射击机器人子弹出膛偏角求解与射击准确性实验研究

Experimental Study on Bullet’s Exit Angle and Firing Accuracy of the Shooting Robot

该实验在工程训练中心RoboMaster实验室进行,学生自主设计出的全自动射击机器人,能够通过智能单目视觉系统自动识别出其他处于静止或移动状态的机器人目标。该实验的目的是使射击机器人能够通过特定的发射装置对目标进行更为精确地击打。通过大量的数据测试结果分析,该实验设想了一种以子弹出膛的正确偏角为目标量的类抛物模型。通过类抛物模型的构建以及目标变量的求解,初步得出了采用类抛物运动对高尔夫球弹丸飞行轨迹的拟合,能够实现全自动机器人对不同距离和不同高度的目标进行自适应且精确击打的可能性。最后,通过全自动机器人的击打对抗测试以及MATLAB仿真分析,验证了基于全自动机器人单目视觉的类抛物运动算法的准确性和有效性,同时使得参与项目的学生通过对各实验模块的探索研究,对机器视觉拥有全新角度的认识。

The experiment was conducted in RoboMaster Laboratory of engineering training center.The automatic shooting robot designed by students could automatically recognize other static or moving robot targets through intelligent monocular vision system.The goal of the experiment was to enable the shooting robot to hit the target more accurately using a specific launching device.By analyzing the test results of massive data,a parabolic model with the correct exit angle of the bullet as the target variable was proposed.Through the construction of the parabolic model and the solution of the target variables,the preliminarily conclusion was that the parabolic motion could be used to fit the flight trajectory of golf balls.Therefore,the automatic robot could hit the targets at different distances and heights adaptively and accurately.Finally,the accuracy and effectiveness of the parabolic motion algorithm based on monocular vision of automatic robot were verified through the impact confrontation test and MATLAB simulation analysis.Meanwhile,students participating in the project developed a new understanding of machine vision through the exploration and research of each experimental module.