CN210741262U

CN210741262U - Robot target drone

Info

Publication number: CN210741262U
Application number: CN201921915261.0U
Authority: CN
Inventors: 黄华
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-08
Filing date: 2019-11-08
Publication date: 2020-06-12
Anticipated expiration: 2029-11-08

Abstract

The utility model relates to the technical field of shooting training equipment, in particular to a robot target drone, which comprises an intelligent trolley (1), a shooting target component (2) and a lifting drive component (3) for driving the shooting target component (2) to fall down and stand up, wherein the lifting drive component (3) is fixed on the intelligent trolley (1), the robot target drone also comprises a mounting seat (6), the shooting target component (2) is vertically arranged on the mounting seat (6), the lifting drive component (3) is in driving connection with the mounting seat (6), a rotary drive component (7) for driving the shooting target component (2) to rotate is fixed on the mounting seat (6), so that the intelligent trolley can be ensured to automatically change according to the track of the movement when moving, the shooting target component also correspondingly rotates, thereby ensuring that the target surface always faces the shooting trainer when the intelligent trolley moves, is beneficial to the continuous shooting training.

Description

Robot target drone

Technical Field

The utility model relates to a shooting training equipment technical field, what specifically say is a target drone of robot.

Background

During shooting training, a target drone is often adopted for simulating enemies, a shooting trainer drives a gun to a target surface of the target drone, the target surface is provided with target rings, and finally, the score of the target rings is obtained.

In the prior art, the structure of the target drone is as that disclosed in CN 109163613 a, the target drone comprises an intelligent car and a target arranged on the intelligent car, and the intelligent car can realize unmanned automatic driving, so that shooting training in a motion state can be realized. However, the above structure still has certain disadvantages: the target on the intelligent trolley can not rotate, namely, when the intelligent trolley moves, deviation can be generated between the target surface of the intelligent trolley and a shooter, particularly, when the trolley returns, the target surface faces away from the shooter, and shooting trainers are not convenient to practice shooting training and have adverse effects on the shooting training.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of above-mentioned technical problem at least.

The utility model aims to solve the technical problem that an angle that can adjust the target is provided at least to the robot target drone of convenient shooting training.

In order to solve the technical problem, the utility model provides a following technical scheme:

the utility model relates to a target drone of robot, including intelligent vehicle, shooting target subassembly and be used for driving the shooting target subassembly fall down and the drive assembly that falls of standing up, it fixes on intelligent vehicle to play the drive assembly that falls, a target drone of robot still includes the mount pad, the shooting target subassembly is vertical to be established on the mount pad, play the drive assembly with the mount pad drive is connected, be fixed with on the mount pad and be used for the drive shooting target subassembly pivoted rotary drive subassembly.

After adopting above-mentioned structure, have at least following advantage:

the shooting target assembly is vertically arranged on the mounting seat, and the rotary driving assembly can drive the shooting target assembly to rotate, so that the target surface of the shooting target assembly can move along with the shooting target assembly; when the intelligent vehicle moves, the system of the intelligent vehicle can correspond to the control rotary driving assembly according to the moving direction of the vehicle, so that the shooting target assembly corresponds to rotate according to the movement of the vehicle, and thus, the intelligent vehicle can be ensured to automatically change according to the moving track when moving, and the shooting target assembly also rotates along with the vehicle, so that the target surface is ensured to face the shooting trainer all the time when the intelligent vehicle moves, and the shooting training is facilitated to be continuously carried out.

Preferably, in addition to the above technical solution, the following technical features may be preferably provided:

a signal processing and control device and a direction measuring module are arranged in the intelligent trolley, and the direction measuring module and the rotary driving assembly are electrically connected with the signal processing and control device;

the direction measuring module is used for monitoring the real-time direction information of the intelligent trolley and sending the real-time direction information of the intelligent trolley to the signal processing and controlling device;

the signal processing and controlling device is used for receiving the real-time direction information of the intelligent trolley, calculating the angle difference value between the set direction and the real-time direction of the intelligent trolley, forming a rotation control signal by the angle difference value and sending the rotation control signal to the rotation driving component;

the rotary driving component is used for receiving the rotation control signal of the controller and rotating by a corresponding angle.

Drawings

Fig. 1 is a schematic front view of a robotic target drone of the present invention.

Fig. 2 is a schematic side view of a robotic drone of the present invention.

Fig. 3 is a communication block diagram of a robotic drone.

Figure 4 is a schematic view of a robotic drone in an initial position.

Figure 5 is a schematic view of the drive unit angling of a robotic drone after movement.

Figure 6 is a schematic view of a robotic drone after movement.

Wherein:

1. an intelligent trolley; 2. a shooting target assembly; 3. a lift-down drive assembly; 4. a signal processing and control unit; 5. a direction determination module; 6. a mounting seat; 7. a rotary drive assembly; 8. a camera; 9. an image recognition module; 10. an angle sensor; 11. a bearing; 12. a first motor; 13. a first speed reducer; 14. a second motor; 15. and a second speed reducer.

Detailed Description

The inventive concepts of the present disclosure will be described hereinafter using terms commonly employed by those skilled in the art to convey the substance of their work to others skilled in the art. These utility concepts may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of their inclusion to those skilled in the art. It should also be noted that these embodiments are not mutually exclusive. A component, step, or element from one embodiment may be assumed to be present or used in another embodiment. The particular embodiments shown and described may be substituted for a wide variety of alternate and/or equivalent implementations without departing from the scope of the embodiments of the present disclosure. This application is intended to cover any adaptations or variations of the embodiments discussed herein. It will be apparent to those skilled in the art that alternative embodiments may be practiced using only some of the described aspects. Specific numbers, materials, and configurations are set forth in the examples for the purpose of illustration, however, alternative examples may be practiced by those skilled in the art without these specific details. In other instances, well-known features may be omitted or simplified in order not to obscure the illustrative embodiments.

Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "provided", "mounted", "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The term "fixed" may be welded or fixed by screws, bolts, etc., and those skilled in the art can understand the specific meaning of the above terms in the present invention in specific situations.

Referring to fig. 1-6, in one embodiment, a robot drone includes an intelligent car 1, a shooting target assembly 2, and a lifting drive assembly 3 for driving the shooting target assembly 2 to fall down and stand up, wherein the lifting drive assembly 3 is fixed on the intelligent car 1, the robot drone further includes a mounting base 6, the lifting drive assembly 3 is in driving connection with the mounting base 6, the rotary drive assembly 7 is fixed on the mounting base 6, the shooting target assembly 2 is vertically arranged on a rotating shaft of the rotary drive assembly 7, the rotary drive assembly 7 can drive the shooting target assembly 2 to rotate after rotating, when the lifting drive assembly 3 is driven to fall down, the mounting base 6, the rotary drive assembly 7 and the shooting target assembly 2 are driven to fall down together, and during the lifting process, the rotary drive assembly 7 can rotate, so that the target surface of the shooting target assembly 2 can rotate to a set angle, namely, when the target is played, the target can face a shooter, when the target is overturned, the target surface can be horizontally placed without interfering with the trolley, and the driving shaft of the lifting and overturning driving assembly 3 is in the horizontal direction.

A signal processing and control device 4 and a direction measuring module 5 are arranged in the intelligent trolley 1, and the direction measuring module 5 and the rotary driving component 7 are electrically connected with the signal processing and control device 4; the direction determination module 5 may be an electronic compass or a GPS dual-antenna navigation direction-finding module, which are well-known technologies.

The direction measuring module 5 is used for monitoring real-time direction information of the intelligent trolley 1, wherein the real-time direction information refers to a real-time north-pointing angle of the intelligent trolley 1, and sending the real-time direction information of the intelligent trolley 1 to the signal processing and control unit 4;

the signal processing and controlling device 4 is used for receiving the real-time direction information of the intelligent trolley 1, calculating the angle difference between the set direction and the real-time direction of the intelligent trolley 1, forming a rotation control signal by the angle difference and sending the rotation control signal to the rotation driving component 7; the set direction of the intelligent trolley 1 refers to an angle value which is set manually and is used for the north-pointing of the intelligent trolley 1.

The rotary driving component 7 is used for receiving the rotation control signal of the controller and driving the shooting target component 2 to rotate by a corresponding angle.

The signal processing and control unit 4 may be a computer, a microprocessor, or the like.

The intelligent trolley 1 is provided with a camera 8, an image recognition module 9 is integrated in the signal processing and control device 4, and the camera 8 is electrically connected with the image recognition module 9;

the camera 8 is used for acquiring an image of the target ring after the shooting of the shooting target assembly 2 and sending the image of the target ring after the shooting to the image recognition module 9;

the image recognition module 9 receives and recognizes the image of the target ring after shooting, and outputs the ring number data of the shooting.

Thus, the image recognition system is provided, so that the ring number data of the shooting target assembly 2 after being shot can be conveniently recognized and recorded, and the management is convenient. Of course, a storage module is integrated in the signal processing and control unit 4, and the shot number data outputted from the image recognition module 9 is stored in the storage module. Of course, a wireless communication module can be further arranged in the intelligent trolley 1, and the shooting circle number data output by the image recognition module can be transmitted to a display of a shooting trainer through the wireless communication module.

An angle sensor 10 is arranged in the mounting seat 6, the angle sensor 10 is used for detecting the rotation angle of the shooting target assembly 2 and sending the rotation angle information to the signal processing and control device 4, and if the rotation angle of the shooting target assembly 2 is larger than the angle difference value between the initial direction and the real-time direction of the intelligent trolley 1, the signal processing and control device 4 sends a stop instruction to the rotary driving assembly 7. The angle sensor 10 can feed back the rotation angle information of the shooting target assembly 2, so that the control of the signal processing and control device 4 is more accurate, and if the rotation angle of the shooting target assembly 2 is larger than the angle difference value between the initial direction and the real-time direction of the intelligent trolley 1, the signal processing and control device 4 sends a stop instruction to the rotation driving assembly 7. Thereby ensuring that the rotation of the shooting target assembly 2 is more intelligent. The signal processing and control device 4 sends a left-turn or right-turn command to the rotary driving component 7 according to the difference value between the artificially set direction and the driving direction of the trolley, so that the shooting target component 2 rotates, and stops when the rotating angle is equal to the required angle, so as to ensure that the shooting target component 2 faces a shooter when being kept together; can be placed on the set position of the trolley when the trolley falls.

And a Beidou navigation direction-finding system for automatic driving navigation is arranged in the intelligent trolley 1. The intelligent trolley 1 has the automatic driving function in the prior art, the motion trail can be designed in the intelligent trolley 1, and the intelligent trolley 1 can automatically drive according to the designed motion trail.

A bearing 11 is fixed on the mounting seat 6, and the shooting target assembly 2 is inserted in the bearing 11. The bearing on the one hand plays the effect of supporting the shooting target assembly 2, and in addition, the bearing has still played the effect of being convenient for the shooting target assembly 2 to rotate.

The rotary driving assembly 7 comprises a first motor 12 and a first speed reducer 13, the first motor 12 is in driving connection with the first speed reducer 13, and the shooting target assembly 2 is fixedly connected with a driving shaft of the first speed reducer 13. The first motor 12 is electrically connected to the signal processing and control unit 4. The drive shaft of the first reduction gear 13 is arranged in the vertical direction. The first motor 12 may be a servo motor, a stepping motor, a dc motor, or the like.

The lifting and reversing driving assembly 3 comprises a second motor 14 and a second speed reducer 15, the second speed reducer 15 is fixed on the intelligent trolley 1, the second motor 14 is in driving connection with the second speed reducer 15, and the mounting seat 6 is fixedly connected with a driving shaft of the second speed reducer 15.

The shooting target assembly 2 comprises a target surface and a target rod, the target rod is in driving connection with a driving shaft of the first motor, and the target surface is fixedly connected onto the target rod.

And a balancing weight is arranged below the mounting seat 6 to balance the stress of the driving shaft of the speed reducer 15.

The working principle is as follows: the rotary driving component 7 can drive the shooting target component 2 to rotate, namely, the target surface of the shooting target component 2 can rotate along with the target surface;

when the intelligent trolley 1 moves, the direction measuring module 5 is used for monitoring the real-time direction information of the intelligent trolley 1 and sending the real-time direction information of the intelligent trolley 1 to the signal processing and control device 4; the signal processing and controlling device 4 is used for receiving the real-time direction information of the intelligent trolley 1, calculating the angle difference between the set direction and the real-time direction of the intelligent trolley 1, forming a rotation control signal by the angle difference and sending the rotation control signal to the rotation driving component 7; the rotation driving component 7 is used for receiving a rotation control signal of the controller and rotates corresponding angles, so that the intelligent trolley 1 can be guaranteed to automatically rotate according to the change of the motion track when moving, and the shooting target component 4 correspondingly rotates, so that the target surface is guaranteed to face the shooting trainer all the time when the intelligent trolley 1 moves, and shooting training is facilitated to be continuously carried out.

For example, as shown in fig. 4, the arrow on the left side in fig. 4 indicates the direction of the shooting side, the set direction of the intelligent cart 1 is the north direction, i.e. the set direction is 0 degree, the data obtained by the direction determination module 5 is 0 degree, the target surface of the shooting target assembly 2 is the surface facing the shooting trainer, as shown in fig. 5, after the intelligent cart 1 moves, e.g. moves to the northeast direction, the direction determination module determines that the real-time direction of the intelligent cart 1 is 10 degrees, i.e. the angle difference between the set direction and the real-time direction of the intelligent cart 1 is-10 degrees, at this time, the signal processing and control device sends a control signal for driving the shooting target assembly 2 to rotate by-10 degrees to the rotation driving assembly 7, so that the shooting target assembly 2 rotates by-10 degrees, the rotation driving assembly 7 rotates by-10 degrees after receiving the signal, the angle sensor 10 feeds back the rotation angle, if the rotating angle of the shooting target component 2 is equal to-10, the signal processing and control device 4 sends a stop instruction to the rotary driving component 7. Like this, like figure 6, can make the target surface of shooting target subassembly 2 again face this side of shooting training person, realize the automatic adjustment function to guarantee that the target surface faces this side of shooting training person all the time when intelligent vehicle 1 moves. The shooting target assembly 2 starts and falls with corresponding travel switch sensing, and automatically stops the starting and falling after the shooting target assembly is in place, which is well known.

The above description is only a preferred and feasible embodiment of the present invention, and therefore, the scope of the present invention should not be limited by the above description, and various other modifications made by the technical solutions and concepts of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a robot target drone, includes intelligent dolly (1), shooting target subassembly (2) and is used for driving shooting target subassembly (2) fall down and stand up drive assembly (3), it fixes on intelligent dolly (1) to play drive assembly (3), a characterized in that, a robot target drone still includes mount pad (6), shooting target subassembly (2) are vertical to be established on mount pad (6), play drive assembly (3) and mount pad (6) drive is connected, be fixed with on mount pad (6) and be used for the drive shooting target subassembly (2) pivoted rotary driving subassembly (7).

2. The robot target drone according to claim 1, characterized in that a signal processing and control device (4) and a direction determination module (5) are arranged in the intelligent vehicle (1), and the direction determination module (5) and the rotation driving component (7) are electrically connected with the signal processing and control device (4);

the direction measuring module (5) is used for monitoring the real-time direction information of the intelligent trolley (1) and sending the real-time direction information of the intelligent trolley (1) to the signal processing and control device (4);

the signal processing and controlling device (4) is used for receiving the real-time direction information of the intelligent trolley (1), calculating the angle difference value between the set direction and the real-time direction of the intelligent trolley (1), and forming a rotation control signal by the angle difference value to be sent to the rotation driving component (7);

and the rotary driving component (7) is used for receiving the rotation control signal of the controller and driving the shooting target component (2) to rotate by a corresponding angle.

3. The robot target drone according to claim 2, characterized in that a camera (8) is arranged on the intelligent vehicle (1), an image recognition module (9) is integrated in the signal processing and control device (4), and the camera (8) is electrically connected with the image recognition module (9);

the camera (8) is used for acquiring an image of the shot target ring of the shooting target assembly (2) and sending the image of the shot target ring to the image recognition module (9);

and the image recognition module (9) receives and recognizes the shot images at the target rings and outputs the ring number data of the shot.

4. A robotic drone according to claim 2, characterised in that inside the mounting seat (6) there is an angle sensor (10), said angle sensor (10) being used to detect the rotation angle of the shooting target assembly (2) and send the rotation angle information to the signal processing and control unit (4), if the rotation angle of the shooting target assembly (2) is greater than the angular difference between the initial direction and the real-time direction of the smart car (1), the signal processing and control unit (4) sends a stop command to the rotation driving assembly (7).

5. A robot drone according to claim 1, characterised in that inside the smart car (1) there is a compass navigation direction finding system for autopilot navigation.

6. A robot drone according to claim 1, characterised in that a bearing (11) is fixed to the mounting (6), the shooting target assembly (2) being inserted in the bearing (11).

7. A robot drone according to claim 6, characterised in that the rotary driving assembly (7) comprises a first motor (12) and a first reducer (13), the first motor (12) being drivingly connected to the first reducer (13), the shooting target assembly (2) being fixedly connected to the driving shaft of the first reducer (13).

8. The robot target drone of claim 1, characterized in that the lifting and reversing drive assembly (3) comprises a second motor (14) and a second reducer (15), the second reducer (15) is fixed on the intelligent vehicle (1), the second motor (14) is in driving connection with the second reducer (15), and the mounting seat (6) is fixedly connected with a driving shaft of the second reducer (15).