CN103263762A - Dodging robot for boxing - Google Patents
Dodging robot for boxing Download PDFInfo
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- CN103263762A CN103263762A CN2013101724612A CN201310172461A CN103263762A CN 103263762 A CN103263762 A CN 103263762A CN 2013101724612 A CN2013101724612 A CN 2013101724612A CN 201310172461 A CN201310172461 A CN 201310172461A CN 103263762 A CN103263762 A CN 103263762A
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- leading screw
- robot
- coordimeter
- boxing
- moving lever
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Abstract
The invention aims at providing a dodging robot for boxing. The robot comprises a mechanical portion and a control portion, wherein the mechanical portion is composed of a rack, a moving rod mechanism and a coordimeter mechanism; and the control portion is composed of a camera and a micro processor. The camera takes pictures periodically according to control signals emitted by a control chip and transmits picture information to the control chip for picture processing and information analysis, fist pixels taken in the pictures are extracted, distances between the centers of the fist pixels and the whole picture centers are calculated, and motor control signals are emitted; and a beaten object at the upper ends of the moving rod mechanism and the coordimeter mechanism which is composed of two orthogonal screws is driven by motors to swing front-back and left-right, and dodging movements are completed. The dodging robot has the advantages that man-machine interaction is achieved, dodging modes varies from person to person, and the training pleasure is improved greatly.
Description
Technical field
Robot is hidden in a kind of boxing, and particularly prize ring " dummy " that use belongs to amusement, physical training and exercise equipment field,
Background technology
Boxing has body-building, attacking and defending with it and function such as gives vent to and win some liking; But because it is a double air exercise motion, people's training mate need be arranged.Go to the gymnasium for not free, can not find adversary's boxing at home again, rely on rope skipping, dumbbell, barbell, sandbag, Boxing dummy or give vent to the ball exercise, because lacking interactive regular meeting dull sense is arranged.
The domestic market still lacks intelligence and the low-cost robot that sparring partner is used at present.
Chinese patent " automated boxing machine " (application number 88102378.7 applicant Jerry L Weirs are inferior) provides a kind of microprocessor programming Control of using, and can make the parallelogram connection-rod robot of specific shell types such as fist, receipts fist.Its weak point is: shell type is specific, can not vary with each individual.
Chinese patent " Excercise training apparatus " (application number 200480042876.7 applicant Leon Robert Louis Stevensons) provides a stent support to be impacted thing, and length and the spatial modelling of support are adjustable.Its weak point is: can not with people's interaction, can only be passive and vulnerable to attack.
Chinese patent " recreation boxing system " (application number 03801760.1 applicant Sunstar Kabushiki Kaisha) has been built a virtual boxing environment, by with display screen on the virtual opponent air exercise.Though but it has interactive spatial impression and the authenticity of lacking preferably.
From the characteristics of top several existing boxing exercise apparatus as can be seen, their weak point is to lack interactive and intelligent.
Summary of the invention:
The object of the present invention is to provide a kind of boxing to hide robot, comprise the mechanical part of being formed by frame, moving lever mechanism and coordimeter mechanism and the control section of being formed by camera, microprocessor.The control signal BR photo that camera sends according to control chip also passes to control chip with picture shot information and carries out picture and handle and information analysis, extract captured fist pixel in the picture, calculate the distance of the whole center picture of position distance at fist pixel center, send motor control signal; Motor then drives the quilt of the coordimeter mechanism that is made up of two quadrature leading screws and moving lever mechanism upper end and beats the object roll and pitch, finishes and hides action.Its beneficial effect is: human-computer interaction, and hide mode and vary with each individual, greatly improve training enjoyment.
The mechanical part that robot is hidden in a kind of boxing comprises frame, moving lever mechanism, coordimeter mechanism; Wherein, frame is for placing moving lever mechanism and coordimeter mechanism, being divided into two-layer up and down, be upper spider and lower bearing bracket, made by two flat boards respectively that upper spider is little than lower bearing bracket, link to each other with the leverage truss between upper spider and the lower bearing bracket, be used for the described coordimeter of placement mechanism; Lower bearing bracket is used for placing moving lever mechanism.Described moving lever mechanism by moving lever, quilt is beaten object and the hollow aluminum ball is formed; Wherein, beaten the top and bottom that object and hollow aluminum ball lay respectively at moving lever, ball groove fixing on hollow aluminum ball and the lower bearing bracket constitutes ball pivot; The described object of being beaten is used for hiding boxing, and camera supports to be installed in by spring and beaten in the object, and reserves camera window.Described coordimeter mechanism is made of the ball-screw of two quadratures, is respectively leading screw I and leading screw II; The length of leading screw I is long than the leading screw II.Ball bearing is placed at the two ends of leading screw I respectively, and the configuration support of bearing, and the support of bearing is fixed on the upper spider.Pei Zhi ∟ shape slide block on the leading screw I has screwed hole on it in addition, constitutes a kinematic pair with ball screw; Leading screw I both sides install the guide rail I of Chuan Guo ∟ shape slide block additional.One end of leading screw II is by on the ball bearing An Zhuan Zai ∟ shape slide block, and the other end is fixed on the rhombus slide block; Leading screw II both sides also install the guide rail II additional; The rhombus slide block also installs one additional by the connecting plate of two overhanging support bar supportings, is used for being connected with coaster; Leading screw I and leading screw II are driven by motor I and motor II respectively.
Whole mechanical mechanism mainly is the basic principle of having used two one lines.Realize that the utilization of this principle plays realization by the following step:
1. the ball pivot of moving lever mechanism partly serves as the fixing point on the moving lever;
2. the coaster of moving lever serves as another point of moving lever.
In the robot course of work, ball pivot is the fixedly position of moving lever one end hollow aluminum ball, the still spatial direction of not constrained motion bar just.Coaster is positioned at a horizontal plane all the time, and the position of coaster in horizontal plane is motor-driven by what link to each other with leading screw in the coordimeter mechanism, and motor is controlled by embedded system chip.By the running of control motor, just can control the locus of coaster.When the position of coaster changes, just be equivalent on the moving lever variation take place a bit, the spatial direction of moving lever also will change thereupon so, and then the locus that the quilt that is installed in the moving lever other end is beaten object also will change.
As can be seen, the control of being beaten object is to realize by the running of controlling coordinatograph from top narration.The function of coordimeter mechanism is the plane coordinatesization with the coaster place, is the revolution of motor with the coordinate transformation on plane, coaster place, thereby is convenient to digital control.If the leading screw I in the coordimeter mechanism is the x axle, the leading screw II is the y axle.Just can control the coordinate figure of the slide block on screw mandrel I and the leading screw II by the running of control motor I and motor II.
A kind of boxing is hidden ROBOT CONTROL and is partly comprised: information gathering part, information processing part, analysis part, operating part.
The control signal BR photo that video camera sends according to control chip, and picture shot information passed to control chip.Program in the control chip is divided into picture processing section and information analysis part.The program major function of picture processing section is to extract captured fist pixel in the picture, and calculates the distance of the whole center picture of position distance at fist pixel center; The function of information analysis part is the data of analyzing and processing gained, and sends the control signal to motor; If the position data of the handled data owner fist of information analysis part pixel.Draw the speed, fist of fist motion apart from information such as camera distances by the variation of analyzing the fist position.Data such as the speed by analyzing gained, distance and motor is carried out new control in conjunction with the position of current slide.When sending control signal, calculate motor and carry out the position of control signal rear slider, in order to carry out control next time.
The information processing part with the flow process of information analysis part is: pictures taken, and handle picture by mode identification technology and draw data: fist centre coordinate (X
0, Y
0) and calculate it apart from the distance L of center picture, judge L 〉=preset value, if, send according to the fist position and to hide signal, if not, then continue to accept the L value.
Whole control process is exactly to analyze fist apart from the speed of the distance of being beaten object and fist, and sends the running that control signal is controlled motor according to the distance of analyzing gained and speed, and then the realization action of hiding of being beaten object.
Information processing partly is to obtain fist and the process of being beaten object distance and fist speed.Analyzing fist is according to the size of fist in picture with the distance of being beaten object, and the distance of comprehensive fist center position photo center is determined again.
Information analysis part is the data analysis acquisition fist speed according to the gained of information processing part, and sends control signal according to fist speed and distance.Fist speed be according to take continuously several pictures in fist determine apart from the speed of the variation of photo centre distance.
Use when of the present invention, boxing is hidden robot and is placed on the ground, boxing person is directly in the face of moving lever mechanism, guarantee that two fists are in the visual field of camera all the time when brandishing, and shaked one's fists repeatedly and get final product to beating object, and that quilt is beaten object is will be under the effect of control system left or right or avoid the fist of waving backward.Human-computer interaction is hidden mode and is varied with each individual, and has greatly improved training enjoyment.
Description of drawings
The whole structural scheme of mechanism of robot is hidden in Fig. 1 boxing
The coordinatograph structural scheme of mechanism of robot is hidden in Fig. 2 boxing
The pulley mechanism schematic diagram of robot is hidden in Fig. 3 boxing
Fig. 4 control system flow chart
Fig. 5 Image Information Processing and analysis process figure
The specific embodiment
Providing the specific embodiment of the present invention below also is illustrated by reference to the accompanying drawings.
The mechanical part that robot is hidden in a kind of boxing comprises frame, moving lever mechanism, coordimeter mechanism; Wherein:
1. the structure of frame
As shown in Figure 1, described frame is made up of upper spider and lower bearing bracket, and last lower bearing bracket is all made by plank.Upper spider by the leverage truss support on lower bearing bracket.
2. the structure of moving lever mechanism
As shown in Figure 1, described moving lever mechanism is constituted by beating object 6, moving lever 5, hollow aluminum ball 3.Moving lever one end connects hollow aluminum ball 3, and the other end connects is beaten object 6.Beaten object 6 and made by soft material, this selection be cotton material, beaten inside placement camera and the support spring of object 6, and reserved camera window.
3. the formation of coordimeter mechanism
As shown in Figure 1, 2, described coordimeter mechanism comprises: the left bearing support 16 of the guide rail I 12 that the leading screw I 13 of two quadratures and leading screw II 9, both sides are arranged in parallel as guide rail and guide rail II 17, an end and the right bearing support 10 of the other end and constitute kinematic pair De ∟ shape slide blocks 15 and constitute the rhombus slide block 8 of kinematic pairs with leading screw II 9 with leading screw I 13; The length of leading screw I 13 is greater than leading screw II 9; One end of leading screw II 9 is by on the ball bearing An Zhuan Zai ∟ shape slide block 15, and the other end screws in the screwed hole of rhombus slide block 8; Place, the top, four angles of rhombus slide block 8 be processed with respectively two with guide rail II 17 hole movingly and other two holes that install support bar 7; The direction of extension of guide rail II 17 and support bar 7 is opposite; Connecting plate 22 is packed in the outer end of support bar 7; Leading screw I 13 is driven by the motor I 17 that links to each other with the end and motor II 14 respectively with leading screw II 9.
4. the structure of coaster
As shown in Figure 3, the main body of coaster 4 is the square solid aluminium sheets of two block lengths.Supported by multidiameter 21 conducts between the solid aluminium sheet, make to strut the distance that is slightly larger than the moving lever cross-sectional width between two blocks of aluminium sheets 19.At little axle bearing 20 is housed, has four osculums at aluminium sheet, on these four osculums, bearing is housed equally.
5. the connection between the each several part
As shown in Figure 1, the hollow aluminum ball 3 of described moving lever mechanism one end is installed in the ball groove that installs on the lower bearing bracket 1 and constitutes spherical hinge, and adds end cap.Coordimeter mechanism is connected with upper spider 11 bolts, and is connected with coaster 4 on being sleeved on moving lever 5 by connecting plate 22 and bolt.
As shown in Figure 4, a kind of boxing is hidden ROBOT CONTROL and is partly comprised: information gathering part, information processing part, analysis part, operating part.
As shown in Figure 5, the information processing part with the flow process of information analysis part is: pictures taken, and handle picture by mode identification technology and draw data: fist centre coordinate (X
0, Y
0) and calculate it apart from the distance L of center picture, judge L 〉=preset value, if, send according to the fist position and to hide signal, if not, then continue to accept the L value.
In specific embodiments of the invention, the used camera of information gathering is TL-L130-NDE2W, and information processing part and analysis part use embedded microprocessor; The motor model of operating part is 130BYG350-280.
The present invention hides mode and varies with each individual by human-computer interaction, greatly improves training enjoyment.
Claims (2)
1. robot is hidden in a boxing, comprises mechanical part and control section; It is characterized in that: mechanical part is made up of frame, moving lever mechanism, coordimeter mechanism; Control section comprises information gathering part, information processing part, analysis part, operating part; Wherein: described frame is made up of flat upper spider (11) and lower bearing bracket (1); Upper spider (11) by the leverage truss support on lower bearing bracket (1); The quilt that described moving lever mechanism is connected respectively by moving lever (5) and two ends is beaten object (6), hollow aluminum ball (3) constitutes; Wherein, beaten object (6) to make with soft material, inner placement camera and support spring, and reserve the camera window; Ball groove on hollow aluminum ball (3) and the lower bearing bracket (1) constitutes spherical linkage, and adds end cap; Described coordimeter mechanism comprises: the left bearing support (16) of the guide rail I (12) that the leading screw I (13) of two quadratures and leading screw II (9), both sides are arranged in parallel and guide rail II (17), an end and the right bearing support (10) of the other end and constitute kinematic pair De ∟ shape slide block (15) and constitute the rhombus slide block (8) of kinematic pair with leading screw II (9) with leading screw I (13); The length of leading screw I (13) is greater than leading screw II (9); One end of leading screw II (9) is by on the ball bearing An Zhuan Zai ∟ shape slide block (15), and the other end screws in the screwed hole of rhombus slide block (8); Place, the top, four angles of rhombus slide block (8) be processed with respectively two with guide rail II (17) hole movingly and other two holes that install support bar (7); The direction of extension of guide rail II (17) and support bar (7) is opposite; Connecting plate (22) is packed in the outer end of support bar (7); Leading screw I (13) is driven by the motor I (17) that links to each other with the end and motor II (14) respectively with leading screw II (9); The main body of coaster (4) is the square aluminium sheet of two block lengths (19), between support with the multidiameter (21) that bearing (20) are housed; Have four gap and buried bearing on the aluminium sheet (19); Described coordimeter mechanism is by being bolted on the upper spider (11), and is connected with coaster (4) on being sleeved on moving lever (5) by connecting plate (22) and bolt.
2. robot is hidden in a kind of boxing as claimed in claim 1, and its control section comprises information gathering part, information processing part, analysis part, operating part; It is characterized in that: the information processing part with the flow process of information analysis part is: use the camera pictures taken, handle picture by mode identification technology and draw fist centre coordinate value X
0, Y
0And calculate the distance L of itself and center picture; Judge L 〉=preset value; If send and hide signal; If not, then continue to accept the L value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310172461.2A CN103263762B (en) | 2013-05-10 | 2013-05-10 | Robot is hidden in boxing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310172461.2A CN103263762B (en) | 2013-05-10 | 2013-05-10 | Robot is hidden in boxing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103263762A true CN103263762A (en) | 2013-08-28 |
| CN103263762B CN103263762B (en) | 2015-09-30 |
Family
ID=49007450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310172461.2A Expired - Fee Related CN103263762B (en) | 2013-05-10 | 2013-05-10 | Robot is hidden in boxing |
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| Country | Link |
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| CN (1) | CN103263762B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105833506A (en) * | 2016-06-07 | 2016-08-10 | 苏州搏克形健身器材有限公司 | Knockdown sandbag |
| CN108939489A (en) * | 2018-09-21 | 2018-12-07 | 国武时代国际文化传媒（北京）有限公司 | Free combat flexibility simulation training device |
| CN111870918A (en) * | 2020-07-07 | 2020-11-03 | 哈尔滨金翅鸟科技有限公司 | Dummy for simulating fighting training, entertainment and security properties |
| CN114247118A (en) * | 2021-12-28 | 2022-03-29 | 重庆第二师范学院 | Be used for martial arts exercise auxiliary training device |
| WO2022142730A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市微网力合信息技术有限公司 | Wifi 6-based camera control method, device, and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2031700U (en) * | 1988-05-09 | 1989-02-01 | 杨子伐 | Boxing body-building ball |
| US20070142178A1 (en) * | 2000-03-30 | 2007-06-21 | P.A. Interactive, Llc | Automated physical training system |
| CN201840852U (en) * | 2010-10-27 | 2011-05-25 | 鲁东大学 | Novel fight trainer |
| US20120238414A1 (en) * | 2009-04-06 | 2012-09-20 | Blaies Daniel Joseph | Sparring Dummy |
-
2013
- 2013-05-10 CN CN201310172461.2A patent/CN103263762B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2031700U (en) * | 1988-05-09 | 1989-02-01 | 杨子伐 | Boxing body-building ball |
| US20070142178A1 (en) * | 2000-03-30 | 2007-06-21 | P.A. Interactive, Llc | Automated physical training system |
| US20120238414A1 (en) * | 2009-04-06 | 2012-09-20 | Blaies Daniel Joseph | Sparring Dummy |
| CN201840852U (en) * | 2010-10-27 | 2011-05-25 | 鲁东大学 | Novel fight trainer |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105833506A (en) * | 2016-06-07 | 2016-08-10 | 苏州搏克形健身器材有限公司 | Knockdown sandbag |
| CN108939489A (en) * | 2018-09-21 | 2018-12-07 | 国武时代国际文化传媒（北京）有限公司 | Free combat flexibility simulation training device |
| CN111870918A (en) * | 2020-07-07 | 2020-11-03 | 哈尔滨金翅鸟科技有限公司 | Dummy for simulating fighting training, entertainment and security properties |
| CN114344865A (en) * | 2020-07-07 | 2022-04-15 | 哈尔滨金翅鸟科技有限公司 | Dummy for fighting training, entertainment and security |
| WO2022142730A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市微网力合信息技术有限公司 | Wifi 6-based camera control method, device, and storage medium |
| CN114247118A (en) * | 2021-12-28 | 2022-03-29 | 重庆第二师范学院 | Be used for martial arts exercise auxiliary training device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103263762B (en) | 2015-09-30 |
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