对战信息和/或根据对战信息进行特效输出。
第二方面，本发明提供一种移动平台，包括平台主体和如上所述的云台系统，云台系统设置在平台主体上。
第三方面，本发明提供一种对战系统，该对战系统包括至少两个战队，每个战队包括至少一个如上所述的移动平台，移动平台之间能够通过对战信息交互装置进行下列至少一种操作：收发对战信息、根据对战信息进行特效输出。
本发明的云台系统、移动平台及对战系统，云台系统用于射击对战，云 台系统具体包括云台和对战信息交互装置；其中，对战信息交互装置设置在云台的外侧面，用于执行下列一种或多种操作：收发对战信息、根据对战信息进行特效输出。这样可以利用对战信息交互装置完成云台系统在模拟射击对战时的互动功能，有效提高竞技比赛的体验度和趣味性，且对战信息交互装置外侧没有遮挡，信息收发和/或特效输出可以方便地从外界所获取和/或被外界所获取。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术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是本发明实施例一提供的云台系统的结构示意图；
图2是本发明实施例一提供的云台系统中红外收发组件的内部结构示意图；
图3是图2中A处的局部放大示意图；
图4是本发明实施例一提供的云台系统中对战信息交互装置的爆炸示意图；
图5是本发明实施例一提供的云台系统中指示灯的结构示意图。
附图标记说明：
1—云台；2—对战信息交互装置；11—轴臂；12—电机；13—容置槽；14—盖板；21—红外收发组件；22—状态显示组件；131—开口；211、211a、211b—红外发射器；212、212a、212b、212c—红外接收器；213—电路板；214—固定架；221—指示灯；222—灯条段；222a—第一灯条段；222b—第二灯条段；2221—LED灯；2222—隔光部。
具体实施方式
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征可以相互组合。
图1是本发明实施例一提供的云台系统的结构示意图。图2是本发明实施例一提供的云台系统中红外收发组件的内部结构示意图。图3是图2中A处的局部放大示意图。图4是本发明实施例一提供的云台系统中对战信息交互装置的爆炸示意图。图5是本发明实施例一提供的云台系统中指示灯的结构示意图。如图1至图5所示，本实施例中的云台系统，用于射击对战，该云台系统包括云台1和对战信息交互装置2，对战信息交互装置2设置在云台1的外侧面，且对战信息交互装置2可以用于进行如下至少一种工作：对战信息的收发和根据对战信息进行特效输出。
具体的，该云台系统可以设置在各类固定平台或者移动平台上，例如是移动遥控机器人，或者遥控车辆等载体。云台系统中可以包括有射击装置(图中未示出)，射击装置用于指向目标，并利用弹丸射击目标，从而进行对战或者取得射击得分。由于在模拟射击对战中，云台系统的载体处于移动状态，因而射击装置需要对自身的射击角度进行调整，才能确保正确的指向待射击目标。此时，射击装置设置在云台1上，云台1具有一个或多个可转动的转轴，因而可以绕这一个或多个转轴进行转动，而云台1转动时，射击装置就会在云台1的带动下绕转轴旋转，直至指向正确的射击角度。
当进行模拟射击对战时，为了对当前的模拟对战态势进行掌控，或者了解云台系统及载体在对战中受到的伤害等对战信息，需要让云台系统和外界可靠地获取对战信息。例如，在多个云台系统之间进行对战信息的交互时，若其中一个或多个云台系统在对外界造成模拟伤害或者是感知到来自外界(诸如其它云台系统)的模拟伤害时，能够让各个云台系统和外界可靠地同步获取对应的对战信息，并作出相应的应对；而相应的云台系统要发出特殊指令或者进入特殊状态时，也可以通过对战信息交互装置进行特效输出，利用各种不同的特效进行指令和状态的显示。这样可以利用对战信息交互装置完成云台系统在模拟射击对战时的互动功能，有效提高竞技比赛的体验度和趣味性。
其中，在对战过程中，可以有多个云台系统同时对战，而这些云台系统可以单独作战，也可以分为多个不同战队，并进行组队作战。而云台系 统在和外界进行对战信息的互动时，可以是和同一战队的其它选手(云台系统)进行信息收发和交互，例如是发送帮助信息(如防御信息)；也可以是和竞争对手进行互动，例如是发送攻击信息或者接收攻击信息。而本实施例中，主要以不同战队的云台系统之间的对战信息交互过程为例进行说明。
其中，为了便于和外界进行信息收发或者是交互，对战信息交互装置2设置在云台1的外侧面，这样对战信息交互装置2可以外露在云台1侧方，无论是用于传输对战信息的信号，还是特效输出的信号均不会被云台1自身的结构所阻挡，对战信息的交互可靠性较高。其中，对外传输信息时，由于对战信息交互装置2外侧没有遮挡，所以信息可以方便地被外界所获取，例如是用户可以较为直观容易地观察到对战信息交互装置2根据对战信息所述输出的特效。
可选的，为了在云台1上设置对战信息交互装置2以及云台系统的其它部件，云台1可以包括有轴臂11，轴臂11形成有安装空间，安装空间用于至少容置该云台1所承载的射击装置，对战信息交互装置2设置在轴臂1的外侧面。其中，将射击装置设置在轴臂11所形成的安装空间中时，轴臂11可以避开射击装置，从而让射击装置能够实现较大角度的转动，从而增大了射击装置的射击角度范围。
具体的，轴臂1的端部通过转轴与射击装置连接，而轴臂1即可作为对战信息交互装置2的安装基础，让对战信息交互装置2设置在轴臂1的外侧面，对战信息交互装置2和外界之间没有遮挡，可以方便地进行对战信息的交互以及特效输出。
其中，云台1可以为两轴云台或者是三轴云台，而云台1相应的具有不同结构和位置的轴臂，而对战信息交互装置2也会具有不同的设置位置。例如，本实施例中，云台1为两轴云台，如图1和图2所示。此时，云台1上设置有基座，基座上具有电机12等部件，而基座上设置有沿竖直方向的转轴，使得轴臂11被配置为绕云台1的偏航轴(Yaw轴)转动，并带动设置在轴臂11上的射击装置等组件指向水平方向的不同角度；而对战信息交互装置2即可设置在云台1的绕云台1偏航轴转动的轴臂11上， 并随轴臂11一同绕云台1的偏航轴转动。此时，轴臂11上可以设置另一转轴，而射击装置通过该轴与轴臂11连接，使得射击装置可以沿俯仰轴(Pitch轴)转动，从而让射击装置指向竖直方向的不同位置，以保证射击装置指向空间的不同方向。
此外，在另一种可选的方式中，云台1也可以为三轴云台(图中未示出)，此时，用于设置对战信息交互装置的轴臂可以被配置为绕云台的横滚轴(Roll轴)转动。具体的，云台可以绕偏航轴相对于基座转动，而云台中的该轴臂可被配置为绕横滚轴转动，且在该轴臂上还可以设置转轴，以使得射击装置通过转轴和轴臂连接，且能够沿俯仰轴转动。其中，绕横滚轴转动的轴臂上可以设置对战信息交互装置，此时，对战信息交互装置可随轴臂一同绕云台的横滚轴转动。
需要说明的是，轴臂11具体被配置为绕哪一个转轴转动，需要根据云台的具体类型和结构而确定，例如轴臂11还可以被配置为绕俯仰轴转动，而云台也可以不限于两轴或三轴云台，而是可以为其它转轴数量和结构等。
为了对射击装置提供保护和稳固的支撑，可选的，轴臂11可以为U形轴臂或者Y形轴臂，也就是说，轴臂11的一端具有两个相互分开的端部，且轴臂11的两个端部分别位于射击装置的两侧。此时，轴臂11的两个端部均位于云台1的外侧面，而射击装置被轴臂11所保护。
其中，由于轴臂11的两个端部之间可以形成贯通的安装空间，所以射击装置设置在轴臂11的两个端部之间时，其转动受轴臂11的限制较小，可以实现较大的转动范围。
可选的，轴臂11的两个分开的端部可以相对于射击装置对称设置。此时云台系统的结构较为美观对称。
可选的，对战信息交互装置2可以位于轴臂11的端部。具体的，对于具有如图1和图2所示的云台结构的云台系统，对战信息交互装置2可以设置在轴臂11与用于使得射击装置绕俯仰轴转动的转轴的连接处。这样，由于轴臂11的端部一般可以设置电机等驱动元件，因而将对战信息交互装置2设置在该位置，可以便于基于原有设计进行外观的设计，从而 提升美观性；此外，由于轴臂11中设置电机的端部(即轴臂11中设有两个端部的一端，其中，两个端部中可以只有一个端部设有电机)可以形成面积较大的外表面，所以可以让对战信息交互装置2具有较为宽裕的安置空间，且轴臂11的端部具有较高的高度，位置较为显眼且没有遮挡，便于对战信息交互装置2的信号收发和特效输出。
具体的，由于云台系统和载体在进行模拟对战时，云台系统和外界的对手(如其它云台系统)通常保持一定的对战距离，因而对战信息交互装置在进行对战信息的传输，以及根据对战信息进行特效输出，从而实现交互时，对战信息交互装置2可以采用非接触方式实现信号的传输和感应。其中，对战信息交互装置2可以采用红外线信号实现对战信息的收发以及特效的输出，其中，红外线信号可以携带该云台系统的身份标识信息，从而让其他云台系统区分该对战信息的来源。此时，作为一种可选的实施方式，对战信息交互装置2可以包括有用于收发对战信息的红外收发组件21。此外，云台系统在需要进行特效输出时，可以在云台1上设置状态显示组件22，并利用各种声光特效实现对战信息的特效输出。此时，对战信息交互装置2可以包括有红外收发组件21以及状态显示组件22中的至少一者。
需要说明的是，状态显示组件22仅仅为云台系统进行特效输出时的一种可选的手段，云台系统实现特效输出时，不仅可以利用状态显示组件22实现，也可以利用其它的部件完成，例如是声效输出系统等。
以下分别对于红外收发组件21以及状态显示组件22的具体结构、设置方式以及工作原理进行详细介绍。
具体的，红外收发组件21能够发出和接收红外线信号，并利用红外线信号传输对战信息。由于红外线信号具有沿直线传播的特性，因而红外收发组件21可以具有两个或两个以上，这些红外收发组件21设置在云台1在沿水平方向的周侧，因而云台系统可以和位于水平方向周侧的不同方向的对象(如其它云台系统)进行红外线信号的接收或发送，并可靠地进行对战信息的传输和交互工作。
一般的，从水平周向上来看，云台系统的正前方和正后方所占的角度范围较小，而侧方所占的角度范围较大由于云台系统因而侧方更便于外界 进行观察。作为一种可选的方式，红外收发组件21可以为两个，且两个红外收发组件21分别设置在云台1的沿水平方向的两侧。这样，将红外收发组件21设置在云台1侧方时，红外收发组件21可以在水平周向上覆盖较大的范围，且红外收发组件21受云台系统正前方和正后方结构的遮挡较少，让红外收发组件21具有良好的信号收发范围。
其中，红外收发组件21可以位于云台1的外侧面。此时红外收发组件21受到云台系统自身结构的遮挡较少，具有良好的视野和较为全面的信号覆盖范围，从而让对战交互信息的传递和交互较为可靠。
可选的，红外收发组件21位于轴臂11的端部。这样一方面便于红外收发组件21的设置，另一方面让红外收发组件21受到的遮挡较少，能够保证对战交互信息的正常收发。
而为了完成对红外线信号的接收与发送，红外收发组件21的内部可以具有专门用于接收以及专门用于发送红外线信号的部件。例如在一种可选的红外收发组件结构中，红外收发组件21具体包括红外发射器211和红外接收器212，其中，红外发射器211用于向外部，例如是对战中的其它对手发射携带有第一对战信息的红外线信号，红外接收器212用于接收来自外部的，携带有第二对战信息的红外线信号。这样，处于模拟射击对战中的云台系统即可与外界通过红外线信号进行对战信息的交互。其中，第一对战信息和第二对战信息均被包括在对战信息中，且第一对战信息和第二对战信息所包含的内容和含义可以相同或者不同。示例性的，第一对战信息可以包括攻击信息(例如，向对手发送攻击信息)以及防御信息(例如，向队友发送防御信息，以提示进行防御)等，而第二对战信息可以用于表示来自对手的攻击信息、或队友的防御信息等，例如对手发出的攻击以及伤害等。需要说明的是，上述仅为举例说明，而第一对战信息和第二对战信息的内容和含义并不以此为限。
在一种可选的实施方式中，红外收发组件21的沿水平方向的发射范围和/或接收范围均为360°。这样云台系统可以在水平周向上实现红外线信号的全向发送和接收。
在进行红外线信号的收发时，单个红外发射器211或者单个红外接收 器212的信号发射或者接收角度较为有限，通常仅能覆盖一个较窄的角度范围。因此，当云台系统的红外收发组件21在进行红外线信号的收发时，为了扩大信号的覆盖范围，使云台系统在水平周向上实现全向发送和接收红外线信号，可选的，每个红外收发组件21中，红外发射器211和红外接收器212的数量均为至少两个，各个红外发射器211的朝向不同，且各个红外接收器212的朝向也不同。
这样，在红外收发组件21中设置多个红外发射器211以及多个红外接收器212，且让不同的红外发射器211和红外接收器212指向不同的方向及角度，可以在单个红外发射器211和单个红外接收器212的覆盖角度有限的情况下，让多个朝向不同的红外发射器211和红外接收器212的共同覆盖较大的角度和范围。
其中，由于红外发射器211和红外接收器212具有不同的信号发送或接收范围，因而在每个红外收发组件21中，红外发射器211和红外接收器212可以具有不同的数量以及设置角度。此外，针对单个红外发射器211或者单个红外接收器212而言，当红外发射器211或者红外接收器212的型号和规格不同时，单个红外发射器211或者单个红外接收器212也会具有不同的信号覆盖角度和覆盖范围，因而对于不同型号和规格的红外发射器211或者是红外接收器212，在单个红外收发组件21中也会具有不同的数量。
当红外发射器211和红外接收器212都具有多个时，在红外收发组件21中的红外发射器211和红外接收器212可以具有多种不同的排列和设置方式。以下对每个红外收发组件21中红外发射器211和红外接收器212的各种排列方式和设置位置进行具体说明。
可选的，至少两个红外发射器211可以位于至少两个红外接收器212的沿水平方向的两侧。这样红外发射器211和红外接收器212会沿着水平方向排列在云台系统的周侧，也就是说，在水平方向上，红外发射器211位于红外接收器212的外侧。红外发射器211位于红外接收器212两侧时，红外发射器211受到红外接收器212的遮挡较小，能够获得更大的覆盖范围，从而提高红外线信号发射的可靠性。
此外，也可以是红外接收器212位于红外发射器211的沿水平方向的两侧，从而让红外接收器212获得更大的覆盖范围，其具体设置方式可以根据红外接收器212以及红外发射器211的具体规格和数量而相应调整，此处不加以限制。
在进行模拟对战时，云台系统及其载体可以位于地面上，此时云台系统以及外界的其它对手均位于相同或相近的高度，因而作为一种可选的设置方式，可以将红外发射器211和红外接收器212中至少一者的朝向设置为水平方向。
此时，由于红外发射器211或者是红外接收器212的朝向均沿水平方向，因而相邻两个红外发射器211之间，或者是相邻两个红外接收器212之间不存在空间夹角，而是仅存在水平方向上的夹角。这样红外发射器211和红外接收器212之间的间隔或者夹角较小，能够在水平方向上实现较大的覆盖范围，提高红外线信号发射和接收的可靠性。
其中，可以是红外发射器211的朝向均沿水平方向，也可以是红外接收器212的朝向均沿水平方向，或者是红外发射器211和红外接收器212的朝向均沿着水平方向。此处不加以限制。
具体的，红外发射器211和红外接收器212可以具有不同的数量。例如在一种可选的方式中，在单个红外收发组件21内的红外接收器212的数量为三个，例如是红外接收器212a、红外接收器212b和红外接收器212c，且这三个红外接收器的朝向分别沿云台1的侧前方、云台1的侧方和云台1的侧后方。
此时，由于红外收发组件21一般位于云台系统在水平方向上的两侧，此时，每个红外收发组件21中的三个红外接收器212a、红外接收器212b和红外接收器212c可以互成角度排列，并指向云台1在水平方向上的不同范围和角度，从而对云台系统在相应侧的区域实现覆盖。而利用两个或多个红外收发组件21的相互配合，即可实现云台系统在水平周向上的红外线信号接收。
可选的，每个红外收发组件21内部的红外接收器212a、红外接收器212b和红外接收器212c之间可以呈特定的角度范围。例如，三个红外接 收器中，每相邻两个红外接收器212的朝向之间的夹角可以大于或等于70度，且小于或等于110度。此时，红外接收器212a、红外接收器212b和红外接收器212c之间具有合适的间隔和夹角，能够保证相邻两个红外接收器212之间的覆盖范围相互衔接或具有一定的重叠区域，且三个红外接收器212所共同覆盖的范围较大。
其中，每个红外收发组件21内的三个红外接收器212中，每相邻两个红外接收器21的朝向之间可以为垂直或者近似垂直。此时，三个红外接收器，即红外接收器212a、红外接收器212b和红外接收器212c可以共同覆盖大概180度左右的角度范围。
而可选的，在单个红外收发组件21中，红外发射器211的数量为两个，例如是红外发射器211a以及红外发射器211b，且两个红外发射器211a以及212b的朝向之间的夹角可以大于或等于90度，且小于或等于110度。此时，红外发射器211a以及红外发射器211b之间也会具有合适的间隔及夹角，保证红外发射器211的覆盖范围相互衔接，并共同覆盖较大的范围。这样两个红外发射器211a和红外发射器211b也可以共同覆盖大概180度左右的角度范围。其中，在一种可选的排列方式中，两个红外发射器211的朝向之间的夹角可以为100度或者接近100度。
这样上述利用红外收发组件21中设置多个红外发射器211以及多个红外接收器212，且让不同红外发射器211以及不同红外接收器212指向不同的朝向，可以让多个不同红外发射器211和红外接收器212共同覆盖较大的范围。
为了设置红外发射器211和红外接收器212，红外收发组件21中还设置有其它部件和结构。例如，可选的，红外收发组件21还包括电路板213，红外发射器211和红外接收器212均和电路板213具有电连接。电路板213能够为红外发射器211和红外接收器212提供电源以及控制信号，让红外发射器211和红外接收器212实现正常的信号收发。其中，电路板213可以是印制电路板(Printed Circuit Board，PCB)等不同形式。
此外，可选的，红外收发组件21还包括固定架214，这样电路板213可以设置在固定架214上，且红外发射器211和红外接收器212均设置在 电路板213或固定架214上。而固定架214自身可以和红外收发组件21的其它结构或者是云台系统连接，以实现红外发射器211和红外接收器212在云台系统上的固定。
为了将固定架214或者是红外收发组件21的其它结构设置在云台系统上，可选的，云台1的外侧面上设置有沿水平方向延伸的容置槽13，而红外收发组件21即可位于容置槽13之内。由于容置槽13沿着水平方向延伸，所以固定架214的长度方向也可以沿着水平方向，这样红外发射器211和红外接收器212均可以沿着水平方向排列和设置。
可选的，因为红外发射器211和红外接收器212会指向水平方向的不同范围，所以容置槽13的前后两端可以具有开口131，至少部分红外发射器211，或者是至少部分红外接收器212会通过该开口131暴露于云台1的前后两侧。这样通过设置开口131等避让结构，容置槽13在水平方向上不会对红外发射器211以及红外接收器212的信号传输造成遮挡，从而保证了红外收发组件21具有较大的信号收发范围。
此外，作为一种可选的结构，容置槽13的槽壁沿水平方向向云台1的外侧凸出，且容置槽13的槽壁中段的凸出高度大于容置槽13的槽壁端部的凸出高度。这样容置槽13的槽壁高度会和红外收发组件21中的红外发射器211以及红外接收器212的设置位置以及角度相匹配，以在对红外收发组件21进行保护的同时，避免容置槽13的槽壁端部影响到红外收发组件21的信号收发范围。
而为了对红外发射器211和红外接收器212进行遮挡，以避免外露的红外发射器211和红外接收器212影响到云台系统的整体外观，可选的，云台系统中还可以包括允许红外光透过的盖板14，盖板14盖设在容置槽13上。此时，红外收发组件21中的红外发射器211、红外接收器212以及电路板213等部件均会被遮挡在盖板14之下。盖板14自身可采用仅容红外线透过的材料制成，因而盖板14可以对容置槽13内侧的结构进行遮挡，提高云台1的美观性，并让红外收发组件21仍保持正常的信号收发功能。
当采用盖板14对红外收发组件21进行遮挡时，为避免盖板14等结 构影响到红外收发组件21的信号收发范围，可选的，盖板14可以向云台1的外侧凸出，且盖板14在沿云台1的前后方向均具有可见区域。这样无论从云台1的侧方，还是从云台1的正前方或者正后方观察，均能够看到盖板14的一部分区域，因而云台1的正前方或者正后方结构不会对位于盖板14内侧的红外收发组件21造成遮挡，而红外发射器211或者红外接收器212即可从这部分区域实现红外线信号的发送或接收，从而实现较大的信号覆盖范围。
为了让云台系统及载体在模拟射击对战时能够直观地对对战信息进行相应的输出，对战状态交互装置2还可以包括状态显示组件22，状态显示组件22用于根据云台系统在对战时发送的对战信息，以及在接收到其它选手的对战信息，或者是自身实现特殊操作或进入特殊状态时，利用声光等手段显示部分特效等。以下对状态显示组件22的具体结构和功能进行详细说明。
其中，状态显示组件22在显示对战信息时，主要指的是检测云台系统所受到的打击伤害，并将包括打击伤害在内的对战信息显示出来。在状态显示组件22显示云台系统的对战状态时，对战信息可以包括以下一种或多种的组合：云台系统在对战时的血量、云台系统在对战时是否受到弹丸打击。
其中，云台系统在进行对战时，自身可以拥有一定的模拟血量，而受到弹丸或者其它攻击手段的打击时，模拟血量就会下降。因而状态显示组件22可以对云台系统在对战时的血量进行实时显示；此外，当云台系统受到弹丸打击时，状态显示组件22也可以进行显示，使操作者和观众获知该情况。此外，状态显示组件22所显示的对战状态还可以包括云台系统是否处于特殊状态(释放特殊技能或者是血量下降至某一限值等)。
状态显示组件22在显示对战信息时，可以通过灯光、音效等不同手段向外界显示，这样利用状态显示组件22，可以让云台系统对在对战时的当前状态进行直观的显示，从而让操作者和观众等都能够较为容易的获得云台系统的当前对战状态，从而清晰的掌握模拟对战的战斗态势。
可选的，状态显示组件22具体可以包括一个或多个指示灯221，指示灯221用于通过改变发光状态显示对应的对战信息。
其中，指示灯221可以具有以下一种或多种可变的发光状态：指示灯221的颜色、指示灯221的发光频率、指示灯221的亮度、指示灯221的发光时长、指示灯221的发光区域的面积等。
具体的，指示灯221可以具有较为多样的发光状态，例如是指示灯221为多色指示灯，并通过发出不同颜色的亮光来指示不同的对战状态。示例性的，可以让指示灯221为青绿色时，表示云台系统位于连接模式，或者指示灯221为红蓝色时，表示云台系统位于准备状态。
或者，指示灯221也可以具有多个不同的发光区域，并利用发光区域的不同区分不同对战信息。再或者，指示灯221也可以具有恒亮或者闪烁等不同状态，且在指示灯221闪烁时，可以具有不同的闪烁频率，而不同对战状态可以通过指示灯221本身的恒亮/闪烁状态以及闪烁频率进行划分。示例性的，可以在云台系统在对战中的血量较低(低于25％)时，或者是云台系统处于特殊技能状态(无敌、释放群攻技能)时，让指示灯221以较快的频率闪烁。此外，指示灯221也可以具有不同的亮度，并根据亮度对云台系统对应的对战状态进行区分。指示灯221可以利用上述各个不同的单一发光状态以及多个发光状态的组合来表示不同信息，此处不再赘述。
这样通过指示灯221等器件显示云台系统的对战状态，由于指示灯221的发光状态改变时，能够直观清楚的被云台系统的操作者或者是观众观察到，因而操作者和观众也能够较为容易的获知当前的模拟对战战况，便于操作者的操作，也能够提高模拟对战的乐趣。
可选的，指示灯221具有至少两个独立发光的发光区域。在指示灯221发光时，即可通过控制不同发光区域分别独立发光，从而表示不同的对战信息。而每个发光区域的发光状态可以包括以下一种或多种：恒亮状态、恒灭状态和闪烁状态等。根据各个发光区域的不同的发光状态，即可进行不同的对战信息的表示。而由于指示灯221被分为了不同发光区域，因而可以根据每个发光区域的发光状态的不同，让指示灯表示不同的信息。例如，可以让指示灯221中只亮起或熄灭特定的发光区域，并利用该特定的发光区域表示特定对战信息。或者是，让指示灯221中的发光区域按照特定次序亮起或熄灭，从而实现跑马灯效果等。
而为了让位于云台系统不同侧的人均能够方便的看到云台系统的对战信息，可选的，指示灯221为至少两组，且两组指示灯221分别设置在云台1沿水平方向的周侧。这样云台系统的各个方向均有指示灯221进行指示，便于操作者和观众观察到云台系统的实时对战状态。
进一步的，本实施例中，指示灯221可以为两组，且两组指示灯221分别设置在云台沿水平方向的两侧。这样云台系统的两侧均有指示灯221进行指示，便于操作者和观众观察到云台系统的实时对战状态。
可选的，和红外收发组件21类似，指示灯221也可以设置在轴臂11的端部。这样，由于轴臂11的端部一般可以设置电机等驱动元件，因而将指示灯221设置在该位置，可以便于进行外观的协调统一，从而提升美观性；此外，由于轴臂11与转轴的连接处具有较高的高度，且轴臂11的设置有转轴的端部一般可以形成面积较大的外表面，因此指示灯221设置在轴臂11与转轴的连接处时，指示灯221较为显眼，指示效果较好。
而此时，指示灯221位于轴臂11的端部位置，因而相应的，作为一种可选的实施方式，指示灯221可以为环形，且指示灯221环绕在转轴(例如，俯仰轴)的端部外侧。由于指示灯221为环形灯条，所以指示灯221能够占据云台1外表面的较大面积，以具有较好的指示效果；同时，指示灯221所形成的环形环绕在俯仰轴的外侧，因而指示灯221和轴臂11之间能够形成较为协调的视觉效果，让云台系统具有较好的美观性。
具体的，呈环形的指示灯221可以包括一条或者多条灯条段。例如，指示灯221包括一个环形灯条段，或者包括多条共同围成环形的灯条段等。为了便于制造和装配，可选的，指示灯221包括至少两条灯条段222，灯条段222均呈弧形，且这些灯条段222共同围成环形。
可选的，在本实施例中，指示灯221中的灯条段222具体可以包括第一灯条段222a和第二灯条段222b，第一灯条段222a和第二灯条段222b分别设置在红外收发组件21的上下两侧。这样两个灯条段222可以关于红外收发组件21对称设置，让红外收发组件21和指示灯221有机地结合在一起，从而有效地利用云台上的有限安装空间，并提升云台系统的美观度。
其中，为了表示多种不同的对战状态，作为一种可选的实施方式，每 个灯条段222分隔为至少两个发光区域。因而每个灯条段222均可以控制不同的发光区域进行独立发光，以表示不同的对战信息。其中，灯条段222分隔为多个不同发光区域时的具体方式已在上述实施例中进行了举例说明，此处不再赘述。
为了将灯条段222分隔为多个不同的发光区域，在一种可选的实施方式中，灯条段222包括间隔设置的至少两个LED灯2221，每相邻两个LED灯2221之间设置有隔光部2222。隔光部2222可以对相邻两个LED灯2221进行隔离，从而让每个LED灯2221均处于一个独立的发光区域内，而其它LED灯2221发出的光线被隔光部2222所隔离，无法影响到该LED灯2221的发光区域。这样即可实现不同发光区域的独立发光。
本实施例中，每个灯条段222可以由隔光部2222分隔为四个相互独立的发光区域。
本实施例中的云台系统用于射击对战，云台系统具体包括云台和对战信息交互装置；其中，对战信息交互装置设置在云台的外侧面，用于执行下列一种或多种操作：收发对战信息、根据对战信息进行特效输出。这样可以利用对战信息交互装置完成云台系统在模拟射击对战时的互动功能，有效提高竞技比赛的体验度和趣味性，且对战交互装置外侧没有遮挡，信息收发和/或特效输出均可以方便地从外界所获取和/或被外界所获取。
本发明实施例二还提供一种移动平台。本实施例提供的移动平台，具体包括平台主体和前述实施例所述的云台系统，云台系统设置在平台主体上。其中，云台系统的具体结构、功能以及工作原理均已在前述实施例一中进行了详细说明，此处不再赘述。
具体的，本实施例中的移动平台可以用于模拟射击对战等竞技比赛，并通过向靶标或者对手射击弹丸达到得分与竞技效果。由于移动平台的云台系统中包括对战信息交互装置，因而可以有效可靠的实现伤害检测以及对战状态显示功能，有效提升竞技比赛的观赏性和趣味性。
移动平台可以为多种不同类型的载具。例如，移动平台可以为地面移动机器人，并在地面上进行模拟射击对战。或者，移动平台也可以为飞行器，并在天空进行对战竞技。
本实施例中，移动平台具体包括平台主体和云台系统，云台系统设置 在平台主体上；其中，云台系统用于射击对战，云台系统具体包括云台和对战信息交互装置；对战信息交互装置设置在云台的外侧面，用于执行下列一种或多种操作：收发对战信息、根据对战信息进行特效输出。这样移动平台可以利用对战信息交互装置完成云台系统在模拟射击对战时的互动功能，有效提高竞技比赛的体验度和趣味性，且对战交互装置外侧没有遮挡，信息收发和/或特效输出均可以方便地从外界所获取和/或被外界所获取。
此外，本发明实施例三还提供一种对战系统，该对战系统包括至少两个战队，每个战队包括至少一个如前述实施例所述的移动平台，移动平台之间能够通过对战信息交互装置进行下列至少一种操作：收发对战信息、根据对战信息进行特效输出。其中，移动平台以及对战信息交互装置的具体结构、功能以及工作原理均已在前述实施例中进行了详细说明，此处不再赘述。
其中，对战系统中的各个移动平台被划分为多个不同战队，而不同战队之间可以进行射击等竞技比赛。在对战过程中，各个云台系统在和外界进行对战信息的互动时，可以是和同一战队的其它云台系统进行信息收发和交互，例如是发送协作信息、帮助信息或者是编队指令等；也可以是和竞争对手进行互动，例如是发送攻击信息或者接收攻击信息。由此，各个云台系统可以通过对战信息交互装置和本战队的选手或者位于其它战队的竞争对手进行互动，从而实现对战信息的交互。当然，各个移动平台中的云台系统也可以根据收发的对战信息进行特效输出，以让外界可以直观地了解到对战情况，加强了人机之间的互动。
本实施例中的对战系统包括至少两个战队，每个战队包括至少一个如前述实施例所述的移动平台，移动平台之间通过对战信息交互装置进行下列至少一种操作：收发对战信息、根据对战信息进行特效输出。这样移动平台可以利用对战信息交互装置完成云台系统在模拟射击对战时的互动功能，有效提高竞技比赛的体验度和趣味性，且对战交互装置外侧没有遮挡，信息收发和/或特效输出均可以方便地从外界所获取和/或被外界所获取。
最后，尽管已经在这些实施例的上下文中描述了与本技术的某些实施 例相关联的优点，但是其他实施例也可以包括这样的优点，并且并非所有实施例都详细描述了本发明的所有优点，由实施例中的技术特征所客观带来的优点均应视为本发明区别于现有技术的优点，均属于本发明的保护范围。

Claims (107)

  1. 一种云台系统，用于射击对战，其特征在于，包括：云台和对战信息交互装置；
    所述对战信息交互装置设置在所述云台的外侧面，用于收发对战信息和/或根据所述对战信息进行特效输出。
  2. 根据权利要求1所述的云台系统，其特征在于，所述对战信息交互装置包括用于收发对战信息的红外收发组件和/或用于根据所述对战信息进行特效输出的状态显示组件。
  3. 根据权利要求2所述的云台系统，其特征在于，所述云台包括轴臂，所述轴臂形成有安装空间，所述安装空间用于至少容置所述云台承载的射击装置，所述对战信息交互装置设置在所述轴臂的外侧面。
  4. 根据权利要求3所述的云台系统，其特征在于，所述轴臂被配置为绕所述云台的偏航轴转动；或者，所述轴臂被配置为绕所述云台的横滚轴转动。
  5. 根据权利要求3所述的云台系统，其特征在于，所述轴臂为U形轴臂或者Y形轴臂。
  6. 根据权利要求5所述的云台系统，其特征在于，所述红外收发组件和/或所述状态显示组件位于所述轴臂的端部。
  7. 根据权利要求2-6任一项所述的云台系统，其特征在于，所述红外收发组件包括至少两个，至少两个所述红外收发组件分别设置在所述云台沿水平方向的周侧。
  8. 根据权利要求7所述的云台系统，其特征在于，所述红外收发组件沿水平方向的发射范围和/或接收范围均为360范。
  9. 根据权利要求7所述的云台系统，其特征在于，所述红外收发组件包括两个，两个所述红外收发组件分别设置在所述云台沿水平方向的两侧。
  10. 根据权利要求9所述的云台系统，其特征在于，所述红外收发组件包括红外发射器和红外接收器，所述红外发射器用于向外部发射携带有第一对战信息的红外线信号，所述红外接收器用于接收来自外部的携带有第二对战信息的红外线信号；
    其中，所述对战信息包括所述第一对战信息和所述第二对战信息。
  11. 根据权利要求10所述的云台系统，其特征在于，每个所述红外收发组件中，所述红外发射器和所述红外接收器的数量均为至少两个，各个所述红外发射器的朝向不同，且各个所述红外接收器的朝向不同。
  12. 根据权利要求11所述的云台系统，其特征在于，至少两个所述红外发射器位于至少两个所述红外接收器沿水平方向的两侧。
  13. 根据权利要求12所述的云台系统，其特征在于，所述红外发射器和/或所述红外接收器的朝向为水平方向。
  14. 根据权利要求11-13任一项所述的云台系统，其特征在于，每个所述红外收发组件中，所述红外接收器的数量为三个，且三个所述红外接收器的朝向分别沿所述云台的侧前方设置、沿所述云台的侧方设置和沿所述云台的侧后方设置。
  15. 根据权利要求14所述的云台系统，其特征在于，三个所述红外接收器中，每相邻两个所述红外接收器的朝向之间的夹角大于或等于70度，且小于或等于110度。
  16. 根据权利要求15所述的云台系统，其特征在于，每相邻两个所述红外接收器的朝向相互垂直。
  17. 根据权利要求14所述的云台系统，其特征在于，每个所述红外收发组件中，所述红外发射器的数量为两个，且两个所述红外发射器的朝向之间的夹角大于或等于90度，且小于或等于110度。
  18. 根据权利要求17所述的云台系统，其特征在于，两个所述红外发射器的朝向之间的夹角为100度。
  19. 根据权利要求10-13任一项所述的云台系统，其特征在于，所述红外收发组件还包括电路板，所述红外发射器和所述红外接收器分别与所述电路板电连接。
  20. 根据权利要求19所述的云台系统，其特征在于，所述红外收发组件还包括固定架，所述电路板设置在所述固定架上，所述红外发射器和所述红外接收器均设置在所述电路板或所述固定架上。
  21. 根据权利要求2-6任一项所述的云台系统，其特征在于，所述云台的外侧面上设有沿水平方向延伸的容置槽，所述红外收发组件位于所述 容置槽内。
  22. 根据权利要求21所述的云台系统，其特征在于，所述容置槽的前后两端具有开口，所述红外收发组件中的至少部分红外发射器和/或至少部分红外接收器通过所述开口暴露于所述云台的前后两侧。
  23. 根据权利要求21所述的云台系统，其特征在于，所述容置槽的槽壁沿水平方向向所述云台的外侧凸出，且所述容置槽的槽壁中段的凸出高度大于所述容置槽的槽壁端部的凸出高度。
  24. 根据权利要求21所述的云台系统，其特征在于，所述云台系统还包括允许红外光透过的盖板，所述盖板盖设在所述容置槽上。
  25. 根据权利要求24所述的云台系统，其特征在于，所述盖板向所述云台外侧凸出，且所述盖板沿所述云台的前后方向均具有可见区域。
  26. 根据权利要求2-6任一项所述的云台系统，其特征在于，所述状态显示组件包括指示灯，所述指示灯用于通过改变发光状态显示对应的对战信息。
  27. 根据权利要求26所述的云台系统，其特征在于，所述指示灯具有以下一种或多种可变的发光状态：所述指示灯的颜色、所述指示灯的发光频率、所述指示灯的亮度、所述指示灯的发光时长、所述指示灯的发光区域。
  28. 根据权利要求26所述的云台系统，其特征在于，所述指示灯为至少两组，且两组所述指示灯分别设置在所述云台沿水平方向的周侧。
  29. 根据权利要求28所述的云台系统，其特征在于，所述指示灯为两组，两组所述指示灯分别设置在所述云台沿水平方向的两侧。
  30. 根据权利要求26所述的云台系统，其特征在于，所述指示灯为环形，且所述指示灯环绕在所述云台的外侧面。
  31. 根据权利要求30所述的云台系统，其特征在于，所述指示灯包括至少两条灯条段，所述灯条段呈弧形，至少两条所述灯条段共同围成环形。
  32. 根据权利要求31所述的云台系统，其特征在于，所述指示灯包括第一灯条段和第二灯条段，所述第一灯条和段所述第二灯条段分别设置在所述红外收发组件的上下两侧。
  33. 根据权利要求31或32所述的云台系统，其特征在于，每个所述灯条段分隔为至少两个发光区域。
  34. 根据权利要求33所述的云台系统，其特征在于，所述灯条段包括间隔设置的至少两个LED灯，每相邻两个所述LED灯之间设置有隔光部。
  35. 根据权利要求34所述的云台系统，其特征在于，每个所述灯条段由所述隔光部分隔为四个所述发光区域。
  36. 一种移动平台，其特征在于，包括平台主体和云台系统，所述云台系统设置在所述平台主体上；
    所述云台系统包括云台和对战信息交互装置；
    所述对战信息交互装置设置在所述云台的外侧面，用于收发对战信息和/或根据所述对战信息进行特效输出。
  37. 根据权利要求36所述的移动平台，其特征在于，所述对战信息交互装置包括用于收发对战信息的红外收发组件和/或用于根据所述对战信息进行特效输出的状态显示组件。
  38. 根据权利要求37所述的移动平台，其特征在于，所述云台包括轴臂，所述轴臂形成有安装空间，所述安装空间用于至少容置所述云台承载的射击装置，所述对战信息交互装置设置在所述轴臂的外侧面。
  39. 根据权利要求38所述的移动平台，其特征在于，所述轴臂被配置为绕所述云台的偏航轴转动；或者，所述轴臂被配置为绕所述云台的横滚轴转动。
  40. 根据权利要求38所述的移动平台，其特征在于，所述轴臂为U形轴臂或者Y形轴臂。
  41. 根据权利要求40所述的移动平台，其特征在于，所述红外收发组件和/或所述状态显示组件位于所述轴臂的端部。
  42. 根据权利要求37-41任一项所述的移动平台，其特征在于，所述红外收发组件包括至少两个，至少两个所述红外收发组件分别设置在所述云台沿水平方向的周侧。
  43. 根据权利要求42所述的移动平台，其特征在于，所述红外收发组件沿水平方向的发射范围和/或接收范围均为360范。
  44. 根据权利要求42所述的移动平台，其特征在于，所述红外收发组件包括两个，两个所述红外收发组件分别设置在所述云台沿水平方向的两侧。
  45. 根据权利要求44所述的移动平台，其特征在于，所述红外收发组件包括红外发射器和红外接收器，所述红外发射器用于向外部发射携带有第一对战信息的红外线信号，所述红外接收器用于接收来自外部的携带有第二对战信息的红外线信号；
    其中，所述对战信息包括所述第一对战信息和所述第二对战信息。
  46. 根据权利要求45所述的移动平台，其特征在于，每个所述红外收发组件中，所述红外发射器和所述红外接收器的数量均为至少两个，各个所述红外发射器的朝向不同，且各个所述红外接收器的朝向不同。
  47. 根据权利要求46所述的移动平台，其特征在于，至少两个所述红外发射器位于至少两个所述红外接收器沿水平方向的两侧。
  48. 根据权利要求47所述的移动平台，其特征在于，所述红外发射器和/或所述红外接收器的朝向为水平方向。
  49. 根据权利要求46-48任一项所述的移动平台，其特征在于，每个所述红外收发组件中，所述红外接收器的数量为三个，且三个所述红外接收器的朝向分别沿所述云台的侧前方设置、沿所述云台的侧方设置和沿所述云台的侧后方设置。
  50. 根据权利要求49所述的移动平台，其特征在于，三个所述红外接收器中，每相邻两个所述红外接收器的朝向之间的夹角大于或等于70度，且小于或等于110度。
  51. 根据权利要求50所述的移动平台，其特征在于，每相邻两个所述红外接收器的朝向相互垂直。
  52. 根据权利要求49所述的移动平台，其特征在于，每个所述红外收发组件中，所述红外发射器的数量为两个，且两个所述红外发射器的朝向之间的夹角大于或等于90度，且小于或等于110度。
  53. 根据权利要求52所述的移动平台，其特征在于，两个所述红外发射器的朝向之间的夹角为100度。
  54. 根据权利要求45-47任一项所述的移动平台，其特征在于，所述 红外收发组件还包括电路板，所述红外发射器和所述红外接收器分别与所述电路板电连接。
  55. 根据权利要求54所述的移动平台，其特征在于，所述红外收发组件还包括固定架，所述电路板设置在所述固定架上，所述红外发射器和所述红外接收器均设置在所述电路板或所述固定架上。
  56. 根据权利要求37-41任一项所述的移动平台，其特征在于，所述云台的外侧面上设有沿水平方向延伸的容置槽，所述红外收发组件位于所述容置槽内。
  57. 根据权利要求56所述的移动平台，其特征在于，所述容置槽的前后两端具有开口，所述红外收发组件中的至少部分红外发射器和/或至少部分红外接收器通过所述开口暴露于所述云台的前后两侧。
  58. 根据权利要求56所述的移动平台，其特征在于，所述容置槽的槽壁沿水平方向向所述云台的外侧凸出，且所述容置槽的槽壁中段的凸出高度大于所述容置槽的槽壁端部的凸出高度。
  59. 根据权利要求56所述的移动平台，其特征在于，所述云台系统还包括允许红外光透过的盖板，所述盖板盖设在所述容置槽上。
  60. 根据权利要求59所述的移动平台，其特征在于，所述盖板向所述云台外侧凸出，且所述盖板沿所述云台的前后方向均具有可见区域。
  61. 根据权利要求37-41任一项所述的移动平台，其特征在于，所述状态显示组件包括指示灯，所述指示灯用于通过改变发光状态显示对应的对战信息。
  62. 根据权利要求61所述的移动平台，其特征在于，所述指示灯具有以下一种或多种可变的发光状态：所述指示灯的颜色、所述指示灯的发光频率、所述指示灯的亮度、所述指示灯的发光时长、所述指示灯的发光区域。
  63. 根据权利要求61所述的移动平台，其特征在于，所述指示灯为至少两组，且两组所述指示灯分别设置在所述云台沿水平方向的周侧。
  64. 根据权利要求63所述的移动平台，其特征在于，所述指示灯为两组，两组所述指示灯分别设置在所述云台沿水平方向的两侧。
  65. 根据权利要求61所述的移动平台，其特征在于，所述指示灯为 环形，且所述指示灯环绕在所述云台的外侧面。
  66. 根据权利要求65所述的移动平台，其特征在于，所述指示灯包括至少两条灯条段，所述灯条段呈弧形，至少两条所述灯条段共同围成环形。
  67. 根据权利要求66所述的移动平台，其特征在于，所述指示灯包括第一灯条段和第二灯条段，所述第一灯条和段所述第二灯条段分别设置在所述红外收发组件的上下两侧。
  68. 根据权利要求66或67所述的移动平台，其特征在于，每个所述灯条段分隔为至少两个发光区域。
  69. 根据权利要求68所述的移动平台，其特征在于，所述灯条段包括间隔设置的至少两个LED灯，每相邻两个所述LED灯之间设置有隔光部。
  70. 根据权利要求69所述的移动平台，其特征在于，每个所述灯条段由所述隔光部分隔为四个所述发光区域。
  71. 根据权利要求36-41任一项所述的移动平台，其特征在于，所述移动平台为以下任意一种：地面移动机器人、飞行器。
  72. 一种对战系统，其特征在于，包括至少两个战队，每个战队包括至少一个移动平台，所述移动平台包括平台主体和云台系统，所述云台系统设置在所述平台主体上；
    所述云台系统包括云台和对战信息交互装置；
    所述对战信息交互装置设置在所述云台的外侧面，所述移动平台之间能够通过对战信息交互装置收发对战信息和/或根据所述对战信息进行特效输出。
  73. 根据权利要求72所述的对战系统，其特征在于，所述对战信息交互装置包括用于收发对战信息的红外收发组件和/或用于根据所述对战信息进行特效输出的状态显示组件。
  74. 根据权利要求73所述的对战系统，其特征在于，所述云台包括轴臂，所述轴臂形成有安装空间，所述安装空间用于至少容置所述云台承载的射击装置，所述对战信息交互装置设置在所述轴臂的外侧面。
  75. 根据权利要求74所述的对战系统，其特征在于，所述轴臂被配 置为绕所述云台的偏航轴转动；或者，所述轴臂被配置为绕所述云台的横滚轴转动。
  76. 根据权利要求74所述的对战系统，其特征在于，所述轴臂为U形轴臂或者Y形轴臂。
  77. 根据权利要求76所述的对战系统，其特征在于，所述红外收发组件和/或所述状态显示组件位于所述轴臂的端部。
  78. 根据权利要求73-77任一项所述的对战系统，其特征在于，所述红外收发组件包括至少两个，至少两个所述红外收发组件分别设置在所述云台沿水平方向的周侧。
  79. 根据权利要求78所述的对战系统，其特征在于，所述红外收发组件沿水平方向的发射范围和/或接收范围均为360范。
  80. 根据权利要求78所述的对战系统，其特征在于，所述红外收发组件包括两个，两个所述红外收发组件分别设置在所述云台沿水平方向的两侧。
  81. 根据权利要求80所述的对战系统，其特征在于，所述红外收发组件包括红外发射器和红外接收器，所述红外发射器用于向外部发射携带有第一对战信息的红外线信号，所述红外接收器用于接收来自外部的携带有第二对战信息的红外线信号；
    其中，所述对战信息包括所述第一对战信息和所述第二对战信息。
  82. 根据权利要求81所述的对战系统，其特征在于，每个所述红外收发组件中，所述红外发射器和所述红外接收器的数量均为至少两个，各个所述红外发射器的朝向不同，且各个所述红外接收器的朝向不同。
  83. 根据权利要求82所述的对战系统，其特征在于，至少两个所述红外发射器位于至少两个所述红外接收器沿水平方向的两侧。
  84. 根据权利要求83所述的对战系统，其特征在于，所述红外发射器和/或所述红外接收器的朝向为水平方向。
  85. 根据权利要求82-84任一项所述的对战系统，其特征在于，每个所述红外收发组件中，所述红外接收器的数量为三个，且三个所述红外接收器的朝向分别沿所述云台的侧前方设置、沿所述云台的侧方设置和沿所述云台的侧后方设置。
  86. 根据权利要求85所述的对战系统，其特征在于，三个所述红外接收器中，每相邻两个所述红外接收器的朝向之间的夹角大于或等于70度，且小于或等于110度。
  87. 根据权利要求86所述的对战系统，其特征在于，每相邻两个所述红外接收器的朝向相互垂直。
  88. 根据权利要求85所述的对战系统，其特征在于，每个所述红外收发组件中，所述红外发射器的数量为两个，且两个所述红外发射器的朝向之间的夹角大于或等于90度，且小于或等于110度。
  89. 根据权利要求88所述的对战系统，其特征在于，两个所述红外发射器的朝向之间的夹角为100度。
  90. 根据权利要求81-84任一项所述的对战系统，其特征在于，所述红外收发组件还包括电路板，所述红外发射器和所述红外接收器分别与所述电路板电连接。
  91. 根据权利要求90所述的对战系统，其特征在于，所述红外收发组件还包括固定架，所述电路板设置在所述固定架上，所述红外发射器和所述红外接收器均设置在所述电路板或所述固定架上。
  92. 根据权利要求73-77任一项所述的对战系统，其特征在于，所述云台的外侧面上设有沿水平方向延伸的容置槽，所述红外收发组件位于所述容置槽内。
  93. 根据权利要求92所述的对战系统，其特征在于，所述容置槽的前后两端具有开口，所述红外收发组件中的至少部分红外发射器和/或至少部分红外接收器通过所述开口暴露于所述云台的前后两侧。
  94. 根据权利要求92所述的对战系统，其特征在于，所述容置槽的槽壁沿水平方向向所述云台的外侧凸出，且所述容置槽的槽壁中段的凸出高度大于所述容置槽的槽壁端部的凸出高度。
  95. 根据权利要求92所述的对战系统，其特征在于，所述云台系统还包括允许红外光透过的盖板，所述盖板盖设在所述容置槽上。
  96. 根据权利要求95所述的对战系统，其特征在于，所述盖板向所述云台外侧凸出，且所述盖板沿所述云台的前后方向均具有可见区域。
  97. 根据权利要求73-77任一项所述的对战系统，其特征在于，所述 状态显示组件包括指示灯，所述指示灯用于通过改变发光状态显示对应的对战信息。
  98. 根据权利要求97所述的对战系统，其特征在于，所述指示灯具有以下一种或多种可变的发光状态：所述指示灯的颜色、所述指示灯的发光频率、所述指示灯的亮度、所述指示灯的发光时长、所述指示灯的发光区域。
  99. 根据权利要求97所述的对战系统，其特征在于，所述指示灯为至少两组，且两组所述指示灯分别设置在所述云台沿水平方向的周侧。
  100. 根据权利要求99所述的对战系统，其特征在于，所述指示灯为两组，两组所述指示灯分别设置在所述云台沿水平方向的两侧。
  101. 根据权利要求97所述的对战系统，其特征在于，所述指示灯为环形，且所述指示灯环绕在所述云台的外侧面。
  102. 根据权利要求101所述的对战系统，其特征在于，所述指示灯包括至少两条灯条段，所述灯条段呈弧形，至少两条所述灯条段共同围成环形。
  103. 根据权利要求102所述的对战系统，其特征在于，所述指示灯包括第一灯条段和第二灯条段，所述第一灯条和段所述第二灯条段分别设置在所述红外收发组件的上下两侧。
  104. 根据权利要求102或103所述的对战系统，其特征在于，每个所述灯条段分隔为至少两个发光区域。
  105. 根据权利要求104所述的对战系统，其特征在于，所述灯条段包括间隔设置的至少两个LED灯，每相邻两个所述LED灯之间设置有隔光部。
  106. 根据权利要求105所述的对战系统，其特征在于，每个所述灯条段由所述隔光部分隔为四个所述发光区域。
  107. 根据权利要求72-77任一项所述的对战系统，其特征在于，所述移动平台为以下任意一种：地面移动机器人、飞行器。
PCT/CN2018/125836 2018-12-29 2018-12-29 云台系统、移动平台及对战系统 WO2020133513A1 (zh)

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JP3886832B2 (ja) * 2002-03-22 2007-02-28 株式会社東京マルイ 赤外線発射式戦車戦闘システム
CN201088861Y (zh) * 2007-06-29 2008-07-23 中山市泰宝电子科技有限公司 一种玩具遥控飞行物之间的对抗系统
CN206715324U (zh) * 2017-03-31 2017-12-08 深圳市大疆创新科技有限公司 供弹机构及发射装置
CN108367195A (zh) * 2017-06-29 2018-08-03 深圳市大疆创新科技有限公司 对战游戏设备、系统

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JP3886832B2 (ja) * 2002-03-22 2007-02-28 株式会社東京マルイ 赤外線発射式戦車戦闘システム
CN201088861Y (zh) * 2007-06-29 2008-07-23 中山市泰宝电子科技有限公司 一种玩具遥控飞行物之间的对抗系统
CN206715324U (zh) * 2017-03-31 2017-12-08 深圳市大疆创新科技有限公司 供弹机构及发射装置
CN108367195A (zh) * 2017-06-29 2018-08-03 深圳市大疆创新科技有限公司 对战游戏设备、系统

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