Bullet hitting detection method for combat robot

Abstract

The invention relates to the technical field of shot-in detection methods, in particular to a battle robot shot-in detection method, which comprises the following steps: firstly, dividing a shot-in detection area into a plurality of local areas, respectively shooting each local area at a plurality of angles to obtain shot-in impact force shot at the corresponding angle; fitting with the upper threshold value of the shot impact force of the local area in the step 1, and performing arc interpolation on the shot impact force corresponding to each angle to obtain an interpolation curve graph; a plurality of interpolation curve graphs are obtained through a plurality of tests, and an interpolation curved surface is formed through combination and is arranged in the system; when the active shooting party battle robot shoots a shooting ball, the shooting ball records a shooting curve, then the system calibrates the shot position and the front orientation of the shot party battle robot, the shot angle of the shot party battle robot is calculated, and the current shot impact force is recorded; and judging whether the shot impact force point value corresponding to the shooting angle falls into the interpolation curved surface in the step 3 or not, wherein falling indicates shot shooting.

Description

[0001] The present invention relates to the technical field of bullet detection methods, and in particular to a method for detecting bullets in combat robots. Background Art

[0002] In supermarkets, shopping parks and other places, in order to attract customers, a combat robot will be provided. Combat robots usually have a competition mode, and in competitions, there are often evaluation methods such as bullet detection. The bullet detection technology currently mainly uses strain gauge pressure sensors designed in different areas on the shell of the combat robot. A single strain gauge pressure sensor can sense pressure changes in different areas, so that the combat robot can determine whether it has been hit by a bullet based on the sensing data of a single strain gauge pressure sensor. However, using only the pressure change of the strain gauge pressure sensor to determine whether it has been hit often leads to misjudgment. Summary of the invention

[0003] The purpose of the present invention is to provide a method for detecting a combat robot being shot, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A method for detecting bullet hits in a combat robot, comprising: step 1, firstly dividing a bullet hit detection area into a plurality of local areas, setting an upper threshold of bullet hit impact force for each local area according to a previous frontal shooting bullet hit test, and setting the upper threshold of bullet hit impact force corresponding to each local area in a system to form a basic database;

[0006] Step 2: Shoot at angles of 5°, 10°, 15°, 30°, 60° and 90° for each local area, obtain the impact force of the bullet at the corresponding shooting angle, fit it with the upper threshold of the impact force of the bullet in the local area in step 1, perform arc interpolation on the impact force of the bullet corresponding to each angle, and obtain an interpolation curve graph;

[0007] Step 3: In step 2, multiple interpolation curves are obtained through several tests, combined into an interpolation surface, and set in the system;

[0008] Step 4: When the active shooting party's combat robot shoots the shooting ball, the shooting ball records the shooting curve, and then the system calibrates the position and front direction of the combat robot of the shot party when it is hit, calculates the shooting angle of the combat robot of the shot party, and records the current impact force of the shot;

[0009] Step 5, determine whether the impact force point value corresponding to the shooting angle falls into the interpolation surface in step 3, if it falls into it, it means the bullet has been hit, and if it does not fall into it, it means that the bullet has not been hit.

[0010] Compared with the prior art, the present invention provides a new method for detecting whether a combat robot is hit by a bullet, which can more effectively detect whether a combat robot is hit by a bullet. DETAILED DESCRIPTION

[0011] The technical solution of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the 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.

[0012] Embodiment 1:

[0013] A method for detecting bullet damage in a combat robot, comprising:

[0014] Step 1: First, the bullet detection area is divided into several local areas, and an upper threshold of the bullet impact force is set for each local area according to the previous frontal shooting bullet test, and the upper threshold of the bullet impact force corresponding to each local area is set in the system to form a basic database;

[0015] Step 2: Shoot at angles of 5°, 10°, 15°, 30°, 60° and 90° for each local area, obtain the impact force of the bullet at the corresponding shooting angle, fit it with the upper threshold of the impact force of the bullet in the local area in step 1, perform arc interpolation on the impact force of the bullet corresponding to each angle, and obtain an interpolation curve graph;

[0016] Step 3: In step 2, multiple interpolation curves are obtained through several tests, combined into an interpolation surface, and set in the system;

[0017] Step 4: When the active shooting party's combat robot shoots the shooting ball, the shooting ball records the shooting curve, and then the system calibrates the position and front direction of the combat robot of the shot party when it is hit, calculates the shooting angle of the combat robot of the shot party, and records the current impact force of the shot;

[0018] Step 5, determine whether the impact force point value corresponding to the shooting angle falls into the interpolation surface in step 3, if it falls into it, it means the bullet has been hit, and if it does not fall into it, it means that the bullet has not been hit.

[0019] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0020] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A method for detecting a combat robot being hit by a bullet, characterized in that: Step 1: First, the bullet detection area is divided into several local areas, and an upper threshold of the bullet impact force is set for each local area according to the previous frontal shooting bullet test, and the upper threshold of the bullet impact force corresponding to each local area is set in the system to form a basic database; Step 2: Shoot at angles of 5°, 10°, 15°, 30°, 60° and 90° for each local area, obtain the impact force of the bullet at the corresponding shooting angle, fit it with the upper threshold of the impact force of the bullet in the local area in step 1, perform arc interpolation on the impact force of the bullet corresponding to each angle, and obtain an interpolation curve graph; Step 3: In step 2, multiple interpolation curves are obtained through several tests, combined into an interpolation surface, and set in the system; Step 4: When the active shooting party's combat robot shoots the shooting ball, the shooting ball records the shooting curve, and then the system calibrates the position and front direction of the combat robot of the shot party when it is hit, calculates the shooting angle of the combat robot of the shot party, and records the current impact force of the shot; Step 5, determine whether the impact force point value corresponding to the shooting angle falls into the interpolation surface in step 3, if it falls into it, it means the bullet has been hit, and if it does not fall into it, it means that the bullet has not been hit.