CN114082167A

CN114082167A - Fighting training robot and training system

Info

Publication number: CN114082167A
Application number: CN202111535281.7A
Authority: CN
Inventors: 甘泉
Original assignee: Hunan Shujun Internet Of Things Technology Co ltd
Current assignee: Hunan Shujun Internet Of Things Technology Co ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2022-02-25

Abstract

The invention provides a training robot, which belongs to the field of combat training and comprises: the robot comprises a robot main body, a control module, a power supply and a communication module, wherein the robot main body is provided with the control module, the power supply and the communication module; the device comprises a chassis, two groups of wheels and a first motor are mounted at the bottom of the chassis, one group of two wheels are connected through a connecting rod, one or two connecting rods are in gear transmission connection with the first motor, and the first motor is connected with a control module; the robot comprises a robot body, a mechanical arm and a control system, wherein the mechanical arm comprises an upper arm and a lower arm, the upper arm and the lower arm are rotatably connected to form an elbow joint, the two upper arms are respectively rotatably connected to two sides of the robot body to form two shoulder joints, the shoulder joints and the elbow joint are connected with a driving device, and the driving device is connected with a power supply and used for driving the joints to rotate; the head part is provided with a camera, a touch display screen and a voice module, and the camera, the touch display screen and the voice module are electrically connected with the control module; and the pressure sensor is arranged on the outer surface of the training robot and is electrically connected with the control module.

Description

Fighting training robot and training system

Technical Field

The invention relates to the field of fighting training, in particular to a fighting training robot and a training system.

Background

The combat training is a comprehensive human body confrontation, can bring up the physical quality, the reaction capacity, the strength and the speed of people, is a necessary training course for military polices, constitutional soldiers, special forces and the like which execute special tasks in various countries, and is also used as a choice for strengthening the body by more and more people.

The combat training is strong and dangerous, so people can use some special training instruments to assist in fighting training. Traditional training apparatus is mostly sand bag, pear ball, speed ball, and simple structure's such as rotatory reaction target apparatus can not remove like the people and still hit, make the feedback of hurt, and the training effect is poor. To achieve reality, troops often use a set of two persons to fight, but the training is easy to be injured, has no data, and generally plays a fight match to overcome the victory or defeat of the other. This method is unsafe and prone to injury. Therefore, an intelligent data robot or training system capable of simulating human beings is urgently needed to replace the traditional fighting training mode.

Disclosure of Invention

In order to solve the above problem, the present invention provides a training robot, comprising:

a combat training robot, comprising:

the robot comprises a robot main body, a control module, a power supply and a communication module, wherein the communication module is electrically connected with the control module, and the power supply is used for supplying power to the whole circuit;

the device comprises a chassis, wherein two groups of wheels and a first motor are mounted at the bottom of the chassis, each group comprises two oppositely arranged wheels, the two wheels are connected through connecting rods, one or two connecting rods are in gear transmission connection with the first motor, and the first motor is connected with a control module;

the robot comprises a robot body, a mechanical arm and a control system, wherein the mechanical arm comprises an upper arm and a lower arm, the upper arm and the lower arm are rotatably connected to form an elbow joint, the two upper arms are respectively rotatably connected to two sides of the robot body to form two shoulder joints, the shoulder joints and the elbow joint are connected with a driving device, and the driving device is connected with a power supply and used for driving the joints to rotate;

the head is provided with a camera, a touch display screen and a voice module, and the camera, the touch display screen and the voice module are electrically connected with the control module;

and the pressure sensor is arranged on the outer surface of the training robot and is electrically connected with the control module.

Preferably, the chassis is provided with a steering engine, and two ends of an arm of the steering engine are respectively connected to two wheels in the same group.

Preferably, the pressure sensors are flexible film pressure sensors and are respectively arranged at the head, the arms, the heart and the abdomen according to the identity positions.

Preferably, drive arrangement includes four second motors, the second motor of two shoulder joints is fixed on the robot body, and motor shaft coaxial coupling is at the rotation connecting axle of shoulder joint, the second motor of two elbow joints is installed on the upper arm, and motor shaft coaxial coupling is at elbow joint's rotation connecting axle, and the driver and the control module of second motor are connected.

Preferably, the power supply is a rechargeable battery, the battery is plugged into a charging base, and a charging port of the charging base extends out of the robot body.

The invention also provides a training system which comprises one or more fighting training robots and a command terminal, wherein the fighting training robots are in communication connection with the command terminal.

Preferably, the training system further comprises one or more wearing devices, each wearing device comprises a helmet and a training suit, a controller in communication connection with the command terminal is installed in the training suit, and a pressure sensor electrically connected with the controller is arranged on the outer surface of each wearing device.

Preferably, the pressure sensor of wearing equipment has a plurality ofly, sets up respectively in helmet, the heart of training clothes, belly position according to the human body position.

Preferably, acceleration sensors are installed at two arms of the training suit and electrically connected with the controller.

The fighting training robot and the training system have the following beneficial effects:

the fighting training robot can sense the hitting force and the hitting position from a training person in the training process, and the two mechanical arms rotate in a matched mode with the elbow joint according to the set shoulder joint and the set elbow joint of a program to simulate hitting of an enemy to train an individual soldier; wheels and a steering engine are installed on a chassis of the robot to simulate the action of turning and running of an enemy. In the training process, the interaction between the robot and the training individual soldier is increased, the training effect of mutual attack is more real, and the defense and avoidance reactions of the training individual soldier can be exercised.

The training system acquires various data in each person training under the coordination management of the command terminal, and enables each training individual soldier to visually know the boxing force and the hitting point of the training individual soldier, so that the training system adjusts the action of the training individual soldier, and improves the efficiency.

Description of the drawings:

in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic view of an overall structure of a fighting training robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a fighting training robot chassis according to an embodiment of the invention;

FIG. 3 is a schematic illustration of the elbow joint connection of the combat training robot in accordance with an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a training system according to a first embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a training system according to a second embodiment of the present invention.

Description of reference numerals: 10. a robot main body; 11. a control module; 12. a communication module; 13. a pressure sensor; 20. a robot arm; 21. an upper arm; 22. a shoulder joint; 23. a lower arm; 24. an elbow joint; 25. a second motor; 26. a fixing plate; 30. a head portion; 31. a camera; 32. a touch display screen; 33. a voice module; 40. a chassis; 41. a wheel; 42. a connecting rod; 43. a driving gear; 44. a driven gear; 45. a first motor; 46. a steering engine; 50. a command terminal; 60. a wearable device; 61. a helmet; 62. training clothes; 63. an acceleration sensor; 64. and a controller.

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be noted that all the directional indications in the embodiments of the present invention are only used to explain the relative position relationship between the components in a specific posture (such as up-down, left-right, and shown in the drawings), and if the specific posture is changed, the directional indication is also changed. In addition, the descriptions of "first" and "second" are merely used to distinguish one element from another for convenience of description, and do not indicate, imply importance or quantity.

Detailed Description

Referring to fig. 1-3, a combat training robot comprising: the robot comprises a robot main body 10 with a built-in power supply and control module 11, a chassis 40 capable of driving the robot to move, a rotatable mechanical arm 20, a robot head 30 provided with a camera 31 and a touch display screen 32, and a pressure sensor 13, wherein the pressure sensor 13 is arranged on the outer surface of the training robot and electrically connected with the control module.

The control module 11 of the robot main body 10 comprises a single chip microcomputer and a wireless module connected with the single chip microcomputer, the wireless module can be connected to a background server through a local area network (such as 802.11), a plurality of training action models are stored in a storage module of the single chip microcomputer, or the wireless module acquires the training action models from the server and then controls all parts to operate according to the model actions. The power supply is used for supplying power to the whole circuit and can be a rechargeable battery, the battery is inserted into a charging base, and a charging port of the charging base extends out of the robot main body, so that charging is facilitated.

Steering wheel 46, at least three wheels 41 and first motor 45 are installed to the bottom on chassis 40, and wherein two wheels 41 intermediate junction have a connecting rod 42, and driven gear 44 is installed to connecting rod 42, and driven gear 44 meshing is connected with driving gear 43, and driving gear 43 and first motor 45 coaxial coupling, the controller of first motor 45 is connected with control module 11 electricity.

The wheels 11 may have four wheels, one set of two wheels is connected by the link 42, the first motor 45 is connected to both the links 42 for four-wheel drive, or the first motor 45 is connected to one of the links 42. Or three wheels 11 arranged in a stable triangle, two of which are connected by a link 42 and a first motor 45.

Steering engine 46 installs in the steering engine seat of chassis 40, and the output shaft is connected with the horn coaxial, and the horn both ends are connected respectively at two wheels 41 of same group, and steering engine 46's control circuit board is connected with control module 11 electricity. The type of the steering gear 46 is selected according to the force required for the rotation of the wheels 41, the distance between the two wheels 41, and the like.

The chassis 40 can drive the fighting training robot to move and turn, and the control module 11 controls the movement of the robot by controlling the on-off, turning and rotating speed of the first motor 45; the steering engine 46 is controlled to control the direction of the robot. The human body confrontation robot can simulate running and turning actions of a human body, and training is more real.

The chassis 40 can be driven by one group of wheels 41, and the other group of wheels 41 can steer, namely, a connecting rod 42 of one group of wheels 41 is in gear transmission connection with a first motor 45, and the other group of wheels 41 is connected with a steering engine 46; or two sets of four-wheel drives are adopted, wherein one set of steering engine 46 is used for steering.

The robot arm 20 includes an upper arm 21 and a lower arm 23, the upper arm 21 and the lower arm 23 are rotatably connected to form an elbow joint 24, and the two upper arms 21 are rotatably connected to both sides of the robot body 10 to form two shoulder joints 22. A second motor 25 is fixed in the robot main body 10 along the width direction, an output shaft of the motor 25 is coaxially connected with a rotating shaft of the upper arm 21, a groove is formed at the position of the shoulder joint 22 of the robot main body 10, and the upper arm 21 penetrates through the groove to extend out of the body, so that the upper arm 21 can swing up and down.

Two connecting plates 26 are relatively fixed on the upper arm 21 at the elbow joint 24, wherein the inner side wall of one connecting plate 26 is vertical to the mechanical hand piece 20 and is provided with a second motor 25, and the rotating shaft of the lower arm 23 is coaxially connected with the output shaft of the second motor 25 and rotates for a certain angle around the rotating shaft. Underarm 23 keeps away from the pot head of axis of rotation and is equipped with soft protective sheath, and the protection is trained the individual soldier and is avoided being injured.

The mechanical arm 20 has different attacking and defending effects by adjusting the length proportion of the upper arm 21 and the lower arm 23; the swinging speed of the mechanical arm 20 can be controlled by controlling the rotating speed of the second motor 25; the rotation direction of the robot arm 20 can be adjusted by adjusting the rotation direction of the second motor 25. Therefore, under the instruction of the control module 11, the two mechanical arms 20 can rotate by the mutual cooperation of the four second motors 25, so as to simulate the actions of lifting arms and swinging hands to hit, and make various forms and different forces.

In other embodiments, the driving device for the shoulder joint 22 and the elbow joint 24 may be a two-degree-of-freedom electric pan-tilt, which includes some standard steering engines and mechanical supports, and the robot main body 10, the upper arm 21, and the lower arm 23 are respectively connected in a rotating manner through the two-degree-of-freedom electric pan-tilt. The electric pan-tilt drives the upper arm 21 to rotate in an up-down mode and a left-right mode, so that the electric pan-tilt is more in accordance with the characteristics of a human body and is more flexible.

The head 30 includes a camera 31, a touch display screen 32, and a voice module 33 (not shown in the figure) electrically connected to the control module 11. The voice module 33 can be a sound or a loudspeaker, is arranged on the top or the side of the head, records voice prompt in advance and simulates the sound emitted by fighting, and gives more real experience to training individual soldiers. The touch display screen 32 is used for logging in the system and checking the achievement data, the screen of the touch display screen 32 has a fingerprint identification function, and training can be started only by fingerprint verification and logging in. The camera 31 records the attack process of training individual soldiers in the view of enemy, so as to check whether the action is standard or not and whether the attack is rapid or not. Of course, face recognition verification using the camera 31 is also contemplated by those skilled in the art as will be apparent.

And the pressure sensor 13 is arranged on the outer surface of the training robot and is electrically connected with the control module 11. The pressure sensors 13 are flexible film pressure sensors, and are respectively disposed at the head, arms (not shown), heart, and abdomen according to the identity position. The damage values represented by the pressure sensors 13 at each position are different, the pressure sensors 13 transmit the received pressure values to the control module 11, and the control module 11 gives corresponding damage values according to the pressure values and the positions. For example, the head part is subjected to a percussion pressure value of 80 pounds, and the injury value is counted to be 20; the head part is subjected to a striking pressure value of 10 pounds, the injury value is counted to be 10, and accordingly the training achievement is counted.

The working process is as follows: the training individual logs in the touch display module 32 to authenticate and start training, and the voice module 33 prompts the notice and the scoring rule and then announces the beginning. The control module 31 controls the first motor 45 and the four second motors 25 to rotate according to programs, the training robot is driven to move and swing arms, the training individual soldiers strike the combat training robot, and the voice module 33 simulates shouting of a person and indicates pain in shouting. The pressure sensor 13 transmits the hitting pressure and hitting parts of the training individual soldier each time, the camera 31 records the video at the angle of the enemy, and the control module 11 also calculates and processes the image shot by the camera 31 to obtain the boxing speed of the training individual soldier and count the score data. After training is finished, the training individual soldier can check the score data and images of the training individual soldier on the touch display screen 32, and meanwhile, the data are stored in the storage of the single chip microcomputer or uploaded to the server.

The result data comprises the hitting times, hitting positions, hitting strength, damage values, punch speed, comprehensive evaluation and the like.

First embodiment of training system:

referring to fig. 4, the confrontational training system includes a command terminal 50 and a plurality of the combat training robots described above communicatively connected to the command terminal 50.

The command terminal 50 is a computer or other terminal device having computer functionality including a processor, a memory module, a user interface. The user interface is connected with a microphone and a keyboard, and the training robots are connected with the command terminal through a wireless local area network.

A plurality of sets of action models are stored in the command terminal 50/the fighting training robot/the background server, the command terminal 50 can select the action models to send instructions to the control module 11, the control module 11 commands all parts to perform the actions in a matched mode according to the action models, and the action models comprise data such as walking positions, punching directions, speeds, striking force and the like and are classified according to difficulty levels. The commander may select a training model.

The command terminal 50 numbers a plurality of training robots and stores the number information, and the information of all training individual soldiers is also stored in the command terminal 50.

After the individual soldier logs in through the authentication of the touch display screen 32 or the camera 31, the individual soldier can be bound with the training robot, the command terminal 50 can record the identity of the individual soldier and the serial number of the robot, the voice module 33 prompts cautions and scoring rules, then the start is announced, and the control module 31 executes a program according to the selected training action model, so that the chassis 40 and the mechanical arm 20 perform the same action as the model.

In the training process, the display screen of the command terminal 50 can play the real-time pictures of the cameras 31, and when a plurality of individual soldiers are trained simultaneously, the pictures of the cameras 31 of a plurality of training robots can be displayed in a split screen mode. The command terminal 50 can use a microphone and a training individual to speak, which is played through the voice module 33. When an abnormality is found in the training individual, the command terminal 50 may issue an emergency stop command to the training robot.

The control module 11 calculates the achievement and sends the achievement to the command terminal 50 or the command terminal 50 calculates the achievement according to the data value transmitted by the control module. The number of times of striking received by each of the site pressure sensors 13 is taken as a velocity value; the striking force received by each part of the pressure sensor 13 is taken as a force value; the motion captured by the camera 11 is decomposed and compared with the standard posture to obtain a motion value; the motion captured by the camera 11 is decomposed and the speed value is calculated; the sum of the damage values of the pressure sensors 13 at all the parts is used as a fighting force value; and integrating all the values to obtain the grade evaluation of the result. And combining all values into a training result, storing the training result and the image in the exclusive folder of the single soldier according to the path, and recording the training time and data of the single soldier each time by the folder, so that the duplication is facilitated.

Aiming at the combat test that a plurality of people of the army participate in at the same time, an examination can be initiated at the command terminal 50, and a reference person, reference time and score qualified line can be set.

The multi-person test process: and a plurality of designated reference persons log in a plurality of training robots at designated time and are bound with the respective training robots. The commander selects a training motion model at the command terminal 50, and the control module 11 receives the instruction and controls the chassis 40 and the robot arm 20 to restore the motion of the model according to the model.

After the command terminal 50 finishes, the score of each individual soldier is counted and displayed on the touch display screen 32, and the score of the examination is stored in the exclusive folder of each individual soldier respectively. And screening out unqualified scores, and prompting the unqualified scores by the voice module 33 corresponding to the fighting training robot.

In this embodiment, the combat power value of the training individual is the injury value received by the combat training robot, the injury value is calculated according to the position of the pressure sensor 13 and the received attack strength, and different injury cardinalities a are given to the pressure sensors 13 on the head, the heart and the abdomen so as to accord with the physiological characteristics of the human body. If the pressure value of the head pressure sensor 13 that is trained to hit by an individual soldier is F, the injury value S = AF, the value of a is a number greater than zero, and the administrator can set the value of each part a at the command terminal 50. The cumulative number of times of injury value of each time, namely S = nAF, and the final injury value calculation of the training individual is the accumulation of injury values of three parts, namely S (total) = nA (head) F + nA (heart) F + n A (belly) F.

The training system can start multi-person training at the same time, attacks the fighting robot, automatically counts data, remotely monitors the command terminal 50 for multiple screens, achieves multiple data values, and is more real and efficient in training process.

Second embodiment of training System:

referring to fig. 5, unlike the first embodiment of the training system, the training system further includes one or more pieces of wearing equipment 60 communicatively connected to the command terminal 50, the wearing equipment includes a helmet 61 and a training suit 62, and a controller 64 communicatively connected to the command terminal 50 is installed in the training suit 62. The helmet 61 and the training clothes 62 of the same set of wearing equipment 60 are engraved with the same serial numbers, and all individual soldier identity information, training robot serial number information and wearing equipment 60 serial number information are stored in the command terminal 50.

The external surface of the wearing equipment 60 is provided with a plurality of pressure sensors 13 electrically connected to the controller 64. The pressure sensors 13 are flexible film pressure sensors, and are provided on the head of the helmet 61 and the heart and abdomen of the training suit 62, respectively, in accordance with the body part.

Acceleration sensors 63 are mounted on the two wrists of the training suit 62, and the acceleration sensors 63 are electrically connected with a controller 64.

When the robot is confronted with a training robot, the mechanical arm 20 strikes the training clothes 62 of training individual soldiers, the pressure sensors 13 at different positions of the training clothes 62 transmit received pressure values to the controller 64, and the controller 64 gives corresponding injury values according to the pressure values and the positions, as with the pressure sensors 13 of the training robot. The attack and the struck of the training individual soldier can generate visual data, so that the attack and the defense are exercised.

The acceleration sensor 63 captures the speed of the punch of the training individual, and transmits the data to the controller 64, and the controller 64 transmits the pressure applied to the training suit 62 and the helmet 61 and the speed captured by the acceleration sensor 63 to the command terminal 50. The fighting training robot is used as an opponent of an individual training soldier, and the fighting data of both sides are counted into statistical scores, so that the command terminal 50 can make more comprehensive analysis.

In the training process, the control module 11 analyzes, calculates or sends the command terminal 50 to the data of the camera 31 and the outer surface pressure sensor 13 of the training robot; the controller 64 transmits data of the helmet 61, the pressure sensor 13 of the training suit 62, and the acceleration sensor 63 to the command terminal 50.

The command terminal 50 integrates and processes the received data of the control module 11 and the controller 64, and adds data of each component of the wearable device 60 in addition to the data described in the first embodiment of the training system. The hitting strength of the pressure sensors 13 of the helmet 61 and the training suit 62 is used as the strength value of the opponent; the sum of the injury values of the pressure sensors 13 at all parts of the wearable device 60 is used as the fighting force value of the opponent. In addition, the speed value of the training individual is not calculated by using the image captured by the analysis camera 31, and the boxing speed is acquired by the acceleration sensor 63.

In addition to the values of the performance given in the first embodiment, the ratio of the damage values of both the training individual and the combat training robot is added as the war-loss ratio, and the war-loss ratio determines the win-or-lose result and displays the win-or-lose result on the touch display screen 32.

In the embodiment, both the training individual soldier and the training robot have attack and shot data, so that the training robot is closer to a real opponent and gives training experience of more interest and more personally on the scene to the training individual soldier. The command terminal 50 analyzes data of both parties, and an individual training soldier can visually and comprehensively see advantages and defects of the individual training soldier, so that targeted adjustment of training contents is facilitated, and efficiency is improved.

The programs and modules applied in the training system of the present invention are all system hardware modules, or the computer program or protocol and hardware combined functional modules in the prior art, and the computer software programs or protocols related to the functional modules are all known in the art per se, and are not the improvement of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A combat training robot, comprising:

2. The fighting training robot according to claim 1, wherein a steering engine is mounted on the chassis, two ends of an arm of the steering engine are respectively connected to two wheels of the same group, and a control circuit board of the steering engine is electrically connected to the control module.

3. The fighting training robot according to claim 1, wherein the pressure sensors are flexible film pressure sensors respectively disposed at the head, arms, heart and abdomen according to the identity.

4. The fighting training robot according to claim 1, wherein the driving device comprises four second motors, the second motors of two shoulder joints are fixed on the robot body, the rotating shafts of the motors are coaxially connected to the rotating connecting shafts of the shoulder joints, the second motors of two elbow joints are mounted on the upper arm, the rotating shafts of the motors are coaxially connected to the rotating connecting shafts of the elbow joints, and the drivers of the second motors are connected with the control module.

5. The combat training robot of claim 1, wherein the power source is a rechargeable battery that is plugged into a charging base, and a charging port of the charging base extends out of the robot body.

6. A training system, characterized by comprising one or more fighting training robots according to any one of claims 1 to 5, and a command terminal, wherein the fighting training robots are in communication connection with the command terminal.

7. The training system of claim 6, further comprising one or more wearing equipments, including a helmet and a training suit, wherein the training suit is internally provided with a controller in communication connection with the command terminal, and the outer surface of the wearing equipment is provided with a pressure sensor electrically connected with the controller.

8. The training system of claim 7, wherein the pressure sensors of the wearable device are arranged at the positions of the heart and the abdomen of the helmet and the training suit according to the human body part.

9. An exercise system according to claim 7 or 8, wherein acceleration sensors are mounted on both arms of the garment, said acceleration sensors being electrically connected to the controller.