CN105137850A - Laser shoot vehicle, and countermeasure system and countermeasure method based on vehicle - Google Patents
Laser shoot vehicle, and countermeasure system and countermeasure method based on vehicle Download PDFInfo
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- CN105137850A CN105137850A CN201510680022.1A CN201510680022A CN105137850A CN 105137850 A CN105137850 A CN 105137850A CN 201510680022 A CN201510680022 A CN 201510680022A CN 105137850 A CN105137850 A CN 105137850A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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Abstract
The invention discloses a laser shoot vehicle, and a countermeasure system and a countermeasure method based on the vehicle, which belongs to the field of automatic control fire countermeasure robots, and aims at solving the problems of single functions and poor countermeasure in the existing intelligent vehicle. The laser shoot vehicle comprises a vehicle body, a shoot device, a walking device, a rotation device, a sensing device, a sound-light alarming device and a control device, wherein the outer wall of the front side of the vehicle body is distributed with sensors for detecting obstacles and other laser shoot vehicles in front of the vehicle body; the top part of the vehicle body is provided with a shot area and a light sensor; signals acquired by the sensing device are sent to the control device; and the control device controls the shoot device, the walking device, the rotation device and the sound-light alarming device. The laser shoot vehicle countermeasure method comprises steps: a control instruction is inputted manually to drive the laser shoot vehicle to perform moving, rotation and shooting actions or an instruction is generated through automatic operation to complete all actions. A network management module can be used for playing a role of judgment. The laser shoot vehicle, the system and the method are used in intelligent vehicle countermeasure.
Description
Technical field
The present invention relates to from main control shooting game robot field.
Background technology
In recent years, occur rapidly that the high-tech of a class intelligent carriage match is movable at home and abroad, development time is not long, but contains abundant recreational, athletics and new and high technology, so cause domestic and international experts and scholars greatly interest and concern due to this activity.The development of intelligent carriage is very fast, and research direction is varied, may be used for the basis of the R and D of multiple module.Have the ample scope for abilities of intelligent carriage in all trades and professions, electronic designing competition in recent years has the exercise question about intelligent carriage, and especially Freescale intelligent carriage is more famous.But these car owners will be the main targets using speed as contest.So there is function singleness in existing intelligent carriage, and the problem of antagonism difference.
Summary of the invention
There is function singleness to solve existing existing intelligent carriage in the present invention, and the problem of antagonism difference, proposes a kind of laser shooting car, based on the countermeasure system of this car and countercheck.
Laser shooting car of the present invention, described laser shooting car comprises car body, gun post, running gear, whirligig, sensing device, acoustic-optic alarm and control device,
Described sensing device comprises infrared sensor, sonac, vision sensor and light sensor; Outer wall on front side of described car body is distributed with infrared sensor, sonac and vision sensor, for detecting barrier and other laser shooting cars in car body front;
Car body top is fixed with shooting platform, and the side of shooting platform is provided with by sector of fire, is eachly all provided with multiple light sensor by sector of fire; The signal of described sensing device collection is sent to control device;
Described running gear comprises wheel and motor-in-wheel, and described control device drives wheel to carry out Two-wheeled or four-wheel drive action by motor-in-wheel;
Described whirligig comprises horizontal rotatable platform, horizontally rotates motor, vertical rotary motor and vertical rotating shaft, described horizontal rotatable platform is arranged on the top of shooting platform, horizontally rotate Electric Machine Control horizontal rotatable platform to horizontally rotate, the top of horizontal rotatable platform is provided with vertical rotary motor, and the output shaft of vertical rotary motor is fixedly connected with vertical rotating shaft; Described control device is horizontally rotated and vertical rotating shaft vertical rotary by level of control electric rotating machine respectively and vertical rotary motor and then level of control rotation platform;
Described gun post comprises laser head and laser driving apparatus, and described laser head is fixed in the outer circumferential walls of vertical rotating shaft, and control device controls laser head by laser driving apparatus and shoots;
Acoustic-optic alarm is arranged on the outside surface of car body.
The device of autonomous operation pattern or external control pattern is carried out in input;
When external control pattern, comprise as follows:
The device of input control order;
According to the steering order received, control gun post, running gear and whirligig, and send the device of firing signal;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the device of change in resistance signal;
Receive return path signal, if triumph, then control the device of acousto-optic device prompting;
When autonomous operation pattern, comprise as follows:
Input the device as attacker or defender's signal;
The device of input attacker and the mutual switching signal of defender;
When as attacker, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of defender;
When defender enters attack scope, determine the position of defender and the device of firing direction;
When defender does not enter attack scope, set the device of the line of attack close to defender;
According to the line of attack of setting, drive the device of motor-in-wheel;
According to the defender position determined and firing direction, the device of level of control electric rotating machine and vertical rotary motor;
Driving laser drive unit, and the device sending firing signal;
Receive return path signal, if triumph, then control the device of acoustic-optic alarm prompting;
When as defender, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of attacker;
According to the position of attacker, the device of setting defence route;
According to the defence route of setting, drive the device of motor-in-wheel;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the device of change in resistance signal;
Receive return path signal, if triumph, then control the device of acousto-optic device prompting.
Described motor-in-wheel adopts GA12-20 direct-flow deceleration electric motor to realize.
Described vertical rotary motor and horizontally rotate motor and adopt direct-flow deceleration electric motor or MG90S steering wheel to realize.
Described audible alarm unit adopts CL9561 tetra-acoustic alarm IC to trigger and plays chip realization.
Described light sensor comprises photosensitive resistance sensor and treatment circuit, the photoresistance signal of described photosensitive resistance sensor
Output terminal is connected with the photoresistance signal input part for the treatment of circuit.
Described sonac adopts US-100 ultrasonic listening sensor to realize.
Described vision sensor adopts OV5640 cell-phone camera module to realize.
Based on the countermeasure system of described laser shooting car, described countermeasure system at least comprises two laser shooting cars and network management module;
Described control device comprises:
The device of autonomous operation pattern or external control pattern is carried out in input;
When external control pattern, comprise as follows:
The device of input control order;
According to the steering order received, control gun post, running gear and whirligig, and send the device of firing signal;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the device of change in resistance signal;
Receive return path signal, if triumph, then control the device of acousto-optic device prompting;
When autonomous operation pattern, comprise as follows:
Receive the device as attacker or defender's signal;
The device of input attacker and the mutual switching signal of defender;
When as attacker, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of defender;
When defender enters attack scope, determine the position of defender and the device of firing direction;
When defender does not enter attack scope, set the device of the line of attack close to defender;
According to the line of attack of setting, drive the device of motor-in-wheel;
According to the defender position determined and firing direction, the device of level of control electric rotating machine 1 and vertical rotary motor 2;
Driving laser drive unit, and device firing signal being sent to NM network management module;
Receive return path signal, if triumph, then control the device of acoustic-optic alarm prompting;
When as defender, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of attacker;
According to the position of attacker, the device of setting defence route;
According to the defence route of setting, drive the device of motor-in-wheel;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and change in resistance signal is sent to the device of network management module;
Receive return path signal, if triumph, then control the device of acousto-optic device prompting;
Described network management module comprises:
The device as defender or attacker's signal is sent to each laser shooting car;
Receive the firing signal of laser shooting car transmission or the device of change in resistance signal;
According to the firing signal of the laser shooting car as attacker of reception and the change in resistance signal of the laser shooting car as defender, judge whether hit laser shooting car as defender as the laser shooting car of attacker, if, laser shooting car to attacker sends triumph signal, if not, the device of triumph signal is sent to the laser shooting car for defender.
The countercheck of described laser shooting car, described countercheck realizes based at least two laser shooting cars and network management module;
The course of work of the control device of described laser shooting car comprises the steps:
The step of autonomous operation pattern or external control pattern is carried out in input;
When external control pattern, comprise as follows:
The step of input control order;
According to the steering order received, control gun post, running gear and whirligig, and send the step of firing signal;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the step of change in resistance signal;
Receive return path signal, if triumph, then control the step of acousto-optic device prompting;
When autonomous operation pattern, comprise as follows:
Receive the step as attacker or defender's signal;
The step of input attacker and the mutual switching signal of defender;
When as attacker, comprise as follows:
Receive the step of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the step of the position of defender;
When defender enters attack scope, determine the position of defender and the step of firing direction;
When defender does not enter attack scope, set the step of the line of attack close to defender;
According to the line of attack of setting, drive the step of motor-in-wheel;
According to the defender position determined and firing direction, the step of level of control electric rotating machine and vertical rotary motor;
Driving laser drive unit, and step firing signal being sent to NM network management module;
Receive return path signal, if triumph, then control the step of acoustic-optic alarm prompting;
When as defender, comprise as follows:
Receive the step of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the step of the position of attacker;
According to the position of attacker, the step of setting defence route;
According to the defence route of setting, drive the step of motor-in-wheel;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and change in resistance signal is sent to the step of network management module;
Receive return path signal, if triumph, then control the step of acousto-optic device prompting;
The course of work of described network management module comprises the steps:
The step as defender or attacker's signal is sent to each laser shooting car;
Receive the firing signal of laser shooting car transmission or the step of change in resistance signal;
According to the firing signal of the laser shooting car as attacker of reception and the change in resistance signal of the laser shooting car as defender, judge whether hit laser shooting car as defender as the laser shooting car of attacker, if, laser shooting car to attacker sends triumph signal, if not, the step of triumph signal is sent to the laser shooting car for defender.
Beneficial effect of the present invention: laser shooting car of the present invention is divided into two kinds of operational modes, wherein one makes a series of actions such as movement, rotation and shooting by the car of remote control input control order driving laser shooting manually, another generates instruction by autonomous operation, full-automatic, intelligentizedly complete all actions, enrich the function of intelligent vehicle.Simultaneously, countermeasure system based on described laser shooting car can be applicable to multiple laser shooting car and jointly resist, multiple laser shooting car is divided into attack and defense two side or simultaneously attack is all practicable, attacker can utilize infrared sensor and ultrasonic sensor to be detected by the position at place, sector of fire 5 on the position at the other side's laser shooting car place and laser shooting car, by testing result, horizontal rotatable platform and vertical rotating shaft are regulated, enable laser hit the other side by sector of fire 5, light sensor is provided with by sector of fire 5, the position of hitting can be known by the change of the photoresistance resistance of light sensor, improve shooting game performance.Antagonism and recreational can be strengthened on this basis by the mode of integration.
Accompanying drawing explanation
Fig. 1 is the structural representation of the laser shooting car described in embodiment one;
Fig. 2 is the electronic schematic diagram of the laser shooting car described in embodiment one;
Fig. 3 is the internal circuit diagram of the L298N motor drive ic described in embodiment one;
Fig. 4 is the circuit diagram of the photosensitive detection module described in embodiment one.
Fig. 5 is the principle schematic of the laser shooting car antagonism in embodiment three or four.
Embodiment
Embodiment one, composition graphs 1, Fig. 2, Fig. 3 and Fig. 4 illustrate this embodiment, laser shooting car described in this embodiment, described laser shooting car comprises car body 8, gun post, running gear, whirligig, sensing device, acoustic-optic alarm and control device
Described sensing device comprises infrared sensor, sonac, vision sensor and light sensor; Outer wall on front side of described car body 8 is distributed with infrared sensor, sonac and vision sensor, for detecting barrier and other laser shooting cars in car body 8 front;
Car body 8 top is fixed with shooting platform, and the side of shooting platform is provided with by sector of fire 5, is eachly all provided with multiple light sensor by sector of fire 5; The signal of described sensing device collection is sent to control device;
Described running gear comprises four wheels 6 and motor-in-wheel, and described control device drives four wheels 6 to carry out Two-wheeled or four-wheel drive action by motor-in-wheel;
Described whirligig comprises horizontal rotatable platform 1, horizontally rotates motor, vertical rotary motor 2 and vertical rotating shaft 3, described horizontal rotatable platform 1 is arranged on the top of shooting platform, horizontally rotate Electric Machine Control horizontal rotatable platform 1 to horizontally rotate, the top of horizontal rotatable platform 1 is provided with vertical rotary motor 2, and the output shaft of vertical rotary motor 2 is fixedly connected with vertical rotating shaft 3; Described control device is horizontally rotated and vertical rotating shaft 3 vertical rotary by level of control electric rotating machine respectively and vertical rotary motor 2 and then level of control rotation platform 1;
Described gun post comprises laser head 4 and laser driving apparatus, and described laser head 4 is fixed in the outer circumferential walls of vertical rotating shaft 3, and control device controls laser head 4 by laser driving apparatus and shoots;
Acoustic-optic alarm is arranged on the outside surface of car body 8.
In this embodiment, motor-in-wheel adopts GA12-20 direct-flow deceleration electric motor to realize.
Present embodiment adopts GA12-20 direct-flow deceleration electric motor to drive wheel running, and its major advantage has: moulding is small and exquisite, and quality is little, and rotating torque is large, conveniently installs.The original power of its inside is very large, and outside installation reduction gearing, makes torsion strengthen.The motor drive ic chosen is L298N, and it makes the conventional a two-phase of intelligent mobile dolly and four phase motor drive ics, can export TTL logic level signal control L298N, drive motor then by single-chip microcomputer.Its internal circuit schematic diagram as shown in Figure 3.
In present embodiment, described running gear adopts four omni-directional wheel compositions, can increase two-way again and drive, make it to become four-wheel drive on the basis of original two-way driving wheel.Each motor adopts direct current motor, can adopt the electric machine control system the same with embodiment two.
In this embodiment, described vertical rotary motor 2 and horizontally rotate motor and adopt direct-flow deceleration electric motor to realize.
Small limit switch can also be added, to ensure to horizontally rotate the accuracy with vertical rotary in present embodiment.
In present embodiment, described vertical rotary motor 2 and horizontally rotate motor and adopt MG90S steering wheel to realize.
MG90S steering wheel is the driver of a kind of position (angle) servo, and being applicable to those needs angle constantly to change and the control system that can keep.Steering wheel is that one is commonly called as, and is a kind of servo motor in fact.Its principle of work is: control signal, by the passage entering signal modulation chip of receiver, obtains DC offset voltage.There is a reference circuit its inside, and the generation cycle is 20ms, and width is the reference signal of 1.5ms, by the DC offset voltage of acquisition and the voltage compare of potentiometer, obtains voltage difference and exports.Finally, the positive and negative of voltage difference outputs to the rotating that motor drive ic determines motor.When motor speed one timing, drive potentiometer to rotate by cascade reduction gearing, make voltage difference be 0, motor stalls.
In present embodiment, described laser head 4 is 3.3V red laser head.
Laser has some advantages that common light does not have, and these are all caused by the producing method of laser uniqueness, and its major advantage has directivity, coherence and monochromaticity good, and brightness is very high.What Laser emission part of the present invention adopted is 3.3V red laser head, and the basic parameter of this laser head is as shown in table 1:
Table 1
This laser head is made up of luminous die, collector lens, copper adjustable sleeve three part, and these three sections fit complete, and connect 3.3 direct supplys and get final product work.Due in the design, only when attacker aims at defender's assigned address, just can light laser head by single-chip microcomputer and shoot, not need to light laser head for a long time, so laser head can directly be connected on single-chip I/O mouth, not need again external current-limiting resistance.
In present embodiment, described audible alarm unit adopts CL9561 tetra-acoustic alarm IC to trigger and plays chip realization.
CL9561 is that a kind of simple four acoustic alarm IC trigger broadcasting chip, and this chip comprises four kinds of alarm sounds, by the output signal flip chip Direct driver loudspeaker that single-chip microcomputer is different, sends different alarm sounds.The pre-sound of sound collecting end is as shown in table 2:
Table 2
In present embodiment, described light sensor comprises photosensitive resistance sensor and treatment circuit, and the photoresistance signal output part of described photosensitive resistance sensor is connected with the photoresistance signal input part for the treatment of circuit, as shown in Figure 4.
Photoresistance has come measurement to light, control and translation function mainly through the Strength Changes of light.When the intensity of visible ray changes, the resistance of photoresistance will change thereupon.When not having illumination, resistance in the dark is 1 ~ 10M Europe, and when having illumination, bright resistance is that hundreds of arrives several kilohms.Generally, the visible ray of the mankind will cause the change in resistance of photoresistance, so the design adopts the red visible laser being easy to differentiate as utilizing emitted light, be irradiated in photoresistance and can cause change in resistance, namely cause current/voltage to change and carry out data acquisition and judgement again.The major parameter of photoresistance is as shown in table 3:
Table 3
The photoresistance model that the design adopts is GL20516, and diameter is 20mm, light resistance 5-10k Ω, and dark resistance is 1M Ω.Compared to the photoresistance of other models, the light-receiving area of GL20516 is larger, more easily realizes the detection needed for this module and decision-making function.
The photosensitive resistance sensor module adopted can be used to carry out light and to detect and brightness detects, and the detection threshold of brightness can utilize the potentiometer that module carries to regulate, a relay in addition in module, can be used for doing the switch of sensed luminance threshold value.
Photographic department divides photoresistance to adopt the arrangement mode of rectangle, and namely photoresistance is the appointment sector of fire of system requirements, if attacker directly shoots photoresistance part, defender gathers photoresistance change in resistance amount.
This module experiences the change of light by photoresistance, in advance laser exposure intensity is set as the threshold value of this module, when not having laser to irradiate, relay is closed, Chang Kaiduan and common port link together, when laser is irradiated to photoresistance, relay disconnects, and namely normal-closed end and common port link together.Whole relay just can regard a double-direction control switch as, in the design, can carry out sharp light-struck result treatment by this module.
In present embodiment, described sonac adopts US-100 ultrasonic listening sensor to realize.
In present embodiment, it is US-100 ultrasonic listening sensor assembly that the outside of the detection little truck position of the other side have employed model, and namely the benefit of supersonic sounding module is to contact the object that just can reach range finding.The wide input voltage range of US-100, quiescent dissipation is not high, and inside comprises the temperature sensor that is used for carrying out revising range error, and communication mode comprises GPIO, serial communication etc., comprises watchdog circuit, prevents program sideslip, and use procedure is very stable.
US-100 has pattern 5Pin and model selection wire jumper two interfaces, and being UART serial ports pattern when plugging jumper cap to model selection wire jumper, is level triggers pattern when pulling out.5Pin interface is curved row's pin of 2.54mm spacing, and the definition of five interfaces is as shown in table 4.
Table 4
In present embodiment, described vision sensor adopts OV5640 cell-phone camera module to realize.
Present embodiment have employed cell-phone camera module OV5640.The built-in assembly of its to be CMOS photographing module be advanced, energy-conservation high precision camera, it combines the CMOS realizing high-quality VGA image with highly integrated image processor, embedded power supply and high-quality lens combination, export jpeg image or video image, provide complete image solution.Support 8/10 bit digital transmission jpeg image and YCbCr interface.Its small and exquisite volume, even if allow designer still can increase photographing module in minimum application.No longer need to be equipped with any external devices owing to having highly integrated, novel photographing module, can be applied easily.
In present embodiment, also comprise power module, for other devices provide working power, described power module adopts two pieces of LM7805 voltage stabilizing chip parallel connections to realize.Output current is enable to reach 3A, higher than needs size of current, in order to avoid generation accident.
Also comprise wireless communication module in present embodiment, described wireless communication module is used for communicating with host computer;
Described wireless communication module adopts WIFI communication to realize, and can control with having the mobile phone of WIFI function, notebook computer and desktop computer.
Present embodiment wireless communication module is:
(1) USR-WIFI232-T is a small and exquisite module being integrated with all Wi-Fi functions, and size is 22mmx13.5mmx6mm only.For applications such as illumination and sockets, have employed 1x10 pin two mm contact pin connector, be easy to be welded on the hardware single board circuit of the product of client.Module is equipped with special pad or external antenna connector, is applicable to the application of various external antenna.
Super low-power consumption embedded Wi-Fi module provides a kind of physical equipment by user and is connected on Wi-Fi wireless network, and provides the solution of the interface transmission data such as UART serial ports.This module hardware is integrated with MAC, baseband chip, Transmit Receive Unit, and power amplifier; Embedded firmware then supports Wi-Fi agreement and configuration, and the ICP/IP protocol stack of networking.USR-WIFI232-T is the Low Power Loss Solution of the 802.11b/g/nWi-Fi of a integration, by USR-WIFI232-T module, the equipment that traditional low side serial equipment or MCU control all can access Wi-Fi wireless network very easily, thus realizes internet of things control and management.
(2) LSD5WF-3017 be specially for realize embedded system wireless LAN communication application and design a high-performance, low cost IEEE802.11b/g/n USB interface wireless module, what use this module that user can be made by embedded hardware USBHost interface efficient quick expands wireless LAN communication function.Module core is a highly integrated MIMO (multi input, multi output), MAC, 2T2R base band and 2.4G radio frequency chip, support that PHY speed is up to 300Mbps, meet IEEE802.11b/g/n standard criterion completely, the radio architectures of optimization and Baseband algorithms provide excellent performance and low-power consumption.LSD5WF-3017 modular design, based on the standard feature scope of safety, will provide high-quality for client and meets a kind of simple, low cost of international standard, has the design proposal of radio network functions product reliably.
Embodiment two: present embodiment is the further restriction of the countermeasure system to the laser shooting car described in embodiment one, and described control device comprises:
The device of autonomous operation pattern or external control pattern is carried out in input;
When external control pattern, comprise as follows:
The device of input control order;
According to the steering order received, control gun post, running gear and whirligig, and send the device of firing signal;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the device of change in resistance signal;
Receive return path signal, if triumph, then control the device of acousto-optic device prompting;
When autonomous operation pattern, comprise as follows:
Input the device as attacker or defender's signal;
The device of input attacker and the mutual switching signal of defender;
When as attacker, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of defender;
When defender enters attack scope, determine the position of defender and the device of firing direction;
When defender does not enter attack scope, set the device of the line of attack close to defender;
According to the line of attack of setting, drive the device of motor-in-wheel;
According to the defender position determined and firing direction, the device of level of control electric rotating machine 1 and vertical rotary motor 2;
Driving laser drive unit, and the device sending firing signal;
Receive return path signal, if triumph, then control the device of acoustic-optic alarm prompting;
When as defender, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of attacker;
According to the position of attacker, the device of setting defence route;
According to the defence route of setting, drive the device of motor-in-wheel;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the device of change in resistance signal;
Receive return path signal, if triumph, then control the device of acousto-optic device prompting.
Laser shooting countermeasure system described in present embodiment is divided into two kinds of operational modes, wherein one makes a series of actions such as movement, rotation and shooting by the car of remote control driving laser shooting manually, another is by independently generating instruction, full-automatic, intelligentizedly complete all actions, improve the intelligentized validity and the high efficiency that also assures that action simultaneously.
Embodiment three: composition graphs 5 illustrates this embodiment, present embodiment is the countermeasure system based on the laser shooting car described in embodiment one, and described countermeasure system comprises two laser shooting cars and network management module; Be respectively laser shooting car A and laser shooting car B;
Described control device comprises:
The device of autonomous operation pattern or external control pattern is carried out in input;
When external control pattern, comprise as follows:
The device of input control order;
According to the steering order received, control gun post, running gear and whirligig, and send the device of firing signal;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the device of change in resistance signal;
Receive return path signal, if triumph, then control the device of acousto-optic device prompting;
When autonomous operation pattern, comprise as follows:
Receive the device as attacker or defender's signal;
The device of input attacker and the mutual switching signal of defender;
When as attacker, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of defender;
When defender enters attack scope, determine the position of defender and the device of firing direction;
When defender does not enter attack scope, set the device of the line of attack close to defender;
According to the line of attack of setting, drive the device of motor-in-wheel;
According to the defender position determined and firing direction, the device of level of control electric rotating machine 1 and vertical rotary motor 2;
Driving laser drive unit, and device firing signal being sent to NM network management module;
Receive return path signal, if triumph, then control the device of acoustic-optic alarm prompting;
When as defender, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of attacker;
According to the position of attacker, the device of setting defence route;
According to the defence route of setting, drive the device of motor-in-wheel;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and change in resistance signal is sent to the device of network management module;
Receive return path signal, if triumph, then control the device of acousto-optic device prompting;
Described network management module comprises:
The device as defender or attacker's signal is sent to each laser shooting car;
Receive the firing signal of laser shooting car transmission or the device of change in resistance signal;
According to the firing signal of the laser shooting car as attacker of reception and the change in resistance signal of the laser shooting car as defender, judge whether hit laser shooting car as defender as the laser shooting car of attacker, if, laser shooting car to attacker sends triumph signal, if not, the device of triumph signal is sent to the laser shooting car for defender.
The countermeasure system of present embodiment comprises laser shooting car A, laser shooting car B and network management module, and laser shooting car A and laser shooting car B is respectively attacker's car and defender's car, see Fig. 5.When defender's car B is movable within the scope of attacker's car A attack, attacker's car utilizes external sensor to detect defender position and distance, and after judging, send laser complete fire, can judge whether hit, after hitting, carry out sound and light alarm display voluntarily after defender is under attack; Or send the data of the photoresistance change in resistance of light sensor to network management module, network management module judges shooting result, display victory or defeat information, circulates a notice of result of the two sides on attack and defense, and stops whole service program.In this example, exchange system is taked in the shooting match between two cars, and namely first serve as attacker by car A in first round shooting match, car B is defender, and as car A shoots assigned address, then car B shows or network management module judgement car A victory, otherwise judges car B victory; Second takes turns two cars exchanges attack and defense corner look, and namely car A serves as defender, and car B serves as attacker, and decision rule is identical with the first round; Third round is identical with the first round, etc.
Due to the particular/special requirement of this match rule, must make to be in autonomous operation state in A, B two dollies, store the concrete path procedure of two covers simultaneously.
Embodiment four: composition graphs 5 illustrates this embodiment, present embodiment is the countercheck based on the laser shooting car described in embodiment one, and described countercheck realizes based on two laser shooting cars and network management module; Be respectively laser shooting car A and laser shooting car B;
Described countercheck realizes based at least two laser shooting cars and network management module;
The course of work of the control device of described laser shooting car comprises the steps:
The step of autonomous operation pattern or external control pattern is carried out in input;
When external control pattern, comprise as follows:
The step of input control order;
According to the steering order received, control gun post, running gear and whirligig, and send the step of firing signal;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the step of change in resistance signal;
Receive return path signal, if triumph, then control the step of acousto-optic device prompting;
When autonomous operation pattern, comprise as follows:
Receive the step as attacker or defender's signal;
The step of input attacker and the mutual switching signal of defender;
When as attacker, comprise as follows:
Receive the step of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the step of the position of defender;
When defender enters attack scope, determine the position of defender and the step of firing direction;
When defender does not enter attack scope, set the step of the line of attack close to defender;
According to the line of attack of setting, drive the step of motor-in-wheel;
According to the defender position determined and firing direction, the step of level of control electric rotating machine 1 and vertical rotary motor 2;
Driving laser drive unit, and step firing signal being sent to NM network management module;
Receive return path signal, if triumph, then control the step of acoustic-optic alarm prompting;
When as defender, comprise as follows:
Receive the step of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the step of the position of attacker;
According to the position of attacker, the step of setting defence route;
According to the defence route of setting, drive the step of motor-in-wheel;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and change in resistance signal is sent to the step of network management module;
Receive return path signal, if triumph, then control the step of acousto-optic device prompting;
The course of work of described network management module comprises the steps:
The step as defender or attacker's signal is sent to each laser shooting car;
Receive the firing signal of laser shooting car transmission or the step of change in resistance signal;
According to the firing signal of the laser shooting car as attacker of reception and the change in resistance signal of the laser shooting car as defender, judge whether hit laser shooting car as defender as the laser shooting car of attacker, if, laser shooting car to attacker sends triumph signal, if not, the step of triumph signal is sent to the laser shooting car for defender.
What the control device of the laser shooting car in present embodiment adopted is c8051f020 single-chip microcomputer, and what system software part adopted is C language, and writing and debugging of program carries out under the software environment of KeiluVision2.The driving trace of master routine to laser shooting car of single-chip microcomputer is planned and leads.Therebetween, master routine can call other subroutine to realize other functions required in laser shooting car traveling process.Such as, the two sides on attack and defense all needs the position detecting the other side to attack an object of keeping to reach opposing sides one, at this moment just needs to call ultrasonic ranging subroutine; After fire completes, attacker need send the complete signal of shooting to judge side, defender is perhaps by whether signal under attack sends judge side to, and finally result of determination is returned to contest both sides by judge side again, and this process just needs to call wireless communication module subroutine.Some other subroutines are also had, as time delay subroutine, motor drive program, interruption subroutine, Laser emission subroutine, acousto-optic hint subroutine etc. in this design.
In present embodiment, the main task of carrying out the software programming of c8051f020 model single-chip microcomputer in KeiluVision2 is each module initialization, the dutycycle of adjustment PWM and output, the sounding alarm of voice module, Laser emission and the reception of photoresistance module, the detection etc. of ultrasonic distance measuring module, thus realizes the autonomous voluntary straining maneuver of laser shooting car.
Claims (10)
1. laser shooting car, is characterized in that, described laser shooting car comprises car body (8), gun post, running gear, whirligig, sensing device, acoustic-optic alarm and control device,
Described sensing device comprises infrared sensor, sonac, vision sensor and light sensor; The outer wall of described car body (8) front side is distributed with infrared sensor, sonac and vision sensor, for detecting barrier and other laser shooting cars in car body (8) front;
Car body (8) top is fixed with shooting platform, and the side of shooting platform is provided with by sector of fire (5), is eachly all provided with multiple light sensor by sector of fire (5); The signal of described sensing device collection is sent to control device;
Described running gear comprises four wheels (6) and motor-in-wheel, and described control device drives four wheels (6) to carry out Two-wheeled or four-wheel drive action by motor-in-wheel;
Described whirligig comprises horizontal rotatable platform (1), horizontally rotates motor, vertical rotary motor (2) and vertical rotating shaft (3), described horizontal rotatable platform (1) is arranged on the top of shooting platform, horizontally rotate Electric Machine Control horizontal rotatable platform (1) to horizontally rotate, the top of horizontal rotatable platform (1) is provided with vertical rotary motor (2), and the output shaft of vertical rotary motor (2) is fixedly connected with vertical rotating shaft (3); Described control device passes through difference level of control electric rotating machine and vertical rotary motor (2) and then level of control rotation platform (1) and horizontally rotates and vertical rotating shaft (3) vertical rotary;
Described gun post comprises laser head (4) and laser driving apparatus, described laser head (4) is fixed in the outer circumferential walls of vertical rotating shaft (3), and control device controls laser head (4) by laser driving apparatus and shoots;
Acoustic-optic alarm is arranged on the outside surface of car body (8).
2. according to according to laser shooting car according to claim 1, it is characterized in that, described control device comprises:
The device of autonomous operation pattern or external control pattern is carried out in input;
When external control pattern, comprise as follows:
The device of input control order;
According to the steering order received, control gun post, running gear and whirligig, and send the device of firing signal;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the device of change in resistance signal;
Receive the device of return path signal, if triumph, then control the device of acousto-optic device prompting;
When autonomous operation pattern, comprise as follows:
Input the device as attacker or defender's signal;
The device of input attacker and the mutual switching signal of defender;
When as attacker, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of defender;
When defender enters attack scope, determine the position of defender and the device of firing direction;
When defender does not enter attack scope, set the device of the line of attack close to defender;
According to the line of attack of setting, drive the device of motor-in-wheel;
According to the defender position determined and firing direction, the device of level of control electric rotating machine (1) and vertical rotary motor (2);
Driving laser drive unit, and the device sending firing signal;
Receive return path signal, if triumph, then control the device of acoustic-optic alarm prompting;
When as defender, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of attacker;
According to the position of attacker, the device of setting defence route;
According to the defence route of setting, drive the device of motor-in-wheel;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the device of change in resistance signal;
Receive the device of return path signal, if triumph, then control the device of acousto-optic device prompting.
3. laser shooting car according to claim 1 and 2, is characterized in that, described motor-in-wheel adopts GA12-20 direct-flow deceleration electric motor to realize.
4. laser shooting car according to claim 1 and 2, is characterized in that, described vertical rotary motor (2) and horizontally rotate motor and adopt direct-flow deceleration electric motor or MG90S steering wheel to realize.
5. laser shooting car according to claim 1 and 2, is characterized in that, described audible alarm unit adopts CL9561 tetra-acoustic alarm IC to trigger and plays chip realization.
6. laser shooting car according to claim 1 and 2, it is characterized in that, described light sensor comprises photosensitive resistance sensor and treatment circuit, and the photoresistance signal output part of described photosensitive resistance sensor is connected with the photoresistance signal input part for the treatment of circuit.
7. laser shooting car according to claim 1 and 2, is characterized in that, described sonac adopts US-100 ultrasonic listening sensor to realize.
8. laser shooting car according to claim 1 and 2, is characterized in that, described vision sensor adopts OV5640 cell-phone camera module to realize.
9. based on the countermeasure system of laser shooting car according to claim 1, it is characterized in that, described countermeasure system at least comprises two laser shooting cars and network management module;
Described control device comprises:
The device of autonomous operation pattern or external control pattern is carried out in input;
When external control pattern, comprise as follows:
The device of input control order;
According to the steering order received, control gun post, running gear and whirligig, and send the device of firing signal;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the device of change in resistance signal;
Receive return path signal, if triumph, then control the device of acousto-optic device prompting;
When autonomous operation pattern, comprise as follows:
Receive the device as attacker or defender's signal;
The device of input attacker and the mutual switching signal of defender;
When as attacker, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of defender;
When defender enters attack scope, determine the position of defender and the device of firing direction;
When defender does not enter attack scope, set the device of the line of attack close to defender;
According to the line of attack of setting, drive the device of motor-in-wheel;
According to the defender position determined and firing direction, the device of level of control electric rotating machine (1) and vertical rotary motor (2);
Driving laser drive unit, and device firing signal being sent to NM network management module;
Receive return path signal, if triumph, then control the device of acoustic-optic alarm prompting;
When as defender, comprise as follows:
Receive the device of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the device of the position of attacker;
According to the position of attacker, the device of setting defence route;
According to the defence route of setting, drive the device of motor-in-wheel;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and change in resistance signal is sent to the device of network management module;
Receive return path signal, if triumph, then control the device of acousto-optic device prompting;
Described network management module comprises:
The device as defender or attacker's signal is sent to each laser shooting car;
Receive the firing signal of laser shooting car transmission or the device of change in resistance signal;
According to the firing signal of the laser shooting car as attacker of reception and the change in resistance signal of the laser shooting car as defender, judge whether hit laser shooting car as defender as the laser shooting car of attacker, if, laser shooting car to attacker sends triumph signal, if not, the device of triumph signal is sent to the laser shooting car for defender.
10. based on the countercheck of laser shooting car according to claim 1, it is characterized in that, described countercheck realizes based at least two laser shooting cars and network management module;
The course of work of the control device of described laser shooting car comprises the steps:
The step of autonomous operation pattern or external control pattern is carried out in input;
When external control pattern, comprise as follows:
The step of input control order;
According to the steering order received, control gun post, running gear and whirligig, and send the step of firing signal;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and send the step of change in resistance signal;
Receive return path signal, if triumph, then control the step of acousto-optic device prompting;
When autonomous operation pattern, comprise as follows:
Receive the step as attacker or defender's signal;
The step of input attacker and the mutual switching signal of defender;
When as attacker, comprise as follows:
Receive the step of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the step of the position of defender;
When defender enters attack scope, determine the position of defender and the step of firing direction;
When defender does not enter attack scope, set the step of the line of attack close to defender;
According to the line of attack of setting, drive the step of motor-in-wheel;
According to the defender position determined and firing direction, the step of level of control electric rotating machine (1) and vertical rotary motor (2);
Driving laser drive unit, and step firing signal being sent to NM network management module;
Receive return path signal, if triumph, then control the step of acoustic-optic alarm prompting;
When as defender, comprise as follows:
Receive the step of the signal that infrared sensor, sonac, vision sensor and light sensor gather;
According to the signal that infrared sensor, sonac and vision sensor gather, determine the step of the position of attacker;
According to the position of attacker, the step of setting defence route;
According to the defence route of setting, drive the step of motor-in-wheel;
According to the signal that light sensor gathers, determine the change of photosensitive resistance, and change in resistance signal is sent to the step of network management module;
Receive return path signal, if triumph, then control the step of acousto-optic device prompting;
The course of work of described network management module comprises the steps:
The step as defender or attacker's signal is sent to each laser shooting car;
Receive the firing signal of laser shooting car transmission or the step of change in resistance signal;
According to the firing signal of the laser shooting car as attacker of reception and the change in resistance signal of the laser shooting car as defender, judge whether hit laser shooting car as defender as the laser shooting car of attacker, if, laser shooting car to attacker sends triumph signal, if not, the step of triumph signal is sent to the laser shooting car for defender.
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