Abstract
In this paper, an intelligent water shooting robot system for situations of carrier shake and target movement is designed, which uses a 2 DOF (degree of freedom) robot as an actuator, a photoelectric camera to detect and track the desired target, and a gyroscope to keep the robot’s body stable when it is mounted on the motion carriers. Particularly, for the accurate shooting of the designed system, an online tuning model of the water jet landing point based on the back-propagation algorithm was proposed. The model has two stages. In the first stage, the polyfit function of Matlab is used to fit a model that satisfies the law of jet motion in ideal conditions without interference. In the second stage, the model uses the back-propagation algorithm to update the parameters online according to the visual feedback of the landing point position. The model established by this method can dynamically eliminate the interference of external factors and realize precise on-target shooting. The simulation results show that the model can dynamically adjust the parameters according to the state relationship between the landing point and the desired target, which keeps the predicted pitch angle error within 0.1°. In the test on the actual platform, when the landing point is 0.5 m away from the position of the desired target, the model only needs 0.3 s to adjust the water jet to hit the target. Compared to the state-of-the-art method, GA-BP (genetic algorithm-back-propagation), the proposed method’s predicted pitch angle error is within 0.1 degree with 1/4 model parameters, while costing 1/7 forward propagation time and 1/200 back-propagation calculation time.
Highlights
IntroductionPublisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations
The angle of the eachangle jointthen motor according to the pose of the carrier by the gyroscope is is sent poseacquired of the acquired by compensation thecomputed, gyroscopeand is computed, and theto angle is sent to pose of the carrier acquired by the gyroscope is computed, and the angle is sent to the the servo system control the water jet tothe keep the muzzle stable word stable coordinates
The main contribution of this paper is to propose a novel method to establish and update the jet trajectory model according to the actual environment, so as to accurately calculate the pitch angle of the water jet according to the specific location of the desired target
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. Automatic tracking, locking, and trajectory prediction of the desired target in the situations of carrier shake and target movement. The console provides the operating environment for the system software, collects and processes sensor information, and controls the water jet, and the communication equipment is responsible for data transfer between various hardware devices. In this experimental device, we use two blue buckets of different sizes to simulate the scene of carrier shake: the intelligent water shooting robot is fixedly installed on the small bucket and placed inside the large bucket, and 2/3 of its water volume is injected into the large bucket.
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