An intelligent robot for simulated combat training

Abstract

The present invention provides an intelligent robot for simulated combat training, which relates to the technical field of combat training equipment, and comprises: a bionic robot body, a combat model unit and a wireless control unit installed on the bionic robot body; the bionic robot body comprises a robot main body and a mobile chassis; the combat model unit is used to output training movements and moving paths according to detection data and a preset combat motion model, and to identify the movements and instructions of the user, and to simulate voice interaction according to the identification results; the wireless control unit is used to send control parameters to the combat model unit through wireless communication, and is also used to obtain the training data of the user, analyze the training data, and output the analysis results and targeted training plans. The present invention can formulate targeted training plans according to the basic characteristic parameters of the user's body and the training status, thereby reducing the training cost and improving the training efficiency and quality.

Description

Technical Field

[0001] The invention relates to the technical field of combat training equipment, and in particular to an intelligent robot used for simulated combat training. Background Art

[0002] A combat training robot is a machine designed based on the human appearance and structure. It integrates computer technology, microelectronics technology, mechanical design technology and sensor control technology. The intelligent combat training robot can reduce the training cost and safety difficulty of real combat training. Although the existing combat training robots can perform simple auxiliary training, they cannot accurately obtain the training data of the trainers during the training process, and then analyze and guide the movements, and cannot intelligently identify the movements of the trainers and provide safety reminders.

[0003] In summary, how to overcome the above-mentioned defects is a problem that those skilled in the art need to solve urgently. Summary of the invention

[0004] In response to the above-mentioned problems and needs, this solution proposes an intelligent robot for simulated combat training, which can solve the above-mentioned technical problems by adopting the following technical solutions.

[0005] To achieve the above object, the present invention provides the following technical solution: an intelligent robot for simulated fighting training, comprising: a bionic robot body, a fighting model unit and a wireless control unit installed on the bionic robot body;

[0006] The bionic robot body comprises a robot main body and a mobile chassis, and the robot main body is fixedly connected to the mobile chassis;

[0007] The fighting model unit is used to output training movements and movement paths according to the detection data and the preset fighting sports model, and recognize the user's movements and instructions, and simulate voice interaction according to the recognition results;

[0008] The wireless control unit is electrically connected to the fighting model unit via wireless communication. The wireless control unit is used to send control parameters to the fighting model unit via wireless communication, and is also used to obtain user training data, analyze the training data, and output analysis results and targeted training plans.

[0009] Furthermore, the robot body includes weapon joints and a main body trunk, the weapon joints are covered with simulated skin, the weapon joints are rotatably connected to the main body trunk, and the main body trunk is fixedly arranged on the mobile chassis; the weapon joints include left limbs and right limbs, the left limb includes an upper arm and a lower arm, the upper arm and the lower arm are connected by a rotating mechanism, the end of the lower arm is connected to a boxing device, the structure of the right limb is the same as that of the left limb, and the mobile chassis includes a base and a driving wheel.

[0010] Furthermore, the fighting model unit includes a data acquisition module, a control and analysis module and a power drive module; the data acquisition module is used to collect the user's posture image, action parameters and voice data, and perform image preprocessing and voice filtering processing on the collected posture image and voice data respectively; the input end of the control and analysis module is electrically connected to the output end of the data acquisition module, the control and analysis module is used to analyze the collected data, and send the analysis results to the wireless control unit, and receive the training parameters transmitted by the wireless control unit, send the training parameters to the power drive module. In order to control the robot to perform corresponding fighting training actions, it is also used to output voice interaction control signals and emergency alarm signals; the power drive module is used to receive the power drive instructions sent by the control and analysis module, and drive the robot body to perform corresponding actions according to the power drive instructions. The power drive module includes a first drive device arranged at the connection between the upper arm and the main trunk of the body, a second drive device arranged between the upper arm and the lower arm, and a third drive device arranged in the base for driving the drive wheel, the first drive device is used to drive the swing angle of the upper arm, and the second drive device is used to drive the swing angle of the lower arm.

[0011] Furthermore, the data acquisition module includes an image acquisition module, a flexible pressure sensor group and an audio processing device; the image acquisition module is used to acquire posture images of the user's training process and perform image preprocessing on the acquired images, and the image acquisition module is arranged at the top of the robot body; the flexible pressure sensor group is evenly arranged at the detection points under the simulated skin of the left limb and the right limb; the audio processing device includes a sound pickup module and a voice chip, the sound pickup module is used to acquire user training voice signals, and send the voice signals to the voice chip, and the voice chip filters and reduces noise on the acquired voice signals, and recognizes voice information.

[0012] Furthermore, the control and analysis module includes a calculation module, an analysis module and an alarm output module; the calculation module is used to calculate the multi-point average value of the collected pressure action parameters and the difference in the change of the pressure values ​​of the marked points within a set time period, and compare the calculated average value and the change difference with the preset pressure threshold of the corresponding action. If the average value and the change difference are both greater than or equal to the pressure threshold, it is determined to be qualified, otherwise it is determined that the action needs to be strengthened, and the calculated data is sent to the wireless control unit; the analysis module is used to extract key frame images from the pre-processed images, extract features from the extracted key frame images, and use a template matching-based abnormal behavior recognition method for moving human bodies to match and compare the extracted features with abnormal template feature data to determine whether it belongs to an abnormal action posture; the output end of the analysis module is connected to the input end of the alarm output module, and the alarm output module is used to output an alarm signal to the wireless control unit according to the analysis result, and control the alarm device to give an audible and visual alarm reminder, and output training parameters to the power drive module.

[0013] Furthermore, the power drive module also includes a model building module and a drive control module, the model building module is used to establish the relationship between the key swing angle value of the weapon and the motion posture of the bionic robot through the DH matrix equation, and perform dynamic and kinematic simulation to construct a fighting motion model; the drive control module is connected to the model building module and the alarm output module, and the drive control module controls the first drive device, the second drive device and the third drive device to operate according to the fighting motion model and the received training parameters.

[0014] Furthermore, the fighting model unit also includes a wireless communication module, and the wireless communication module includes a first Bluetooth module, and the first Bluetooth module is connected to the control and analysis module.

[0015] Furthermore, the fighting model unit also includes a voice interaction module, which is used to provide voice feedback based on the recognition and confirmation results of the voice signal by the voice chip. The voice interaction module includes a voice synthesis module and a voice playback module. The voice synthesis module is used to synthesize preset interactive voice information according to the voice recognition signal. The input end of the voice playback module is electrically connected to the output end of the voice synthesis module. The voice playback module is used to play the interactive voice information and adjust the playback volume according to the voice adjustment parameters.

[0016] Furthermore, the wireless control unit includes a human-computer interaction module, a report analysis module, a solution matching module and a second Bluetooth module; the human-computer interaction module is used for training management personnel to input training parameter information, and to visualize the received alarm information, training data and training reports; the report analysis module is used to analyze the completion information of this training according to the number of qualified values ​​of the user's striking pressure data and the number of abnormal actions within the set training cycle, and output the corresponding completion level; the solution matching module is used to match and output the targeted training solutions in the training solution library according to the analyzed completion level.

[0017] It can be seen from the above technical solution that the beneficial effects of the present invention are:

[0018] 1. The present invention can formulate targeted training plans according to the basic physical characteristic parameters and training status of the user, reduce training costs, and improve training efficiency and quality. It can also realize stable dynamic driving of the robot. When conducting combat training for trainees, voice simulation interaction reminders and abnormal posture recognition are performed, making the training process closer to real-life training and increasing the safety of the training process.

[0019] 2. It can also conduct scientific analysis on the user's training level and provide targeted training plans based on the user's periodic training data, which is more intelligent.

[0020] In addition to the objects, features and advantages described above, the best embodiments for implementing the present invention will be described in more detail below with reference to the accompanying drawings so that the features and advantages of the present invention can be easily understood. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments of the present invention or the description of the prior art will be briefly introduced below, wherein the drawings are only used to show some embodiments of the present invention, rather than limiting all embodiments of the present invention thereto.

[0022] Figure 1 It is a schematic diagram of the composition of the fighting model unit and the wireless control unit in the present invention.

[0023] Figure 2 It is a schematic diagram of the composition of the data acquisition module in the present invention.

[0024] Figure 3 It is a schematic diagram of the composition of the power drive module in the present invention.

[0025] Figure 4 It is a schematic diagram of the structure of the bionic robot body in the present invention.

[0026] Reference numerals:

[0027] The robot comprises a main body 1 , a weapon joint 11 , a main body trunk 12 , an upper arm 111 , a lower arm 112 , a mobile chassis 2 , a base 21 , and a driving wheel 22 . DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the technical solution of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described in conjunction with the drawings of specific embodiments of the present invention. The same figure marks in the drawings represent the same parts. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] like Figures 1 to 4 As shown, the present invention provides an intelligent robot for simulated combat training. The device comprises: a bionic robot body, a combat model unit and a wireless control unit installed on the bionic robot body.

[0030] The bionic robot body comprises a robot main body 1 and a mobile chassis 2 , and the robot main body 1 is fixedly connected to the mobile chassis 2 .

[0031] Specifically, Figure 4 As shown, the robot body 1 includes a weapon joint 11 and a body trunk 12, the weapon joint 11 is covered with simulated skin, the weapon joint 11 is rotatably connected to the body trunk 12, and the body trunk 12 is fixedly arranged on the mobile chassis 2; the weapon joint 11 includes a left limb and a right limb, the left limb includes an upper arm 111 and a lower arm 112, the upper arm 111 and the lower arm 112 are connected by a rotating mechanism, the end of the lower arm 112 is connected to a boxing device, the structure of the right limb is the same as that of the left limb, and the mobile chassis 2 includes a base 21 and a driving wheel 22.

[0032] In this embodiment, the boxing device comprises a boxing model glove, and the driving wheels comprise two sets of steering wheels and two sets of universal wheels.

[0033] The fighting model unit is used to output training movements and movement paths according to the detection data and the preset fighting motion model, and to identify the user's movements and instructions, and to simulate voice interaction according to the identification results. The fighting model unit includes a data acquisition module, a control analysis module and a power drive module; the data acquisition module is used to collect the user's posture image, movement parameters and voice data, and to perform image preprocessing and voice filtering on the collected posture image and voice data respectively; the input end of the control analysis module is electrically connected to the output end of the data acquisition module, the control analysis module is used to analyze the collected data, and send the analysis results to the wireless control unit, and receive the training parameters transmitted by the wireless control unit, and send the training parameters to the power drive instruction to the power drive module, thereby controlling the robot to perform corresponding fighting training movements, and also using for outputting voice interaction control signals and emergency alarm signals; the power drive module is used to receive the power drive instructions sent by the control analysis module, and drive the robot body 1 to perform corresponding actions according to the power drive instructions, the power drive module includes a first drive device arranged at the connection between the upper arm 111 and the main trunk 12 of the body, a second drive device arranged between the upper arm 111 and the lower arm 112, and a third drive device arranged in the base 21 for driving the driving wheel 22, the first drive device is used to drive the swing angle of the upper arm 111, and the second drive device is used to drive the swing angle of the lower arm 112.

[0034] In this embodiment, when the robot receives the training parameters sent remotely, it matches the fighting motion model corresponding to the training parameters, and controls the first drive device, the second drive device and the third drive device to operate based on the fighting motion model, thereby adjusting the swing angle of the upper arm 111, the swing angle of the lower arm 112, and the steering and moving distance of the driving wheel. The first drive device and the second drive device are both implemented by brushless motors and dampers, and the third drive device uses a DC motor to drive the driving wheel to rotate. The output end of the L298N drive board is connected to the DC motor for controlling the rotation state of the DC motor.

[0035] Specifically, the data acquisition module includes an image acquisition module, a flexible pressure sensor group and an audio processing device; the image acquisition module is used to acquire posture images of the user's training process and perform image preprocessing on the acquired images, and the image acquisition module is arranged at the top of the robot body 1; the flexible pressure sensor group is evenly arranged at the detection points under the simulated skin of the left limb and the right limb; the audio processing device includes a sound pickup module and a voice chip, the sound pickup module is used to acquire user training voice signals, and send the voice signals to the voice chip, the voice chip filters and reduces noise on the acquired voice signals, and recognizes voice information.

[0036] In this embodiment, the posture image data and voice data of the user in the training process of combat training are collected by the data acquisition module, the user's action is identified to determine whether it is in a dangerous state, and the voice command is identified to determine whether it is necessary to stop training or change training parameters, thereby ensuring the safety of training. In addition, the strength and position information of the user hitting the bionic robot arm are collected, so as to facilitate the analysis of whether the user's current training cycle action is standard and whether it reaches the qualified level of training, and can help the user to quickly adjust the training plan and improve the training quality. In addition, the image acquisition device adopts a camera device and an image processor with a micro-pan platform, and the sound pickup module adopts a four-microphone PIC sound field positioning device, which can also identify the identity and orientation of the user in the case of multi-person communication, thereby improving the accuracy of sound quality and information acquisition. The voice chip first encodes the voice information filtered out by the front end into a vector matrix, decodes a single vector into corresponding phonemes, vocabulary, and sentences through acoustics, vocabulary, and language models, and outputs it as a text signal, and analyzes the text information to help the computer understand the user's intention, thereby determining the type and content of the feedback information.

[0037] The control and analysis module includes a calculation module, an analysis module and an alarm output module; the calculation module is used to calculate the multi-point average value of the collected pressure action parameters and the difference value of the pressure value change of the marked point within a set time period, and compare the calculated average value and the change difference with the preset pressure threshold of the corresponding action. If the average value and the change difference are both greater than or equal to the pressure threshold, it is determined to be qualified, otherwise it is determined that the action needs to be strengthened, and the calculated data is sent to the wireless control unit; the analysis module is used to extract key frame images from the pre-processed images, extract features from the extracted key frame images, and use a template matching-based abnormal behavior recognition method for moving human bodies to match and compare the extracted features with abnormal template feature data to determine whether it belongs to an abnormal action posture; the output end of the analysis module is connected to the input end of the alarm output module, and the alarm output module is used to output an alarm signal to the wireless control unit according to the analysis result, and control the alarm device to make an audible and visual alarm reminder, and output training parameters to the power drive module.

[0038] In this embodiment, the hardware implementation structure of the control and analysis module consists of an Arduino control board, peripheral circuits and an alarm device.

[0039] The power drive module also includes a model building module and a drive control module. The model building module is used to establish the relationship between the key swing angle value of the weapon and the motion posture of the bionic robot through the DH matrix equation, and to perform dynamic and kinematic simulation to construct a fighting motion model; the drive control module is connected to the model building module and the alarm output module, and the drive control module controls the first drive device, the second drive device and the third drive device to operate according to the fighting motion model and the received training parameters.

[0040] The fighting model unit also includes a wireless communication module, and the wireless communication module includes a first Bluetooth module, and the first Bluetooth module is connected to the control and analysis module.

[0041] The fighting model unit also includes a voice interaction module, which is used to provide voice feedback based on the recognition and confirmation results of the voice signal by the voice chip. The voice interaction module includes a voice synthesis module and a voice playback module. The voice synthesis module is used to synthesize preset interactive voice information based on the voice recognition signal. The input end of the voice playback module is electrically connected to the output end of the voice synthesis module. The voice playback module is used to play the interactive voice information and adjust the playback volume according to the voice adjustment parameters.

[0042] In this embodiment, the speech synthesis module is implemented by the SYN6288 speech synthesis chip. SYN6288 is a Chinese speech synthesis chip with high cost performance and natural effect. It receives the text data to be synthesized through asynchronous serial port transmission to realize the conversion of text to speech. In terms of function, it supports the synthesis of any Chinese and English letters, and the synthesis effect is clear, natural and accurate. At the same time, it has strong processing capabilities for polyphonic characters and Chinese surnames. In addition, SYN6288 can also execute various control commands such as synthesis, stop, pause synthesis, continue synthesis, change baud rate, etc.

[0043] The wireless control unit is electrically connected to the fighting model unit via wireless communication. The wireless control unit is used to send control parameters to the fighting model unit via wireless communication, and is also used to obtain user training data, analyze the training data, and output analysis results and targeted training plans.

[0044] The wireless control unit includes a human-computer interaction module, a report analysis module, a solution matching module and a second Bluetooth module; the human-computer interaction module is used for the training manager to input the training parameter information, and to visualize the received alarm information, training data and training report; the report analysis module is used to analyze the completion information of this training according to the number of qualified numerical values ​​of the user's striking pressure data and the number of abnormal movements within the set training cycle, and output the corresponding completion level; the solution matching module is used to match and output the targeted training solution in the training solution library according to the analyzed completion level. Among them, the training parameter information includes the user's basic physical characteristic parameters such as height and weight, training mode, training duration and training level, etc.

[0045] It should be noted that the embodiments described in the present invention are only preferred ways to implement the present invention, and any obvious modifications that belong to the overall concept of the present invention should fall within the protection scope of the present invention.

Claims

1. An intelligent robot for simulated combat training, characterized in that: include: A bionic robot body, a fighting model unit and a wireless control unit installed on the bionic robot body; The bionic robot body comprises a robot body (1) and a mobile chassis (2), wherein the robot body (1) is fixedly connected to the mobile chassis (2); The fighting model unit is used to output training movements and movement paths according to the detection data and the preset fighting sports model, and recognize the user's movements and instructions, and simulate voice interaction according to the recognition results; The wireless control unit is electrically connected to the fighting model unit via wireless communication, and the wireless control unit is used to send control parameters to the fighting model unit via wireless communication, and is also used to obtain the user's training data, analyze the training data, and output the analysis results and targeted training plans; The robot body (1) comprises a weapon joint (11) and a body trunk (12); the weapon joint (11) is covered with a simulated skin; the weapon joint (11) is rotatably connected to the body trunk (12); the body trunk (12) is fixedly arranged on the mobile chassis (2); the weapon joint (11) comprises a left limb and a right limb; the left limb comprises an upper arm (111) and a lower arm (112); the upper arm (111) and the lower arm (112) are connected via a rotating mechanism; the end of the lower arm (112) is connected to a boxing device; the structure of the right limb is the same as that of the left limb; the mobile chassis (2) comprises a base (21) and a driving wheel (22); The fighting model unit includes a data acquisition module, a control analysis module and a power drive module; the data acquisition module is used to collect the user's posture image, action parameters and voice data, and perform image preprocessing and voice filtering processing on the collected posture image and voice data respectively; The input end of the control and analysis module is electrically connected to the output end of the data acquisition module. The control and analysis module is used to analyze the collected data and send the analysis results to the wireless control unit, and receive the training parameters transmitted by the wireless control unit, send the training parameters to the power drive module as a power drive instruction, thereby controlling the robot to perform corresponding combat training actions, and is also used to output a voice interaction control signal and an emergency alarm signal. The power drive module is used to receive the power drive instruction sent by the control and analysis module, and drive the robot body (1) to perform corresponding actions according to the power drive instruction. The power drive module comprises a first drive device arranged at the connection between the upper arm (111) and the main trunk (12), a second drive device arranged between the upper arm (111) and the lower arm (112), and a third drive device arranged in the base (21) for driving the drive wheel (22). The first drive device is used to drive the swing angle of the upper arm (111), and the second drive device is used to drive the swing angle of the lower arm (112).

2. The intelligent robot for simulated combat training as claimed in claim 1, characterized in that: The data acquisition module comprises an image acquisition module, a flexible pressure sensor group and an audio processing device; the image acquisition module is used to acquire posture images of the user during training and perform image preprocessing on the acquired images, and the image acquisition module is arranged at the top of the robot body (1); the flexible pressure sensor group is evenly arranged at the detection points under the simulated skin of the left limb and the right limb; the audio processing device comprises a sound pickup module and a voice chip, the sound pickup module is used to acquire user training voice signals and send the voice signals to the voice chip, the voice chip filters and reduces noise on the acquired voice signals, and recognizes voice information.

3. The intelligent robot for simulated combat training as claimed in claim 1, characterized in that: The control and analysis module includes a calculation module, an analysis module and an alarm output module; the calculation module is used to calculate the multi-point average value of the collected pressure action parameters and the difference value of the pressure value change of the marked point within a set time period, and compare the calculated average value and the change difference with the preset pressure threshold of the corresponding action. If the average value and the change difference are both greater than or equal to the pressure threshold, it is determined to be qualified, otherwise it is determined that the action needs to be strengthened, and the calculated data is sent to the wireless control unit; the analysis module is used to extract key frame images from the pre-processed images, extract features from the extracted key frame images, and use a template matching-based abnormal behavior recognition method for moving human bodies to match and compare the extracted features with abnormal template feature data to determine whether it belongs to an abnormal action posture; the output end of the analysis module is connected to the input end of the alarm output module, and the alarm output module is used to output an alarm signal to the wireless control unit according to the analysis result, and control the alarm device to make an audible and visual alarm reminder, and output training parameters to the power drive module.

4. The intelligent robot for simulated combat training as claimed in claim 3, characterized in that: The power drive module also includes a model building module and a drive control module. The model building module is used to establish the relationship between the key swing angle value of the weapon and the motion posture of the bionic robot through the DH matrix equation, and to perform dynamic and kinematic simulation to construct a fighting motion model; the drive control module is connected to the model building module and the alarm output module, and the drive control module controls the first drive device, the second drive device and the third drive device to operate according to the fighting motion model and the received training parameters.

5. The intelligent robot for simulated combat training according to claim 1, characterized in that: The fighting model unit also includes a wireless communication module, and the wireless communication module includes a first Bluetooth module, and the first Bluetooth module is connected to the control and analysis module.

6. The intelligent robot for simulated combat training as claimed in claim 2, characterized in that: The fighting model unit also includes a voice interaction module, which is used to provide voice feedback based on the recognition and confirmation results of the voice signal by the voice chip. The voice interaction module includes a voice synthesis module and a voice playback module. The voice synthesis module is used to synthesize preset interactive voice information based on the voice recognition signal. The input end of the voice playback module is electrically connected to the output end of the voice synthesis module. The voice playback module is used to play the interactive voice information and adjust the playback volume according to the voice adjustment parameters.

7. The intelligent robot for simulated combat training as claimed in claim 1, characterized in that: The wireless control unit includes a human-computer interaction module, a report analysis module, a solution matching module and a second Bluetooth module; the human-computer interaction module is used for the training manager to input training parameter information, and to visualize the received alarm information, training data and training report; the report analysis module is used to analyze the completion information of this training according to the number of qualified numerical values ​​of the user's striking pressure data and the number of abnormal action occurrences within the set training cycle, and output the corresponding completion level; The program matching module is used to match and output targeted training programs in the training program library according to the analyzed completion level.

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