CN107398081A - Wushu ring robot and wushu ring robot manipulation's method - Google Patents

Abstract

The invention discloses wushu ring robot and wushu ring robot manipulation's method, wherein wushu ring robot includes chassis, the shovel pawl of front end, the shovel pawl of rear end, infrared photoelectric sensor, the Power Component that driving front and back end shovel pawl is upturned and the controller for controlling Power Component action；The end of the shovel pawl of rear and front end is respectively hinged at the both ends on chassis；The Power Component and the shovel pawl drive connection of rear and front end；The infrared photoelectric sensor is electrically connected with the controller, and the controller is also controlled with the Power Component and connected.Wushu ring robot provided by the invention and wushu ring robot manipulation's method, fast with reaction speed, the number of effective attack is high and reasonable in design, in light weight, Stability Analysis of Structures, all many technical advantages such as highly reliable.

Description

Martial arts arena robot and martial arts arena robot operating method

technical field

The invention relates to the technical field of intelligent robot equipment, in particular to a martial arts arena robot and a martial arts arena robot operating method.

Background technique

The robot martial arts challenge arena is a kind of confrontational competition. The competition venue is a square low platform, and the platform is the arena. In this arena, the robots of the two contestants can imitate the rules of traditional Chinese arena fighting, hitting or pushing each other; if one robot leaves the arena area as a whole or is hit by the opponent's robot to the point where it cannot move, the other robot will win.

Due to the above-mentioned competitions, a martial arts arena robot is produced; a martial arts arena robot, as the name suggests, is an intelligent robot specially designed for a robot martial arts arena. At present, most of the martial arts competition robots in the prior art adopt a small car structure, which can detect objects around the body and decide to take an action of dodging or attacking according to the relative position.

Offensive performance is an important performance of the martial arts arena robot. The martial art arena robots in the prior art all have a one-way attack structure (the reaction time is very slow especially when turning and attacking), and it generally increases the effective speed by increasing the speed. attack. However, the increase of the robot's attack speed will also affect the robot's self-control performance, resulting in an imbalance in the robot's control performance in the martial arts arena.

Therefore, how to improve the offensive performance of the robot in the martial arts competition without increasing the speed of the robot in the martial arts competition has become the development direction of the robot in the martial arts competition.

Contents of the invention

The object of the present invention is to provide a martial arts arena robot and a martial arts arena robot operating method to solve the above problems.

In order to achieve the above object, the technical solution of the present invention is achieved in that:

The invention provides a martial arts arena robot, which includes a chassis, a front-end shovel claw, a rear-end shovel claw, an infrared photoelectric sensor, a power assembly that drives the front and rear end shovel claws to tilt upward, and a controller for controlling the action of the power assembly;

The ends of the shovel claws at the front and rear ends are respectively hinged at the two ends of the chassis; the power assembly is drivingly connected to the shovel claws at the front and rear ends; the infrared photoelectric sensor is electrically connected to the controller, and the controller It is also connected with the control of the power assembly.

Preferably, as a possible implementation; the number of the infrared photoelectric sensors is at least 4, and at least one of the infrared photoelectric sensors is installed on the four directions of "front", "rear", "left" and "right" of the bottom of the chassis. Infrared photoelectric sensor.

Preferably, as an implementable solution; the martial arts arena robot also includes hinged seats, bending parts and linkers located at both ends of the chassis; the bent part is arranged on the linker and the hinged seat between;

The hinged seats are respectively arranged on both ends of the chassis; the hinged seats are provided with a rotating shaft; one end of the bent portion is rotated and fitted on the hinged seat through the rotating shaft, and the bent portion The other end is connected to one end of the linker; and the end of the claw is connected to the other end of the linker;

The power assembly includes a digital steering gear, and the output shaft of the digital steering gear cooperates with the rotation of the rotating shaft; the digital steering gear is used to control the rotation angle of the shovel claw.

Preferably, as an implementable solution; the martial arts arena robot also includes a trolley, wheels, and a traveling motor; the wheels are mounted on both sides of the chassis in pairs using axles; the traveling motor is used to control the The car performs forward operation, backward operation and steering operation.

Preferably, as an implementation solution; the traveling motor is specifically a stepping motor.

Preferably, as a possible implementation; the shovel claw includes several shovel claw assemblies; several shovel claw assemblies are arranged horizontally and connected to the corresponding linker; each of the shovel claw assemblies is connected to the Linker detachable connection.

Preferably, as a possible implementation; each of the shovel claw assemblies includes a shovel plate with an L-shaped cross section and partitions vertically arranged on both sides of the shovel plate; the partitions are all along the The length direction of the shovel claw is extended; the surface of the shovel plate is provided with a plurality of hollow through holes, and the plurality of hollow through holes are arranged at intervals along the length direction of the shovel claw.

Correspondingly, the present invention also provides a method for operating a martial arts arena robot, using the above-mentioned martial arts arena robot to perform operations, including the following steps:

The martial arts arena robot performs an overturning attack and a push down attack action;

That is, the car is moving on the ring, and the infrared photoelectric sensor detects the surrounding target robots in real time, and at the same time, the infrared photoelectric sensor sends the detection signal to the controller;

The controller implements to judge the orientation position of the target robot;

If the infrared photoelectric sensor located on the front side senses the target robot, the controller will control the driving motor to drive the car forward;

If the infrared photoelectric sensor located on the rear side senses the target robot, the controller will control the driving motor to drive the car back;

If the infrared photoelectric sensor on the left senses the target robot, the controller will control the driving motor to drive the car to turn left;

If the infrared photoelectric sensor on the right senses the target robot, the controller will control the driving motor to drive the car to turn right;

The controller implements the detection signal of receiving the position distance of the target robot, and judges whether the position distance of the target robot is within the range of the attack safety standard distance; , and then push or overturn the target robot from the arena.

Preferably, as an implementable solution; the martial arts arena robot performs the action of climbing over obstacles;

That is, the car is moving on the ring, and the infrared photoelectric sensor detects the surrounding target obstacles in real time, and at the same time, the infrared photoelectric sensor sends the detection signal to the controller;

The controller implements the judgment of the azimuth and position of the target obstacle and the road condition information on the ring; the controller receives the road condition information, and the controller controls the timing and angle of the upward tilting of the shovel claw according to the road condition information; when the trolley encounters an obstacle , the controller controls the power assembly to drive the shovel claws to rotate upward relative to the chassis to climb over the target obstacle.

Preferably, as an implementable solution; the martial arts arena robot performs a dodging action;

That is, the car is moving on the ring, and the infrared photoelectric sensor detects the surrounding target robots in real time, and at the same time, the infrared photoelectric sensor sends the detection signal to the controller;

The controller implements to judge the orientation position of the target robot;

The controller implements to receive the detection signal of the position distance of the target robot, and judges that the position distance of the target robot is lower than the minimum value of the attack safety standard distance range; if so, the controller controls the traveling motor of the car to perform the corresponding retreat and dodge action .

Compared with the prior art, the advantages of the embodiments of the present invention are:

A martial arts arena robot and a martial arts arena robot operation method provided by the present invention, the analysis of the main structure of the martial arts arena robot and the martial arts arena robot operation method provided by the embodiment of the present invention shows that:

The above-mentioned martial arts arena robot mainly includes several major structural parts such as the chassis, the shovel claw at the front end, the shovel claw at the rear end, the infrared photoelectric sensor, the power assembly and the controller; That is, when attacking, the technical action taken is that the height of the front end of the said shovel claw at the front and rear ends is always lower than the terminal height of the said shovel claw); The photoelectric sensor is electrically connected to the controller, and the controller is also connected to the power assembly.

Wherein, the above-mentioned shovel claws at the front end and the shovel claws at the rear end are respectively arranged at both ends of the chassis, so that it can realize the technical action of two-way attack from front to back;

Among them, the controller is the electrical part that controls the structures such as power components. The power component is the main driving device, and its main function is to drive the shovel claws at the front and rear ends to tilt upwards, so that other robots can be overturned and shoveled. At the same time, the infrared photoelectric The sensor can measure the target position of other robots in real time according to the sensing principle, and provide technical support for the martial arts arena robot to judge whether to attack; at the same time, it sends the sensing signal to the controller; the controller judges other robots in real time based on the sensing signal. The position of the robot, and then control the execution device to choose actions such as attack or retreat. The martial arts arena robot formed by the above structure has two-way attack function, target robot position recognition and judgment function, and it also has many technical advantages such as fast response speed, reasonable structure design, stable structure and strong reliability.

Regarding the martial arts arena robot operation method provided by the present invention, it should be noted that the martial arts arena robot operation method provided by the present invention can mainly perform overturning attack and push down attack actions, perform obstacle-climbing actions, and perform dodging actions, etc. Action: The martial arts arena robot operation method provided by the present invention has the ability to separate the front wheels of the enemy's arena robot from the ground when attacking, lose its grip, and be pushed off the arena or overturned; it also has the ability to easily climb over obstacles and The ability to deal with climbing sections; also has the ability to quickly judge whether to attack or retreat according to the real-time situation.

The martial arts arena robot operating method provided by the present invention adopts a two-way attacking structural device, and its most prominent advantages lie in fast response speed and high number of effective attacks. Compared with the one-way attacking device, the technical solution of the present invention can achieve the purpose of effective attacking with the smallest turning angle.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

Fig. 1 is a schematic structural diagram of a martial arts arena robot in an attacking state provided by an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a martial arts arena robot in a natural state provided by an embodiment of the present invention;

Fig. 3 is a side view structural schematic diagram of the martial arts arena robot provided by the embodiment of the present invention in Fig. 2;

Fig. 4 is a top view structural schematic diagram of the martial arts arena robot provided by the embodiment of the present invention in Fig. 2;

Fig. 5 is a three-dimensional schematic diagram of a martial arts arena robot provided by an embodiment of the present invention from a perspective;

Fig. 6 is a three-dimensional schematic diagram of a martial arts arena robot provided by an embodiment of the present invention from another perspective;

Fig. 7 is a schematic diagram of the three-dimensional structure of the martial arts arena robot provided by the embodiment of the present invention under another perspective;

Fig. 8 is a schematic diagram of the enlarged structure of the shovel claw in the martial arts arena robot provided by the embodiment of the present invention in Fig. 7;

Fig. 9 is an enlarged structural schematic diagram of the shovel claw assembly in the martial arts arena robot provided by the embodiment of the present invention shown in Fig. 7;

Fig. 10 is a flow chart of a certain step of the operation method of the martial arts arena robot provided by the embodiment of the present invention.

Labels: 1-shovel claw; 2-linker; 3-bending part; 4-articulated seat; 5-digital steering gear; 6-controller; 7-wheel; 8-chassis; 9-travel motor; 10-power Components; 11-infrared photoelectric sensor; 12-shovel claw assembly; 13-shovel plate; 14-partition plate; 15-hollow through hole.

detailed description

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

The present invention will be described in further detail below through specific implementation examples and in conjunction with the accompanying drawings.

Referring to Fig. 1 and Fig. 2, a kind of martial arts arena robot provided by the embodiment of the present invention includes a chassis 8, a shovel claw 1 at the front end, a shovel claw 1 at the rear end, an infrared photoelectric sensor 11, and a power for driving the shovel claws at the front and rear ends to tilt upwards. Component 10 and the controller 6 used to control the action of the power component (it also involves specific structures such as the linker 2, the bending part 3, the hinge seat 4, the digital steering gear 5, the wheels 7, and the travel motor 9, etc., for details, see Follow-up content, also refer to Fig. 3, Fig. 4, Fig. 5, Fig. 6);

The ends of the shovel claws 1 at the front and rear ends are respectively hinged on the two ends of the chassis 8; the power assembly 10 is drivingly connected to the shovel claws 1 at the front and rear ends; the infrared photoelectric sensor 11 is electrically connected to the controller 6 , and the controller 6 is also in control connection with the power assembly 10 .

Analysis of the main structure of the martial arts arena robot and the martial arts arena robot operating method provided by the present invention can be seen:

The above-mentioned martial arts arena robot mainly includes several major structural parts such as the chassis, the shovel claw at the front end, the shovel claw at the rear end, the infrared photoelectric sensor, the power assembly and the controller; That is, when attacking, the technical action taken is that the height of the front end of the said shovel claw at the front and rear ends is always lower than the terminal height of the said shovel claw); The photoelectric sensor is electrically connected to the controller, and the controller is also connected to the power assembly.

Wherein, the shovel claws of the above-mentioned front end and the shovel claws of the rear end are respectively arranged at both ends of the chassis, so that it can realize the technical action of two-way attack from front to back; Advantages, improve the reaction speed, achieve the purpose of active attack, and avoid the possibility of missing the opportunity of attack.

Among them, the controller is the electrical part that controls the structures such as power components. The power component is the main driving device, and its main function is to drive the shovel claws at the front and rear ends to tilt upwards, so that other robots can be overturned and shoveled. At the same time, the infrared photoelectric The sensor can measure the target position of other robots in real time according to the sensing principle, and provide technical support for the martial arts arena robot to judge whether to attack; at the same time, it sends the sensing signal to the controller; the controller judges other robots in real time based on the sensing signal. The position of the robot, and then control the execution device to choose actions such as attack or retreat. The martial arts arena robot formed by the above structure has two-way attack function, target robot position recognition and judgment function, and it also has many technical advantages such as fast response speed, reasonable structure design, stable structure and strong reliability.

Regarding the martial arts arena robot operation method provided by the present invention, it should be noted that the martial arts arena robot operation method provided by the present invention can mainly perform overturning attack and push down attack actions, perform obstacle-climbing actions, and perform dodging actions, etc. Action (see the follow-up content for detailed technology).

The specific structure and specific technical effects of the martial arts arena robot and the martial arts arena robot operation method provided by the embodiment of the present invention are described in detail below:

Preferably, as a possible implementation; referring to FIG. 1, the number of infrared photoelectric sensors 11 is at least 4, and the bottom of the chassis 8 has four "front", "rear", "left" and "right" At least one infrared photoelectric sensor 11 is installed in the azimuth.

It should be noted that, in the embodiment of the present invention, the infrared photoelectric sensor can obtain the target position in different directions through infrared sensing; the above-mentioned infrared photoelectric sensor can choose to use multiple, and at the same time, the "front" and "rear" of the bottom of the chassis At least one infrared photoelectric sensor is installed on the four directions of "left" and "right", so that the position information of the robot or obstacle can be obtained from different directions.

Preferably, as a possible implementation; referring to Fig. 1 and Fig. 2, the martial arts arena robot also includes hinged seats 4, bending parts 3 and linkers 2 located at both ends of the chassis 8; the bending parts 3 is arranged between the linker 2 and the hinge seat 4;

The hinged seat 4 is respectively arranged on the two ends of the chassis 8; the hinged seat 4 is provided with a rotating shaft (not shown); On the seat 4, the other end of the bent portion 3 is connected to one end of the linker 2; and the end of the claw 1 is connected to the other end of the linker 2;

The power assembly 10 includes a digital steering gear, and the output shaft of the digital steering gear cooperates with the rotation of the rotating shaft; the digital steering gear is used to control the rotation angle of the claw 1 .

It should be noted that, in the embodiment of the present invention, the power assembly is mainly a digital steering gear, and the output shaft of the digital steering gear cooperates with the rotation of the rotating shaft; the digital steering gear is used to control the adjustment of the rotation angle of the shovel claw.

In the specific structural relationship, the bending part is arranged between the linker and the hinge seat; the hinge seat is arranged on both ends of the chassis; the hinge seat is provided with a rotating shaft; one end of the bending part is rotated by the rotating shaft Fitted on the hinge seat, the other end of the bending part is connected to one end of the linker; and the end of the claw is connected to the other end of the linker; in this way, when the digital rudder When the machine is driven and running, it can drive the rotating shaft to rotate, thereby driving the bending part to rotate, and then through the transmission of the bending part and the linker, the shovel claw can finally achieve a certain angle of rotation. Obviously, under the power supply state of the controller, the martial arts arena robot provided by the embodiment of the present invention can efficiently and sensitively receive the information of whether the enemy is found in different directions, and transmit it to the controller in time for analysis and judgment, and then execute the corresponding Actions, so as to achieve a quick and effective attack on the enemy.

At the same time, the choice of digital steering gear can better meet the design requirements of power components; digital steering gear sends power pulses to the motor at high frequency. Compared with traditional power equipment, the frequency of digital steering gear is higher, and the width of each power pulse is smaller, but the motor receives more excitation signals at the same time, so its response is faster. The motor of the digital steering gear responds to the signal of the transmitter with a higher frequency, and the "no-response zone" becomes smaller; the martial arts arena robot provided by the embodiment of the present invention using the above-mentioned digital steering gear like this, its reaction becomes faster and accelerates. And deceleration is also faster and softer.

Preferably, as a possible implementation; referring to Fig. 5, Fig. 6 and Fig. 7, the martial arts arena robot also includes a trolley, wheels 7, and a traveling motor 9; the wheels 7 are mounted on the chassis in pairs by means of axles 8; the traveling motor 9 is used to control the trolley to perform forward operation, backward operation and steering operation.

It should be noted that the martial arts arena robot also includes structures such as a car, wheels, and a traveling motor; the traveling motor is another power device of the martial arts arena robot in the embodiment of the present invention; The motor then drives the front and rear wheels (that is, drives the trolley to advance). The traveling motor is used to control the trolley to perform forward operation, backward operation and steering operation.

Preferably, as a possible implementation; the traveling motor 9 is specifically a stepping motor.

It should be noted that, in the embodiment of the present invention, the above-mentioned traveling motor can choose various types of motors, such as: ordinary motor, servo motor or stepping motor; but it is most preferably used as a stepping motor; because stepping The motor is an open-loop control motor that converts electrical pulse signals into angular displacement or linear displacement, and is the main executive element in modern digital program control systems. At the same time, the stepper motor has the superior characteristics of instant start and rapid stop. At the same time, the stepper motor can change the sequence of pulses, and the direction of rotation can be easily changed. Therefore, equipment such as printers, plotters, and robots use stepping motors as the power core.

Preferably, as a possible implementation; referring to Fig. 8 and Fig. 9, the shovel claw 1 includes several shovel claw assemblies 12; several shovel claw assemblies 12 are sequentially arranged horizontally and connected to the corresponding link 2; Each claw assembly 12 is detachably connected to the linker 2 .

It should be noted that, referring to Fig. 8 and Fig. 9, it can be seen that the above-mentioned shovel claw is actually composed of several shovel claw assemblies side by side, and each shovel claw assembly is detachably connected with the linker; due to the embodiment of the present invention The shovel claws of the provided martial arts arena robot are mainly used for attacking, so it may cause damage to the shovel claws or unstable connection. Therefore, several shovel claw assemblies are arranged horizontally and detachably connected to the corresponding linker. When the shovel claw is damaged or the connection is unstable, it can be easily disassembled, replaced and repaired.

Preferably, as a possible implementation; as shown in Figure 8 and Figure 9, each of the shovel claw assemblies 12 includes a shovel plate 13 with an L-shaped cross section, which is vertically arranged on both sides of the shovel plate 13 The partitions 14 on the top; the partitions 14 are all extended along the length direction of the claw 1 .

It should be noted that, in the specific structure of each shovel claw assembly, each shovel claw assembly includes a shovel plate with an L-shaped cross section, and partitions vertically arranged on both sides of the shovel plate; The plates are all extended along the length direction of the shovel claws.

Preferably, as a possible implementation; as shown in FIG. 8 and FIG. 9 , an inclined surface is provided on one end of the partition plate 14 close to the front end of the shovel claw. It should be noted that an inclined surface is provided on one end of the above-mentioned partition, and the inclined surface is very beneficial for other robots to shovel up, and then prepares for overturning other robots.

Preferably, as a possible implementation; as shown in Figure 8 and Figure 9, a plurality of hollow through holes 15 are provided on the surface of the shovel plate 13, and a plurality of hollow through holes 15 are all along the shovel claw 1 The length direction is arranged at intervals.

It should be noted that the surface of the shovel is provided with a structure of a hollow through hole, and the above-mentioned design has outstanding technical effects; on the one hand, the hollow structure can help maintain the balance of the force on the shovel, and on the other hand, the hollow structure can have It is beneficial to reduce the weight of the shovel, thereby reducing the output of the digital steering gear to its load.

Correspondingly, the present invention also provides a method for operating a martial arts arena robot, using the above-mentioned martial arts arena robot to perform operations, including the following steps:

The martial arts arena robot performs an overturning attack and a push down attack action;

That is, the car is moving on the ring, and the infrared photoelectric sensor detects the surrounding target robots in real time, and at the same time, the infrared photoelectric sensor sends the detection signal to the controller;

The controller implements to judge the orientation position of the target robot;

If the infrared photoelectric sensor located on the front side senses the target robot, the controller will control the driving motor to drive the car forward;

If the infrared photoelectric sensor located on the rear side senses the target robot, the controller will control the driving motor to drive the car back;

If the infrared photoelectric sensor on the left senses the target robot, the controller will control the driving motor to drive the car to turn left;

If the infrared photoelectric sensor on the right senses the target robot, the controller will control the driving motor to drive the car to turn right;

The controller implements the detection signal of receiving the position distance of the target robot, and judges whether the position distance of the target robot is within the attack safety standard distance range; , and then push or overturn the target robot from the arena.

It should be noted that Figure 10 briefly illustrates the steps of the above operation process; that is, when attacking, the shovel claws at the front and rear ends are installed on the chassis, and the front shovel claws are on a slope with a low front and a high rear. When impacting, the lower end of the front shovel claw will be inserted into the bottom of the enemy robot, causing the enemy robot to slide upward along the slope, and finally the front wheel of the enemy robot will be separated from the ground, losing grip , being pushed off the ring; or overturned directly; in the offensive state, when the chassis and the rear end of the shovel claws are on the same horizontal plane, the angle between the shovel claws and the horizontal plane is 15° to 30°.

The martial arts arena robot performs the action of climbing over obstacles;

That is, the car is moving on the ring, and the infrared photoelectric sensor detects the surrounding target obstacles in real time, and at the same time, the infrared photoelectric sensor sends the detection signal to the controller;

The controller implements the judgment of the azimuth and position of the target obstacle and the road condition information on the ring; the controller receives the road condition information, and the controller controls the timing and angle of the upward tilting of the shovel claw according to the road condition information; when the trolley encounters an obstacle , the controller controls the power assembly to drive the shovel claws to rotate upward relative to the chassis to climb over the target obstacle.

It should be noted that the front claws are hinged at the front end of the chassis and can be driven by the power assembly to rotate around the hinge point; when an obstacle is encountered, the power assembly drives the front claws to rotate to tilt upward relative to the rear chassis. At this time, it is easier to climb over obstacles; therefore, the road condition information can be input into the controller, and the controller can control the timing and angle of the front-end shovel claws to lift up according to the road condition information, and can successfully complete the obstacle road section. The front and rear shovel claws are hinged at the front end of the chassis, and can be driven by the power component to rotate around the hinge point, so that they can easily climb over obstacles and cope with climbing sections. In this state, when the maximum included angle between the shovel plate and the horizontal plane is 90 degrees (that is, the shovel claws can be in an upright state), overturning is realized.

The martial arts arena robot performs a dodging action;

That is, the car is moving on the ring, and the infrared photoelectric sensor detects the surrounding target robots in real time, and at the same time, the infrared photoelectric sensor sends the detection signal to the controller;

The controller implements to judge the orientation position of the target robot;

The controller implements to receive the detection signal of the position distance of the target robot, and judges that the position distance of the target robot is lower than the minimum value of the attack safety standard distance range; if so, the controller controls the traveling motor of the car to perform the corresponding retreat and dodge action .

It should be noted that the martial arts arena robot provided by the embodiment of the present invention can change the attack direction at any time, that is, when the enemy attacks our front end, even if we are executing the retreat command, the information transmitted back from the sensor can also be transmitted to the control device, so that through the rapid judgment of the controller, the forward command is output, and then the goal of attack is achieved. Simultaneously it can according to real-time situation (when the position distance of the target robot is lower than the minimum value of the attack safety standard distance range), quickly make the technical action of retreating.

The martial arts arena robot and the martial arts arena robot operating method provided by the embodiments of the present invention have the following technical advantages:

1. The martial arts arena robot and the martial arts arena robot operation method provided by the embodiment of the present invention are mainly composed of a chassis, front-end shovel claws, rear-end shovel claws, infrared photoelectric sensors, power components, controllers, trolleys, travel motors, wheels, etc. Each device part has a special structural design, and the connection and layout of the specific structural devices have ingenious designs; therefore, the martial arts arena robot and the martial arts arena robot operating method provided by the embodiment of the present invention, Its design is more reasonable, the system structure is more novel, and the function is more perfect.

2. For the martial arts arena robot and the martial arts arena robot operating method provided by the embodiments of the present invention, the shovel claws at the front and rear ends are installed on the front end of the chassis in a posture of low front and high rear. The front end of the robot will be inserted into the bottom of the enemy's robot in the arena, causing the front wheel of the enemy's robot to separate from the ground, causing it to lose grip and be pushed off the arena or overturned. It can enhance the ability to overthrow the enemy's robot in the arena;

3. For the martial arts arena robot and the martial arts arena robot operation method provided by the embodiment of the present invention, the shovel claws at the front and rear ends of the robot are hinged at the front end of the chassis, and can be driven by the power component to rotate around the hinge point, so that obstacles can be easily climbed over and handled. climbing section;

4. The martial arts arena robot and the martial arts arena robot operation method provided by the embodiment of the present invention can input road condition information into the controller, and the controller can control the timing and angle of the upward tilting of the front and rear shovel claws according to the road condition information, so that the pre-planning can be successfully completed. In addition, in addition to overcoming obstacles, the controller will control the front and rear ends of the drive assembly to lift the claws, and when a collision occurs, it will also control the drive assembly to lift the front and rear claws, that is It can more easily overturn the enemy robot in the arena, and further enhance the anti-collision performance.

5. The martial arts arena robot and the martial arts arena robot operation method provided by the embodiments of the present invention can meet the requirements of changing the attack direction at any time, that is, when the enemy attacks the front end of our side, even if we are executing the retreat command, it can also be sent back through the sensor The information is transmitted to the controller, so that after the rapid judgment of the controller, the forward command is output, and then the purpose of attack is achieved.

6. The most prominent advantages of the martial arts arena robot and the martial arts arena robot operating method provided by the embodiments of the present invention are fast response speed and high number of effective attacks. Compared with the one-way attacking device, the technical solution of the present invention can achieve the purpose of effective attacking with the smallest turning angle.

Seven. The martial arts arena robot and the martial arts arena robot operation method provided by the embodiments of the present invention also have technical advantages in many aspects such as light weight, strong combat capability, long structural life, strong structural reliability, high safety, and more complete functions. .

Based on the above significant technical advantages, the martial arts arena robot and the martial arts arena robot operation method provided by the present invention will surely bring good market prospects and economic benefits.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (10)

1. A kind of martial arts arena robot, it is characterized in that, comprises chassis, the shovel claw of front end, the shovel claw of rear end, infrared photoelectric sensor, drive the power assembly that front and back end shovel claw upwards tilts and be used to control the controller of power assembly action ; The ends of the shovel claws at the front and rear ends are respectively hinged at the two ends of the chassis; the power assembly is drivingly connected to the shovel claws at the front and rear ends; the infrared photoelectric sensor is electrically connected to the controller, and the controller It is also connected with the control of the power assembly. 2. The martial arts arena robot as claimed in claim 1, characterized in that, The number of the infrared photoelectric sensors is at least 4, and at least one infrared photoelectric sensor is installed on the four directions of "front", "rear", "left" and "right" of the bottom of the chassis. 3. The martial arts arena robot as claimed in claim 1, characterized in that, The martial arts arena robot also includes hinged seats, bent parts and linkers located at both ends of the chassis; the bent part is arranged between the linker and the hinged seat; The hinged seats are respectively arranged on both ends of the chassis; the hinged seats are provided with a rotating shaft; one end of the bent portion is rotated and fitted on the hinged seat through the rotating shaft, and the bent portion The other end is connected to one end of the linker; and the end of the claw is connected to the other end of the linker; The power assembly includes a digital steering gear, and the output shaft of the digital steering gear cooperates with the rotation of the rotating shaft; the digital steering gear is used to control the rotation angle of the shovel claw. 4. The martial arts arena robot as claimed in claim 3, characterized in that, The martial arts arena robot also includes a trolley, wheels, and a traveling motor; the wheels are installed on both sides of the chassis in pairs using axles; the traveling motor is used to control the trolley to perform forward operation, backward operation and steering operation . 5. The martial arts arena robot as claimed in claim 4, characterized in that, The traveling motor is specifically a stepping motor. 6. The martial arts arena robot as claimed in claim 5, characterized in that, The shovel claws include several shovel claw assemblies; several shovel claw assemblies are arranged horizontally in turn and connected to the corresponding linker; each of the shovel claw assemblies is detachably connected to the linker. 7. The martial arts arena robot as claimed in claim 6, characterized in that, Each of the shovel claw assemblies includes a shovel plate with an L-shaped cross section and partitions vertically arranged on both sides of the shovel plate; the partitions are all extended along the length direction of the shovel claw; A plurality of hollow through holes are arranged on the surface of the shovel plate, and the plurality of hollow through holes are arranged at intervals along the length direction of the shovel claws. 8. A method for operating a martial arts arena robot, characterized in that, using the martial arts arena robot described in any one of claims 4-7 to perform the operation, comprises the following steps: The martial arts arena robot performs an overturning attack and a push down attack action; That is, the car is moving on the ring, and the infrared photoelectric sensor detects the surrounding target robots in real time, and at the same time, the infrared photoelectric sensor sends the detection signal to the controller; The controller implements to judge the orientation position of the target robot; If the infrared photoelectric sensor located on the front side senses the target robot, the controller will control the driving motor to drive the car forward; If the infrared photoelectric sensor located on the rear side senses the target robot, the controller will control the driving motor to drive the car back; If the infrared photoelectric sensor on the left senses the target robot, the controller will control the driving motor to drive the car to turn left; If the infrared photoelectric sensor on the right senses the target robot, the controller will control the driving motor to drive the car to turn right; The controller implements the detection signal of receiving the position distance of the target robot, and judges whether the position distance of the target robot is within the attack safety standard distance range; , and then push or overturn the target robot from the arena. 9. The martial arts arena robot operating method as claimed in claim 8, is characterized in that, comprises the steps: The martial arts arena robot performs the action of climbing over obstacles; That is, the car is moving on the ring, and the infrared photoelectric sensor detects the surrounding target obstacles in real time, and at the same time, the infrared photoelectric sensor sends the detection signal to the controller; The controller implements the judgment of the azimuth and position of the target obstacle and the road condition information on the ring; the controller receives the road condition information, and the controller controls the timing and angle of the upward tilting of the shovel claw according to the road condition information; when the trolley encounters an obstacle , the controller controls the power assembly to drive the shovel claws to rotate upward relative to the chassis to climb over the target obstacle. 10. The martial arts arena robot operating method as claimed in claim 8, characterized in that, comprising the steps of: The martial arts arena robot performs a dodging action; That is, the car is moving on the ring, and the infrared photoelectric sensor detects the surrounding target robots in real time, and at the same time, the infrared photoelectric sensor sends the detection signal to the controller; The controller implements to judge the orientation position of the target robot; The controller implements to receive the detection signal of the position distance of the target robot, and judges that the position distance of the target robot is lower than the minimum value of the attack safety standard distance range; if so, the controller controls the traveling motor of the car to perform the corresponding retreat and dodge action .