Multi-DOF Humanoid Mobile Target Robot Design And The Research Of Bullet Point Recognition

At present,the shooting training support equipment of special forces lags behind.The target is still dominated by the traditional fixed / moving plane target,which is greatly different from the target in actual combat,with low sense of authenticity and experience.The shooting and target reporting process are separated.The shooters can not obtain the shooting results at the first time and can not fully meet the requirements of practical training.Humanoid intelligent mobile target is a new type of arm weapons training robot,which can be used to improve the firing accuracy of combatants and optimize the firing state of trainees.Some units and enterprises at home and abroad have conducted relevant research on intelligent mobile targets.The developed products have been tested in many shooting occasions such as troops and competitions,and have received good response.However,the target body of mobile targets only has two postures of standing up and falling down,so it is impossible to make more anthropomorphic actions on the shooting results.From the perspective of actual combat and shooting experience,according to the needs of the army,this paper puts forward a design scheme of multi degree of freedom humanoid mobile target system,and carries out relevant research on the realization of humanoid action of robot target.Based on the research on the overall design of mobile target robot,multi degree of freedom target body control mechanism and impact point identification,the main work of this paper is as follows:1.An overall design scheme of multi degree of freedom humanoid mobile target robot is proposed.According to the actual use of the army,analyze the functional requirements of the target robot,including the target system and mobile platform,and clarify the characteristic advantages of this design compared with the existing products at home and abroad.Then the design scheme and specific index requirements of the target robot are defined according to the requirements.2.Design the target multi degree of freedom motion mechanism.Firstly,the mechanical structure controlling the movement of the target is designed and analyzed to determine the model.Then,through the process of theoretical calculation,model numerical optimization and simulation,the output torque of the motor in the structure is calculated to provide theoretical support for motor selection and experiment.3.Realize target impact point identification and target body action feedback.By analyzing the advantages and disadvantages of various impact point identification technologies,the most appropriate identification technology is summarized.According to this technology,the target shape and target injury level are designed,the target material is selected,and the target feedback action scheme is designed.Construct the upper computer and lower computer control terminal of mobile target.4.Complete the manufacture of the target robot prototype,and test the target system and platform of the prototype.Specify the selection and use of main hardware on the target.The reliability of the identification system is detected through the target signal reception test experiment and lodging experiment.According to the index requirements proposed above,the parameter functions of the target system are tested to verify whether the system meets the preset objectives.