CN116251334A - Badminton training assisting intelligent robot - Google Patents

Abstract

The intelligent robot for badminton auxiliary training disclosed by the invention is used for collecting and highly lifting the shuttlecocks through the collecting device and the guide lifting device, and realizing free falling and ball stacking by utilizing gravity; the control program is based on a full-area coverage path planning algorithm of the electronic compass, so that the coverage rate and the efficiency of ball picking are improved; reasonable structure, excellent performance, low cost, low power consumption and higher intelligent degree. The method has the following functions: the ball stacking efficiency is high, and obstacles are automatically avoided; intelligent identifying court, automatically picking up balls, and recovering the balls scattered outside the preset drop points; after dividing the court into a coordinate system, determining the position by an operator or by Bluetooth connection with a service robot; by assigning values to the drop points in different ranges, a player score is calculated that intuitively evaluates the player's ability to control the ball under specific technical actions. If the balls in a specific range are collected and scored in sequence, the balls scattered on the court are collected and scored through self perception.

Description

Badminton training assisting intelligent robot

Technical Field

The invention relates to the field of sports equipment, in particular to an intelligent robot for badminton auxiliary training.

Background

Badminton is also widely used as a sports game which can be carried out both indoors and outdoors. When training in badminton clubs or bases, after training a plurality of balls and multiple angles of students and athletes by a coach or an automatic service robot, the shuttlecocks are scattered around a training field, so that in order to collect and reuse the scattered shuttlecocks, a great deal of time and effort are required for workers to collect the shuttlecocks, and the shuttlecocks are stacked in a ball barrel to be stored, the process not only can cause unnecessary physical energy consumption but also is low in efficiency, so that the robot capable of automatically picking up and stacking the shuttlecocks is very necessary to design and manufacture, and great convenience is brought to the training personnel and the field workers.

In order to solve the problems, the Chinese patent application with the application date 2020-01-16, the application publication number CN111167090B, the application number CN202010047564.6 and the invention name of a collecting device for badminton training fields discloses a collecting device for badminton training fields, which comprises a base, wherein a ball picking mechanism, a filtering mechanism, a badminton conveying mechanism, a badminton collecting mechanism and a service mechanism are sequentially arranged on the base from left to right, and a partition plate is arranged between the mechanisms; the ball picking mechanism comprises a third rotating shaft, and a ball sweeping part is arranged on the third rotating shaft; the filtering mechanism comprises a conveying plate with a plurality of filtering holes at the bottom, and two electric lifting rods are arranged at the bottom of the conveying plate; the badminton conveying mechanism comprises a conveying belt, and a guide vibrator is arranged on the conveying belt; the badminton collecting mechanism comprises a badminton collecting barrel bracket provided with a barrel hole and a badminton collecting barrel; the ball serving mechanism comprises a ball grabbing base, a ball grabbing part is arranged on the ball grabbing base through an electric lifting rod, an electric rotating disc is further arranged on the right side of the ball grabbing base, and a ball serving barrel is connected to the electric rotating disc through a support; the device is simple to operate, saves time and labor, has the advantages of filtering dust, efficiently and orderly collecting dust and being capable of realizing multi-angle service.

The working principle is as follows: when the badminton collecting device is used, the collecting device is moved to a place where badminton is required to be collected through the universal wheels 11 and the handles 12 on the base 1, the first motor 28 is started through the control panel 14, the first motor 28 drives the first rotating wheel 27 to rotate so as to drive the chain 35 to rotate, the chain 35 drives the second rotating wheel 34 to rotate so as to drive the ball sweeping part 33 on the third rotating shaft 32 to rotate, the ball sweeping part 33 rotates so as to enable the badminton to enter the conveying plate 221 through the ball inlet 224, the filtering holes 2211 under the conveying plate 221 separate the badminton from dust, and when more dust exists, the dust collecting groove 2212 can be taken out through the sliding groove so as to pour out the dust; then the first electric lifting rod 222 and the second electric lifting rod 223 are controlled by the control panel 14 to lift the conveying plate 221 to the same horizontal plane with the first conveying channel 211, when the first electric lifting rod 222 is lifted to a position higher than the first conveying channel 211 by the control panel 14, the conveying plate 221 is lifted to the left and right, clean shuttlecock can fall onto the conveying belt 232 from the conveying plate 221 through the first conveying channel 211, the conveying belt 232 is controlled by the control panel 14 to rotate clockwise, the guiding vibrator 233 on the conveying belt 232 is started by the control panel 14, the shuttlecock ball head is rightwards under the action of the guiding vibrator 233, and the shuttlecock is kept downwards when leaving the conveying belt 232 and falls into the shuttlecock collecting barrel 242 through the shuttlecock guiding part 5 under the action of gravity and is blocked at the shuttlecock outlet 2421 under the shuttlecock collecting barrel 242, when the badminton collecting barrel 242 is fully collected, the first electric rotating disk 243 is driven by the control panel 14 to rotate so as to drive the badminton collecting barrel bracket 245 to rotate to the position of the idle badminton collecting barrel 242 to continuously collect the badminton until the collecting work is completed, after the badminton collecting work is completed, the badminton collecting barrel 242 which is well collected can be taken out by opening the observation window 246 to store the badminton, the badminton can be manually put into the service barrel 298 to serve the badminton, or the badminton collecting barrel 242 is not taken out, the third electric lifting rod 292 is driven by the control panel 14 to move to the position of the badminton ball head at the bottom of the badminton collecting barrel 242, the second electric motor 2943 is driven by the control panel 14 to drive the grabber 2942 to pinch the badminton ball head, the third electric lifting rod 292 is driven by the control panel 14 to descend so as to lead the badminton to be separated from the badminton collecting barrel 242, the second electric rotating disk 293 is driven to rotate by the control panel 14, so that the shuttlecock and the shuttlecock collecting barrel 242 are not on the same plane, the third electric lifting rod 292 is lifted, the shuttlecock head is lifted to the same horizontal plane with the shuttlecock serving barrel 298, the shuttlecock head is moved to the upper part of the shuttlecock serving barrel 298 by rotating the second electric rotating disk 293, the second motor 2943 is driven by the control panel 14 to release the shuttlecock head, the shuttlecock falls into the shuttlecock serving barrel 298, the third motor 299 is driven by the control panel 14 to drive the fourth rotating shaft 297 to rotate, the third electric rotating disk 295 is matched to rotate, when the shuttlecock serving barrel 298 rotates to a required angle and position, the electromagnetic pulse valve 2982 is started by the control panel 14, and high-pressure gas in the air cylinder 2981 rapidly sprays the shuttlecock to finish the shuttlecock serving.

In summary, the following drawbacks exist in the prior art: (1) complex structure, incoherent ball picking, resulting in low efficiency; the transmission devices mainly embodied between the stages are not structurally integrated enough, such as the first electric lifting rod 222 and the second electric lifting rod 223 need to stop working during the lifting of the conveying plate 221 to the first conveying channel 211; otherwise shuttlecocks will not collect on delivery plate 221; (2) The intelligent performance is not enough, the training can not be counted and scored by manual pushing, and the manpower and material resources are not saved; (3) The automation degree is low, the operation is complex, and each action needs to be completed by a manual operation panel; (4) Underutilization of natural laws, such as guiding vibrator 233 to assist when the badminton ball head is rightwards, rather than utilizing gravity of the badminton ball head to realize free falling steering; (5) The lack of an environmental perception sensing device can not effectively manage training effects on a training site.

Disclosure of Invention

In order to solve the defects in the prior art, the invention provides the badminton-assisted training intelligent robot with higher automation degree.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

an intelligent robot for badminton auxiliary training is characterized in that: comprising the following devices:

the walking frame device is used for the badminton auxiliary training intelligent robot to move in a plane;

the collecting device is arranged at the front part of the walking frame device, and the working part of the collecting device extends forwards from the walking frame device and is used for transferring shuttlecocks scattered on the floor into the intelligent robot for badminton auxiliary training for collecting;

the guide lifting device is arranged on the walking frame device, the front part of the guide lifting device is connected with the rear part of the collecting device, and is used for sequencing the shuttlecocks forwards in a ball head manner, and transmitting the sequenced shuttlecocks to the rear side of the walking frame device for collection;

the ball collecting barrel device is arranged behind the guide lifting device and is used for collecting the shuttlecocks conveyed by the guide lifting device;

the environment sensing device is arranged on the walking frame device and is used for acquiring environment parameters;

the intelligent control device is used for controlling the actions of the walking frame device, the collecting device, the guide lifting device and the collecting ball cylinder device and collecting environmental information through the environmental perception sensing device;

the mobile power supply device is arranged on the walking frame device and used for providing a working power supply for the badminton auxiliary training intelligent robot.

Further, the walking frame device comprises a frame, a walking driving wheel, a control device, a driving motor and a photoelectric coding disc; the environment sensing device comprises an infrared sensor and an ultrasonic sensor; the four walking driving wheels are arranged at the bottom of the frame, and the driving motor for driving the walking driving wheels to move is arranged on the frame; the photoelectric coding disc for detecting the rotating speed of the walking driving wheel is arranged on the walking driving wheel; the infrared sensors serving as collision detection sensors are distributed on the front side and the left side and the right side of the frame; the bottom of the frame is also provided with a plurality of infrared sensors for preventing steps from falling; an ultrasonic sensor for precisely positioning the badminton is arranged on the front side of the frame.

Further, the collecting device comprises an arm rod, a roller, a ball sweeping brush, a slope guide hopper and a ball picking chain wheel; the pair of arm rods are suspended and distributed on the left side and the right side of the front side of the walking frame device, and the roller can rotate between the arm rods; the ball sweeping brush for picking up the shuttlecock on the floor is sleeved on the roller; the front end of the traveling frame device is provided with a badminton inlet for entering the badminton, the slope guide hopper is arranged at the badminton inlet at the front end of the traveling frame device, the rear end of the slope guide hopper is connected with the badminton inlet, and the front end of the slope guide hopper is inclined towards the front lower part of the traveling frame device and is positioned behind and below the arm lever; the ball picking chain wheel driving the roller to rotate is arranged at the front end of the arm rod and is in transmission connection with the ball picking driving device.

Further, the bristles of the ball-sweeping brush are made of plastic nylon and are arranged in a spiral manner.

Further, the guide lifting device comprises a high-level bracket, a low-level bracket, a conveyor belt, a main tensioning roller, a secondary tensioning roller, a guide transition wheel, a conveying chain wheel, a transition bracket and a separation plate; the low-level bracket is arranged at the front part of the travelling frame device and is close to the badminton inlet, and the high-level bracket is arranged at the middle part of the travelling frame device; the height of the high-level bracket is 2-5 times of that of the low-level bracket; the transition bracket is arranged between the high-level bracket and the low-level bracket; the main tensioning roller is rotatably and transversely arranged on the high-level bracket, the auxiliary tensioning roller is rotatably and transversely arranged on the low-level bracket, the conveyor belt is arranged between the tightening roller and the tensioning roller to form a circulating and rotating conveyor belt, and the upper layer of the conveyor belt is connected with the badminton inlet; the conveying chain wheels for driving the main tensioning roller to rotate are arranged on the high-level bracket, the conveying chain wheels are in transmission connection with the ball picking driving device, the number of the guiding transition wheels is 4, the guiding transition wheels are divided into an upper group and a lower group according to the space distribution of 2, the guiding transition wheels are all arranged on the transition bracket, the upper group of guiding transition wheels are pressed on the edge part of the upper layer of the conveying belt and divide the upper layer of the conveying belt into a front part and a rear part, the front part is a flat area for arranging the shuttlecocks, and the rear part is a slope area for lifting the shuttlecocks; pressing the next group of guide transition wheels on the edge part of the lower layer of the conveyor belt, and dividing the lower layer of the conveyor belt into a front part and a rear part, so that the upper layer and the lower layer of the conveyor belt are kept parallel; the plurality of partition plates are suspended above the leveling area of the conveyor belt and are close to the upper surface of the upper layer of the conveyor belt, and the plurality of partition plates form 1-2 groups of isosceles trapezoid guide bell mouths with wide front and narrow rear; the hanging slope of a plurality of division boards sets up in the slope district top of conveyer belt and is close to the upper surface on conveyer belt upper strata, and 1~2 sets of promotion ramp that supplies the badminton to pass through are constituteed to a plurality of division boards, and every promotes ramp and matches the narrow mouth department of corresponding guide horn mouth and link up.

Further, the rear part of the lifting ramp is matched with a ball collecting barrel device, and each ball collecting barrel device comprises a barrel supporting plate, a barrel fixing plate, a barrel rotating shaft, a barrel guide rail, a barrel driving device and a barrel; the ball cylinder supporting plate and the ball cylinder fixing plate are rotatably arranged at the rear part of the walking frame device one by one through a ball cylinder rotating shaft, a plurality of ball cylinder limiting placing holes for fixing the ball cylinder which are enclosed into a circle are formed in the ball cylinder fixing plate, and a ball cylinder for containing the badminton is placed in the ball cylinder limiting placing holes; the ball cylinder guide rail for receiving the shuttlecock with the ball head rolling downwards from the top of the lifting ramp under the action of gravity is obliquely arranged above the front part of the ball cylinder supporting plate, the upper end of the ball cylinder guide rail is arranged upwards in front and is positioned below the rear side of the top of the lifting ramp, and the lower end of the ball cylinder guide rail is arranged downwards in rear and is positioned right above the ball cylinder positioned in front in the ball cylinder fixing plate; the ball cylinder driving device for driving the ball cylinder supporting plate to rotate is arranged in front of the ball cylinder supporting plate and below the main tensioning roller.

From the above, the intelligent robot for badminton training assistance has the following functions:

1) The collecting device can automatically collect the shuttlecocks distributed on the ground in a large area;

2) The guide lifting device can promote the shuttlecocks entering the vehicle to be orderly queued under the action of the guide horn mouth, continuously lift the shuttlecocks at high heights under the action of the lifting ramp, and fully utilize the gravity of the shuttlecock head to realize free falling steering according to the characteristics of light tail of the shuttlecock head after the shuttlecock reaches the top of the lifting ramp; the shuttlecock is ensured to be in a state that the ball head faces downwards when falling into the shuttlecock collecting barrel device, so that ordered collection of the shuttlecocks is realized, and the collection efficiency of the shuttlecocks is improved;

3) The arrangement of the guide rail of the ball cylinder ensures that the shuttlecock cannot deviate in the process of falling into the shuttlecock collecting cylinder, ensures that the shuttlecock accurately falls into the ball cylinder, and further improves the collecting efficiency of the shuttlecock;

4) After one ball barrel is fully collected, the rotatable ball barrel supporting plate rotates one step length to switch to the next ball barrel to continuously receive the shuttlecock, so that frequent manual filling of the ball barrels is avoided;

5) The system has environment sensing capability, and can automatically avoid obstacles, automatically search targets and record the region where the targets are located.

Compared with the prior art, the invention has the characteristics of simple structure and reasonable design. The invention also has the following advantages:

(1) The structure is simple and efficient, the ball picking action is continuous and coherent, and the working efficiency is high; the transmission device mainly embodied among the stages is structurally integrated and consistent, for example, the transmission belt is turned through the main tensioning roller and the auxiliary tensioning roller, and the functions of guiding the flare and lifting the ramp are realized on the same transmission belt; because the lifting ramp on the continuously-working conveyor belt has a lifting function on the shuttlecock, the collecting device does not need to stop working in the whole course to wait for the resetting of the guide lifting device;

(2) The intelligent level is high, the training can be statistically evaluated without manual pushing, and a large amount of manpower and material resources are saved;

(3) The automatic charging device has high automation degree, an automatic walking function, an automatic target searching function and automatic charging completion;

(4) The natural law is fully utilized, and the gravity of the badminton head is fully utilized to realize free falling steering according to the characteristics of light weight and light tail of the badminton head;

(5) The training device has the environment sensing capability, and the set environment sensing device can effectively manage training effects on a training field.

Drawings

Fig. 1 is a schematic structural view of a preferred embodiment of the present invention.

Fig. 2 is a schematic top view of the pilot lifting device.

Fig. 3 is a schematic perspective view of fig. 1.

Fig. 4 is a schematic block diagram of a control circuit of the preferred embodiment.

Reference numerals illustrate: the device comprises a walking frame device (1), a collecting device (2), a guide lifting device (3), a collecting ball cylinder device (4), an environment sensing device (5), an intelligent control device (6) and a mobile power supply device (7); the device comprises a frame (11), a walking driving wheel (12), an infrared sensor (14), an ultrasonic sensor (15), a driving motor (16), a photoelectric coding disc (17), a camera (18) and a wireless communication module (19); arm lever (21), roller (22), ball sweeping brush (23), slope guide hopper (24), ball picking chain wheel (25), ball picking driving device (26), badminton inlet (27); the device comprises a high-level bracket (30), a low-level bracket (31), a conveyor belt (32), a tightening roller (33), a slave tensioning roller (34), a guide transition wheel (35), a guide bell mouth (36), a lifting ramp (37), a conveying chain wheel (38), a transition bracket (39), a separation plate (3 a) and a suspension plate (3 b); the ball cylinder comprises a ball cylinder supporting plate (41), a ball cylinder fixing plate (42), a ball cylinder rotating shaft (43), a ball cylinder guide rail (44), a ball cylinder driving device (46), a ball cylinder (47), a ball cylinder limiting hole (48) and a retainer ring (49).

Description of the embodiments

The present invention and its advantageous technical effects are described in further detail below with reference to the accompanying drawings and preferred embodiments.

It should be noted that in the embodiment of the present invention, all directional indicators (such as up, down, left, right, front, and rear … …) use the forward direction of the badminton training assisting intelligent robot as the forward azimuth reference direction.

Referring to fig. 1 to 4, the badminton training assisting intelligent robot preferably implemented by the invention is characterized in that: comprising the following devices:

the walking frame device 1 is used for the badminton auxiliary training intelligent robot to move in a plane;

the collecting device 2 is arranged at the front part of the walking frame device 1, and the working part of the collecting device extends forwards from the walking frame device 1 and is used for transferring shuttlecocks scattered on the floor into the intelligent robot for badminton auxiliary training for collecting;

the guide lifting device 3 is arranged on the walking frame device 1, the front part of the guide lifting device is connected with the rear part of the collecting device 2, and is used for sequencing the shuttlecocks forwards in a ball head way and transmitting the sequenced shuttlecocks to the rear side of the walking frame device 1 for collection;

the ball collecting barrel device 4 is arranged behind the guide lifting device 3 and is used for collecting the shuttlecocks conveyed by the guide lifting device 3;

the environment sensing and sensing device 5 is arranged on the walking frame device 1 and is used for acquiring environment parameters;

the intelligent control device 6 is used for controlling the actions of the walking frame device, the collecting device 2, the guide lifting device 3 and the collecting ball cylinder device 4 and collecting environmental information through the environmental perception sensing device;

the mobile power supply device 7 is arranged on the walking frame device 1 and used for providing a working power supply for the badminton training assisting intelligent robot.

Preferably, the walking frame device 1 comprises a frame 11, a walking driving wheel 12, a control device 13, a driving motor 16 and a photoelectric coding disc 17; the environment sensing and sensing device 5 comprises an infrared sensor 14 and an ultrasonic sensor 15; four traveling driving wheels 12 are arranged at the bottom of the frame 11, and a driving motor 16 for driving the traveling driving wheels 12 to move is arranged on the frame 11; a photoelectric coding disc 17 for detecting the rotation speed of the walking driving wheel is arranged on the walking driving wheel 12; a plurality of infrared sensors 14 as collision detection sensors are distributed on the front side and the left and right sides of the frame 11; the bottom of the frame 11 is also provided with a plurality of infrared sensors 14 for preventing steps from falling; an ultrasonic sensor 15 as a precise positioning shuttlecock is provided at the front side of the carriage 11.

Each badminton court unit is 17.4 m long, 10 m wide and 174m long, and a general court is composed of a plurality of units, so that the court area is large, and a small-sized mobile vehicle is designed to circularly work and collect balls and perform data statistical analysis. In the running process of the running frame device 1, the collection and data statistics tasks of the shuttlecock are completed, the running frame device 1 mainly moves forwards, backwards and turns in the moving process, the common four-wheel drive is adopted, the front two running driving wheels 12 are power wheels for providing power for running of the vehicle body, the rear two are driven wheels for supporting the vehicle body, and the front and rear running driving wheels 12 are matched to complete the running tasks of the vehicle body. The walking driving wheel 12 and the driving motor 16 mainly ensure that the badminton training assisting intelligent robot can move in a plane. The infrared sensors 14 disposed on the front side and the left and right sides of the frame 11 are distributed as collision detection sensors. The 3 infrared sensors 14 at the bottom of the frame 11 are used as step detection sensors to prevent falling. The photoelectric coding disc 17 can detect and control the wheel speed, and is convenient for the intelligent control device 6 to realize positioning and path planning. The ultrasonic sensor 15 is used for accurate positioning.

Preferably, the collecting device 2 comprises an arm rod 21, a roller 22, a ball sweeping brush 23, a slope guide hopper 24 and a ball picking sprocket 25; a pair of arm bars 21 are suspended and distributed on the left and right sides of the front side of the walking frame device 1, and a roller 22 can rotate between the arm bars 21; a ball-sweeping brush 23 for picking up shuttlecocks on the floor is sleeved on the roller 22; the front end of the traveling frame device 1 is provided with a badminton inlet 27 for the shuttlecock to enter, the slope guide hopper 24 is arranged at the badminton inlet 27 at the front end of the traveling frame device 1, the rear end of the slope guide hopper 24 is connected with the badminton inlet 27, and the front end of the slope guide hopper 24 is inclined towards the front lower side of the traveling frame device 1 and is positioned behind and below the arm rod 21; the ball picking sprocket 25 for driving the roller 22 to rotate is arranged at the front end of the arm rod 21 and is in transmission connection with the ball picking driving device 26.

Preferably, the bristles of the ball-sweeping brush 23 are made of plastic nylon and are arranged in a spiral shape. During operation, the shuttlecock on the ground is swept into the walking frame device 1 through the rotary ball sweeping brush 23, so that the shuttlecocks in the collecting area can be completely collected at one time.

Preferably, the guide lifting device 3 comprises a high-level bracket 30, a low-level bracket 31, a conveyor belt 32, a tightening roller 33, a slave tensioning roller 34, a guide transition wheel 35, a conveyor sprocket 38, a transition bracket 39 and a partition plate 3a; the low-level bracket 31 is arranged at the front part of the travelling frame device 1 and is close to the badminton inlet 27, and the high-level bracket 30 is arranged at the middle part of the travelling frame device 1; the height of the high-level bracket 30 is 2-5 times that of the low-level bracket 31; the transition bracket 39 is disposed between the high bracket 30 and the low bracket 31; the main tensioning roller 33 is rotatably and transversely arranged on the high-level bracket 30, the auxiliary tensioning roller 34 is rotatably and transversely arranged on the low-level bracket 31, the conveyor belt 32 is arranged between the tensioning roller 33 and the tensioning roller 34 to form a circulating conveyor belt, and the upper layer of the conveyor belt 32 is connected with the badminton inlet 27; the conveying chain wheel 38 for driving the main tensioning roller 33 to rotate is arranged on the high-level bracket 30, the conveying chain wheel 38 is in transmission connection with the ball picking driving device 26, the number of the guiding transition wheels 35 is 4, the guiding transition wheels are divided into an upper group and a lower group according to the space distribution of 2, the guiding transition wheels 35 are all arranged on the transition bracket 39, the upper group of guiding transition wheels 35 are pressed on the edge part of the upper layer of the conveying belt 32 and divide the upper layer of the conveying belt 32 into a front part and a rear part, the front part is a leveling area for finishing shuttlecocks, and the rear part is a slope area for elevating shuttlecocks; pressing the next set of guide transition wheels 35 on the edge part of the lower layer of the conveyor belt 32 and dividing the lower layer of the conveyor belt 32 into a front part and a rear part, so that the upper layer and the lower layer of the conveyor belt 32 are kept parallel; the plurality of partition plates 3a are arranged above the flat area of the conveyor belt 32 in a suspending way and are close to the upper surface of the upper layer of the conveyor belt 32, and the plurality of partition plates 3a form 1-2 groups of isosceles trapezoid guide bell mouths 36 with wide front parts and narrow rear parts; the plurality of separation plates 3a are obliquely arranged above the slope area of the conveyor belt 32 and close to the upper surface of the upper layer of the conveyor belt 32 in a suspending manner, the plurality of separation plates 3a form 1-2 groups of lifting ramps 37 for passing shuttlecocks, and each lifting ramp 37 is connected with a narrow mouth of a corresponding guide horn mouth 36.

Because the shuttlecocks entering the vehicle of the traveling frame device 1 are ordered, the shuttlecocks are transmitted to the whole body to be divided into two parts, namely a horizontal direction part and an inclined plane part, namely a flattening area and an inclined plane area; and (3) separating and sorting the shuttlecocks in a horizontal stage, and lifting the shuttlecocks to a high level in an inclined stage. Because the same conveyor belt 32 is adopted in the leveling area and the slope area, the conveyor belt 32 is required to be provided with a turning part, the weight of the conveyor belt 32 is lighter, the turning part is provided with guide transition wheels 35, the turning part is provided with two guide transition wheels 35 with the same diameter, the two guide transition wheels 35 are respectively arranged at the left end and the right end of the conveyor belt 32, the upper guide transition wheel 35 and the lower guide transition wheel 35 are respectively positioned at the inner turning part and the outer turning part of the conveyor belt 32, the conveying direction of the conveyor belt 32 is changed by virtue of rollers, the guide transition wheels 35 also play a role of tensioning wheels, the conveyor belt 32 is tensioned, the conveyor belt 32 is ensured to be in a tensioning state in the operation process, the guide transition wheels 35 belong to driven wheels, and rotate under the action of the conveyor belt 32.

When the shuttlecock is conveyed on the conveyor belt 32, the shuttlecock is driven by the conveyor belt 32 to move from horizontal to climbing, the climbing angle is about 135 degrees, and the outer surface of the conveyor belt 32 has certain roughness to increase friction force, so that the shuttlecock is ensured to move upwards along with the conveyor belt 32 in the lifting ramp 37; the belt is made of nylon, and when the lifting ramp 37 ascends, the shuttlecock needs to stay on the belt by friction force, and the belt 32 with rough surface is selected.

Preferably, the rear of the lifting ramp 37 is matched with one collecting ball cylinder device 4, and each collecting ball cylinder device 4 comprises a ball cylinder supporting plate 41, a ball cylinder fixing plate 42, a ball cylinder rotating shaft 43, a ball cylinder guide rail 44, a ball cylinder driving device 46 and a ball cylinder 47; the ball cylinder supporting plate 41 and the ball cylinder fixing plate 42 are rotatably arranged at the rear part of the traveling frame device 1 through the ball cylinder rotating shaft 43 one by one, a plurality of ball cylinder limiting placing holes 48 which enclose a circle of fixed ball cylinder 47 are arranged on the ball cylinder fixing plate 42, and a ball cylinder 47 for containing shuttlecocks is arranged on the ball cylinder limiting placing holes 48; the ball cylinder guide rail 44 for receiving the shuttlecock which rolls down from the top of the lifting ramp 37 under the action of gravity is obliquely arranged above the front of the ball cylinder supporting plate 41, the upper end of the ball cylinder guide rail 44 is arranged upward in front and is positioned below the rear side of the top of the lifting ramp 37, and the lower end of the ball cylinder guide rail 44 is arranged downward in rear and is positioned right above the ball cylinder 47 in front in the ball cylinder fixing plate 42; a ball cylinder driving device 46 that drives the ball cylinder pallet 41 to rotate is provided in front of the ball cylinder pallet 41 and below the main tension roller 33.

Referring to fig. 2, preferably, the guide lifting device 3 further comprises a suspension plate 3b for fixing a separation plate 3a, wherein the left and right ends or one end of the suspension plate 3b are fixed on the travelling carriage device 1, and the separation plate 3a is connected below the suspension plate 3 b; each partition plate 3a of the lifting ramp 37 is connected with the partition plate 3a of the corresponding guide bell 36. The partition plate 3a may be fixed to the running carriage device 1 by a bracket-like auxiliary fixing member such as a suspension plate 3b, as long as it remains suspended above the conveyor belt 32, and the partition plate 3a is not in contact with the conveyor belt 32.

Preferably, for the convenience of observation, the suspension plate 3b and the wall plate of the running carriage assembly 1 are both plates made of transparent material.

Referring to fig. 2, in order to ensure that shuttlecocks that slide obliquely from the barrel guide rail 44 fall accurately into the barrel 47, the lower end of the barrel guide rail 44 is preferably provided with a retainer ring 49 that urges shuttlecocks that slide obliquely from the barrel guide rail 44 to fall vertically.

The ball barrel supporting plate 41 is used for supporting the ball barrel, the ball barrel fixing plate 42 ensures that the ball barrel is in a vertical state, and the ball barrel is frequently put in and taken out in the use process, so that the ball barrel limiting hole 48 is 1mm larger than the outer diameter of the ball barrel 47. The barrel spindle 43 is connected to the barrel fixing plate 42 and the barrel fixing plate 42, which rotate together with the barrel spindle 43. When the ball cylinder collecting device 4 works, the position of the ball cylinder 47 is controlled through the ball cylinder rotating shaft 43, so that the empty ball cylinder 47 is in butt joint with the ball outlet of the guide rail, the shuttlecock is guaranteed to fall into the ball cylinder 47 smoothly, and a V-shaped groove is designed at the bottom of the ball cylinder rotating shaft 43 and used for transmitting rotating power. According to the external dimension design badminton ball section of thick bamboo 47, in order to make the space-saving of badminton ball section of thick bamboo 47, form unification ball holds in the palm downwards when putting into badminton ball section of thick bamboo 47, and the biggest 68mm of badminton upper portion size is in order to make the badminton drop into badminton ball section of thick bamboo 47 smoothly, so the diameter location 70mm of the inner chamber of badminton ball section of thick bamboo 47, according to arranging calculation, the inner chamber height 195mm of badminton ball section of thick bamboo 47 just can put 7 badminton, and the total weight is about 38.5g, and weight is very little, so the badminton ball section of thick bamboo 47 selects wall thickness 3mm to satisfy the requirement. Designed into badminton cylinder groups, each collecting cylinder device 4 is provided with a group of 2 groups, each group consists of 5-6 cylinders 47, and 36-42 shuttlecocks can be contained at a time.

Referring to fig. 4, the environment sensing sensor device 5 further includes a camera 18, the intelligent control device 6 further includes a wireless communication module 19 for wireless communication between the intelligent control device 6 and the outside, and the infrared sensor 14, the ultrasonic sensor 15, the camera 18 and the photoelectric encoder 17 in the environment sensing sensor device 5 are electrically connected with the intelligent control device 6; the driving motor 16, the ball picking driving device 26 and the ball cylinder driving device 46 are electrically connected with the intelligent control device 6 and controlled by the driving motor 16.

The guide lifting device 3 and the collecting ball cylinder device 4 work cooperatively according to the following principle:

after the shuttlecock is collected by the collecting device 2, the shuttlecock is required to be conveyed backwards through the guide lifting device 3, after the shuttlecock enters the vehicle of the travelling frame device 1, the shuttlecock is required to be conveyed in two stages, and the shuttlecock is required to be sequenced, according to the outline dimension and characteristics of the shuttlecock, the shuttlecock is required to be in a longitudinal state when being output, therefore, the partition plate 3a forms the guide horn mouth 36, the shuttlecock collected in the vehicle is conveniently driven by the conveying belt 32 to enter the lifting ramp 37, and the width of the inlet of the lifting ramp 37 is designed to be 70mm because the maximum diameter of the shuttlecock is 68mm, the length of the shuttlecock is 87.5mm, namely, the shuttlecock can only be forced to enter the vehicle in the longitudinal direction for continuous conveying, and the shuttlecock can be automatically adjusted to the longitudinal state under the action of the inclined plane of the conveying belt 32 until the shuttlecock passes through the guide area of the lifting ramp 37. Shuttlecocks entering lifting ramp 37 are in two states, one with the ball rest facing forward and the feathers facing forward. In order to be convenient for can pack the spheroid into the ball section of thick bamboo according to fixed direction orderly, need promote the badminton to certain altitude, export from the export at lifting ramp 37 top after the ball is accomplished certain altitude promotion, fall on the guide rail through the free fall, the badminton has the head heavy end tail light characteristics, the bulb (i.e. ball holds in the palm) can be under the automatic downward of gravity effect, accomplish the automatic sequencing operation of badminton, finally the bulb falls down on ball section of thick bamboo guide rail 44, because ball section of thick bamboo guide rail 44 is the slope, the badminton can fall under gravity and effect and slide in ball section of thick bamboo guide rail 44, fall into the ball section of thick bamboo automatically after sliding to ball section of thick bamboo guide rail 44 export, accomplish the automatic orderly function of stacking of badminton.

According to the invention, by adopting a multi-sensor fusion technology with lower cost, a full-area coverage path planning algorithm based on the electronic compass can be designed through a control program, so that the coverage rate and the efficiency of ball pick-up are improved, and finally, an electromechanical integrated application product with reasonable structure, excellent performance, low cost, low power consumption and higher intelligent degree is formed. The method has the advantages of high design coverage rate, good executable obstacle avoidance strategy and path planning algorithm, so as to improve the ball picking and stacking efficiency of the badminton-cleaning auxiliary training machine. For intelligent identification of the court, firstly, the ball can be automatically picked up by the environment sensing and sensing device 5 mounted on the walking frame device 1, and secondly, after the court is divided into a coordinate system, the position is determined by an operator or by Bluetooth connection with a service robot. Thirdly, the balls scattered outside the preset drop point are recovered by means of the camera 18 and the infrared sensor 14, so that the recovery is complete. And when programming, calculating the score of the player by assigning values to falling points in different ranges, and intuitively evaluating the control capability of the player on the ball under specific technical actions. If the badminton is assisted, the intelligent robot can collect and score the balls in a specific range according to the selection sequence of operators. And then collecting and scoring the residual balls scattered on the court through self-perception.

For the mobile power supply device 7, the intelligent control device 6 can monitor the power supply electric quantity in real time through program setting, and finish self-charging action according to the electric quantity condition.

The automatic design is adopted in the sorting and collecting process of the shuttlecocks, so that the cleaning process of the shuttlecocks is simpler, more convenient and quicker, the labor force and the labor time are saved, the cleaning personnel do not need to bend over to a large extent, and the physical fatigue of the working personnel is relieved. And in the collecting and processing process, the shuttlecocks are orderly and orderly placed, so that the damage to the shuttlecocks in the storage process is reduced, and the occupied space is reduced.

In the foregoing description, the contents, such as the structure and the process, which are conventionally used in the prior art, are not repeated for the sake of space saving. The undisclosed processing techniques and parts are processed according to the conventional techniques of the prior art. The infrared sensor 14, the ultrasonic sensor 15, the camera 18 and the photoelectric encoder 17 in the environment sensing device 5 are installed in a conventional manner, and are not shown in fig. 1 and 3.

The invention is not limited to the embodiments disclosed and described above, but rather, it is intended to cover modifications and variants of the invention which fall within the scope of the appended claims, depending on the description and the specific examples.

Claims (10)

1. An intelligent robot for badminton auxiliary training is characterized in that: comprising the following devices:

the walking frame device (1) is used for the badminton auxiliary training intelligent robot to move in a plane;

the collecting device (2) is arranged at the front part of the walking frame device (1), and the working part of the collecting device extends forwards from the walking frame device (1) and is used for transferring shuttlecocks scattered on the floor to the intelligent robot for badminton auxiliary training for collection;

the guide lifting device (3) is arranged on the walking frame device (1), the front part of the guide lifting device is connected with the rear part of the collecting device (2) and is used for sequencing the shuttlecocks forwards in a ball head manner and conveying the shuttlecocks in the sequence to the rear side of the walking frame device (1) for collecting;

the ball collecting cylinder device (4) is arranged behind the guide lifting device (3) and is used for collecting the shuttlecocks conveyed by the guide lifting device (3);

the environment sensing device (5) is arranged on the walking frame device (1) and is used for acquiring environment parameters;

the intelligent control device (6) is used for controlling the actions of the walking frame device, the collecting device (2), the guide lifting device (3) and the collecting ball cylinder device (4) and collecting environmental information through the environmental perception sensing device;

the mobile power supply device (7) is arranged on the walking frame device (1) and is used for providing a working power supply for the badminton training-assisting intelligent robot.

2. The badminton-assisted training intelligent robot of claim 1, wherein: the walking frame device (1) comprises a frame (11), a walking driving wheel (12), a control device (13), a driving motor (16) and a photoelectric coding disc (17); the environment sensing device (5) comprises an infrared sensor (14) and an ultrasonic sensor (15); the four walking driving wheels (12) are arranged at the bottom of the frame (11), and a driving motor (16) for driving the walking driving wheels (12) to move is arranged on the frame (11); a photoelectric coding disc (17) for detecting the rotation speed of the walking driving wheel is arranged on the walking driving wheel (12); a plurality of infrared sensors (14) serving as collision detection sensors are distributed on the front side and the left side and the right side of the frame (11); the bottom of the frame (11) is also provided with a plurality of infrared sensors (14) for preventing steps from falling; an ultrasonic sensor (15) for precisely positioning the shuttlecock is arranged on the front side of the carriage (11).

3. The badminton-assisted training intelligent robot according to claim 1 or 2, wherein: the collecting device (2) comprises an arm rod (21), a roller (22), a ball sweeping brush (23), a slope guide hopper (24) and a ball picking chain wheel (25); a pair of arm rods (21) are suspended and distributed at the left side and the right side of the front side of the walking frame device (1), and a roller (22) can rotate between the arm rods (21); a ball sweeping brush (23) for picking up the shuttlecock on the floor is sleeved on the roller (22); the front end of the traveling frame device (1) is provided with a badminton inlet (27) for entering a badminton, a slope guide hopper (24) is arranged at the badminton inlet (27) at the front end of the traveling frame device (1), the rear end of the slope guide hopper (24) is connected with the badminton inlet (27), and the front end of the slope guide hopper (24) is inclined towards the front lower part of the traveling frame device (1) and is positioned behind and below the arm lever (21); the ball picking chain wheel (25) which drives the roller (22) to rotate is arranged at the front end of the arm lever (21) and is in transmission connection with the ball picking driving device (26).

4. The badminton-assisted training intelligent robot as claimed in claim 3, wherein: the brush hair of the ball-sweeping brush (23) is made of plastic nylon and arranged in a spiral manner.

5. The intelligent badminton training assist robot as set forth in claim 4, wherein: the guide lifting device (3) comprises a high-level bracket (30), a low-level bracket (31), a conveying belt (32), a tightening roller (33), a slave tensioning roller (34), a guide transition wheel (35), a conveying chain wheel (38), a transition bracket (39) and a separation plate (3 a); the low-level bracket (31) is arranged at the front part of the walking frame device (1) and is close to the badminton inlet (27), and the high-level bracket (30) is arranged at the middle part of the walking frame device (1); the height of the high-level bracket (30) is 2-5 times that of the low-level bracket (31); the transition bracket (39) is arranged between the high-level bracket (30) and the low-level bracket (31); the main tensioning roller (33) is rotatably and transversely arranged on the high-level bracket (30), the auxiliary tensioning roller (34) is rotatably and transversely arranged on the low-level bracket (31), the conveyor belt (32) is arranged between the main tensioning roller (33) and the tensioning roller (34) to form a circulating conveyor belt, and the upper layer of the conveyor belt (32) is connected with the badminton inlet (27); the conveying chain wheel (38) for driving the main tensioning roller wheel (33) to rotate is arranged on the high-level bracket (30), the conveying chain wheel (38) is in transmission connection with the ball picking driving device (26), the number of the guiding transition wheels (35) is 4, the guiding transition wheels are divided into an upper group and a lower group according to the space distribution of 2, the guiding transition wheels (35) are arranged on the transition bracket (39), the upper guiding transition wheels (35) are pressed on the edge part of the upper layer of the conveying belt (32) and divide the upper layer of the conveying belt (32) into a front part and a rear part, the front part is a flat area for shuttlecock arrangement, and the rear part is a slope area for shuttlecock lifting height; pressing the next group of guiding transition wheels (35) on the edge part of the lower layer of the conveyor belt (32) and dividing the lower layer of the conveyor belt (32) into a front part and a rear part, so that the upper layer and the lower layer of the conveyor belt (32) are kept parallel; a plurality of partition plates (3 a) are suspended above the flat area of the conveyor belt (32) and are close to the upper surface of the upper layer of the conveyor belt (32), and the partition plates (3 a) form 1-2 groups of isosceles trapezoid guide horn mouths (36) with wide front parts and narrow rear parts; the plurality of separation plates (3 a) are obliquely arranged above the slope area of the conveyor belt (32) and close to the upper surface of the upper layer of the conveyor belt (32), the plurality of separation plates (3 a) form 1-2 groups of lifting ramps (37) for passing shuttlecocks, and each lifting ramp (37) is connected with the narrow mouth of the corresponding guide horn mouth (36).

6. The intelligent badminton training assist robot as set forth in claim 5, wherein: the rear of the lifting ramp (37) is matched with a ball collecting barrel device (4), and each ball collecting barrel device (4) comprises a barrel supporting plate (41), a barrel fixing plate (42), a barrel rotating shaft (43), a barrel guide rail (44), a barrel driving device (46) and a barrel (47); the ball cylinder supporting plate (41) and the ball cylinder fixing plate (42) are rotatably arranged at the rear part of the walking frame device (1) up and down through the ball cylinder rotating shaft (43), a plurality of ball cylinder limit placing holes (48) for fixing the ball cylinder (47) are formed in the ball cylinder fixing plate (42) in a surrounding manner, and a ball cylinder (47) for containing the shuttlecock is placed on the ball cylinder limit placing holes (48); the ball cylinder guide rail (44) for receiving the shuttlecock with the ball head rolling downwards from the top of the lifting ramp (37) under the action of gravity is obliquely arranged above the front part of the ball cylinder supporting plate (41), the upper end of the ball cylinder guide rail (44) is arranged upwards in front and is positioned below the rear side of the top of the lifting ramp (37), and the lower end of the ball cylinder guide rail (44) is arranged downwards in rear and is positioned right above the ball cylinder (47) positioned in front in the ball cylinder fixing plate (42); a ball cylinder driving device (46) for driving the ball cylinder supporting plate (41) to rotate is arranged in front of the ball cylinder supporting plate (41) and below the main tensioning roller wheel (33).

7. The intelligent badminton-assisted training robot as claimed in claim 6, wherein: the guide lifting device (3) further comprises a suspension plate (3 b) for fixing a separation plate (3 a), the left end and the right end or one end of the suspension plate (3 b) are fixed on the travelling frame device (1), and the separation plate (3 a) is connected below the suspension plate (3 b); the separation plates (3 a) of the lifting ramp (37) are respectively connected with the separation plates (3 a) of the guide bell mouth (36) which are matched and corresponding to each other.

8. The badminton-assisted training intelligent robot of claim 7, wherein: the suspension plate (3 b) and the wall plate of the walking frame device 1 are plates made of transparent materials.

9. The badminton-assisted training intelligent robot of claim 8, wherein: the lower end of the ball cylinder guide rail (44) is provided with a retainer ring (49) which promotes the shuttlecock which slides obliquely from the ball cylinder guide rail (44) to vertically drop in a steering way.

10. The intelligent badminton-assisted training robot as claimed in claim 6, wherein: the environment sensing device (5) further comprises a camera (18), the intelligent control device (6) further comprises a wireless communication module (19) for performing wireless communication between the intelligent control device (6) and the outside, and an infrared sensor (14), an ultrasonic sensor (15), the camera (18) and a photoelectric coding disc (17) in the environment sensing device (5) are electrically connected with the intelligent control device (6); the driving motor (16), the ball picking driving device (26) and the ball cylinder driving device (46) are electrically connected with the intelligent control device (6) and controlled by the driving motor (16).

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