CN103446763B - For the robot that shoots and shooting control method thereof - Google Patents
For the robot that shoots and shooting control method thereof Download PDFInfo
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- CN103446763B CN103446763B CN201310421855.7A CN201310421855A CN103446763B CN 103446763 B CN103446763 B CN 103446763B CN 201310421855 A CN201310421855 A CN 201310421855A CN 103446763 B CN103446763 B CN 103446763B
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- shooting
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- shiner
- disk assembly
- throw
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Abstract
The invention discloses a kind of robot for shooting and shooting control method thereof, this robot being used for shooting comprises bracing frame, basket shooting appts and controller, and this basket shooting appts comprises handgrip, drive disk assembly, servomotor and shooting motor; The output shaft of this handgrip and this servomotor is in transmission connection; The output shaft of one end of this drive disk assembly and this shooting motor is in transmission connection; This robot also comprises sensor and the first touching switch.This shooting control method comprises the following steps: S
1, this servomotor rotarily drive this handgrip promptly wait throw shiner; S
2, shooting motor rotate; S
3, sensor detects this drive disk assembly, servomotor turns round, and handgrip opens; S
4, this drive disk assembly touch first touching switch, shooting motor stalls, wait throw shiner dished out.It is high that the present invention debugs accuracy, makes parabola higher, improve the degree of accuracy of shooting, stability and reliability.
Description
Technical field
The present invention relates to a kind of robot for shooting and shooting control method thereof.
Background technology
Along with human society scientific development and technological progress, Automated condtrol infiltrates the every field of social production and life more and more.People attempt the various action that in person need not complete with people to transfer to the executing agency of Based Intelligent Control to go more and more, and in other words, the suitable application area of robot has obtained unprecedented expansion.People usually hold intelligent robot match, with the control intelligence of encouraging the engineer of automation control area can improve robot.
Such as, in robot shot making game, be the basketball team that team member is formed by intelligent mobile robot, adopt the rule being similar to mankind's Basketball Match to play.In place, luminous ball is found at opponents' half by basketball robot, avoids the defence of the other side robot and score a basket.
Common generally being driven by a motor for the robot basket shooting appts of shooting is waited to throw shiner shooting, and in shooting process, only have a speed, makes the parabola of shooting milder, in addition, debugging inaccuracy, accuracy degree is lower, stability and reliability lower.
Summary of the invention
The technical problem to be solved in the present invention be in order to overcome traditional robot debugging inaccuracy for shooting in prior art, accuracy degree is lower, stability and the defect such as reliability is lower, provide a kind of robot for shooting.
The present invention solves above-mentioned technical problem by following technical proposals:
A kind of robot for shooting, comprise a bracing frame, a basket shooting appts and is fixed on controller on this bracing frame, its feature is, this basket shooting appts comprises a handgrip, a drive disk assembly, servomotor and be fixed on this drive disk assembly is fixed on shooting motor on this bracing frame;
This handgrip is used for promptly one waiting to throw shiner, and is in transmission connection with the output shaft of this servomotor;
The output shaft of one end of this drive disk assembly and this shooting motor is in transmission connection, and this drive disk assembly is used for matching with this handgrip realizing the shooting that this waits to throw shiner;
This robot also comprises whether at least one sensor, whether moving to the first desired location for detecting this drive disk assembly moves to the second desired location the first touching switch for detecting this drive disk assembly, respectively this sensor is fixed on this bracing frame and waits to throw shiner place near this, and this first touching switch is fixed on this bracing frame throws one end of shiner near this drive disk assembly away from waiting;
This controller is used for controlling servomotor respectively and the rotary speed of motor of shooting, direction of rotation and unlatching by the signal of each sensor and the first touching switch, the input of this controller is touched switch with this sensor, first and is electrically connected, and the output of this controller is electrically connected with this servomotor, motor of shooting.
In this programme, the setting of switch is touched by sensor and first, the motion state of servomotor, shooting motor can be controlled respectively, make robot in shooting process, provide two speed that can control separately to debug, and debugging accuracy is high, and then change the power of waiting to throw shiner upward direction and horizontal direction, thus effectively control the parabola treating throwing shiner, make parabola higher, improve the degree of accuracy of shooting, stability and reliability.
Preferably, each described sensor is an optoelectronic switch.
In this programme, optoelectronic switch makes the action utilizing Digital Signals servomotor, is quick on the draw.
Preferably, this handgrip comprises two connecting rods, wherein one end of this connecting rod and the output shaft of this servomotor are in transmission connection, the other end of this connecting rod is provided with one first shackle member, one end of another this connecting rod is also provided with one first shackle member, respectively between this first shackle member by least one connecting axle affixed formation one paw, this paw and this wait to throw shiner clamping.
In this programme, adopt said structure form, this paw can be firmly grasped flexibly and unclamp to wait to throw shiner, improve flexibility and the degree of accuracy of shooting.
Preferably, this drive disk assembly comprises two drive links and a junction part, and one end of two these drive links is individually fixed in the two ends of these attaching parts, and the output shaft of these attaching parts and this shooting motor is in transmission connection.
Preferably, the other end of this drive disk assembly is provided with one for placing the shovel thing frame that this waits to throw shiner.
In this programme, this shovel thing frame be arranged so that robot can place in shooting process wait throw shiner, especially stop operating at servomotor, after handgrip opens, make to wait that throwing shiner still can continue motion, throwing shiner does not arrive assigned address and just departs from this basket shooting appts to avoid this to treat, improves the stability of shooting.
Preferably, this shovel thing frame comprises a gripper shoe and two the second shackle member, and one end of two these the second shackle member is affixed with this gripper shoe respectively, and the other end of two these the second shackle member is connected with this corresponding drive link respectively.
Preferably, this robot also comprises a mobile device, this mobile device comprises four rolling and four for driving the mobile motor of corresponding respectively this roller, and four these rollers are symmetricly set in the both sides bottom bracing frame, and respectively the input of this mobile motor is electrically connected with the output of controller.
In this programme, this mobile device arrange can auxiliary robot complete pick up wait throw shiner, move to a series of moving movements such as basketry, improve the flexibility of this robot.
Preferably, this robot also comprises at least one first optical sensor and at least one second optical sensor, respectively this first optical sensor and the second optical sensor are all fixed on this bracing frame and with the input of this controller and are electrically connected, first optical sensor is used for detecting the distance that this waits to throw shiner and this robot in the horizontal direction, second optical sensor is used for detecting this in vertical direction to be waited whether to throw shiner to the 3rd desired location, this controller also for by the first optical sensor and the second light sensors to signal results control the unlatching of each mobile motor, direction of rotation.
In this programme, adopt said structure form, robot can be completed and find the action that this waits to throw shiner.
Preferably, this robot also comprises a position detecting device, this position detecting device comprises one for measuring the compass of the orientation angles of this robot and some position sensitive detectors for measuring this robot distance of each frame to competition area, this compass and each position Sensitive Apparatus are all fixed on bracing frame and with the input of this controller and are electrically connected, and the signal results of this controller also for compass and position sensitive detector being detected controls unlatching, the direction of rotation of each mobile motor.
In this programme, adopt said structure form, make the position relationship between location that robot can be correct and basketry, and then move to the position of basketry, complete the process of shooting accurately.
Preferably, this robot also comprises the second touching switch that two are arranged at intervals at the bottom of support frame as described above, and this controller is also for detecting: control shooting motor when basketry touches two second touching switches and start to rotate.
In this programme, adopt said structure form, robot is only had and just can start shooting when two second touching switches are touched by basketry simultaneously, avoid robot shooting hour offset basketry, improve the degree of accuracy of shooting.
Present invention also offers a kind of shooting control method of the robot for shooting, this robot being used for shooting is described above, and its feature is, the concrete steps of this shooting control method are as follows:
S
1, this wait throw shiner be connected with this drive disk assembly, this servomotor rotarily drive this handgrip rotating closed this is waited throw shiner firmly grasp;
S
2, this shooting motor rotarily drives this drive disk assembly and rotates, and makes this wait to throw shiner and this drive disk assembly synchronous rotary;
S
3, this sensor detects that this drive disk assembly arrives this first desired location, this controller controls the revolution of this servomotor and drives this handgrip to open;
S
4, this drive disk assembly touch this first touching switch, this controller controls this shooting motor stalls, this wait throw shiner dished out, shooting completes.
In this programme, adopt above-mentioned control method, achieve and separately control two speed, and then control separately to wait to throw the power of shiner upward direction and the power of horizontal direction, improve the degree of accuracy of the accuracy of debugging and shooting, accuracy.
Preferably, step S
1comprise the following steps before:
S
11, one second optical sensor detect in vertical direction this wait throw shiner arrived the 3rd desired location, this controller control this servomotor starts rotate.
Preferably, step S
11before further comprising the steps of:
S
111, one first optical sensor detect in the horizontal direction this wait throw shiner, this controller control mobile device to this wait throw shiner direction move.
Preferably, step S
1with S
2between further comprising the steps of:
S
21, a position detecting device detects distance between each frame of this robot and competition area and orientation angles, this controller controls mobile device and moves to hoop direction;
S
22, two second touching switches all detect hoop, this shooting motor starts to rotate.
On the basis meeting this area general knowledge, above-mentioned each optimum condition, can be combined, obtain the preferred embodiments of the invention.
Positive progressive effect of the present invention is:
The present invention for the robot that shoots and shooting control method debugging accuracy high, effectively can control the parabola waiting to throw shiner, make parabola higher, improve the degree of accuracy of shooting, stability and reliability.
Accompanying drawing explanation
Fig. 1 is the present invention for the structural representation of the preferred embodiment of the robot shot.
Fig. 2 is the structural representation of basket shooting appts in Fig. 1.
Fig. 3 is the front view corresponding with Fig. 2.
Fig. 4 is first state diagram of waiting to throw shiner in shooting process of the present invention.
Fig. 5 is second state diagram of waiting to throw shiner in shooting process of the present invention.
Fig. 6 is the third state figure waiting to throw shiner in shooting process of the present invention.
Description of reference numerals:
Bracing frame: 1
Controller: 2
Optoelectronic switch: 3
Basket shooting appts: 4
Handgrip: 41 connecting rods: 411 first shackle member: 412
Connecting axle: 413 paws: 414
Drive disk assembly: 42 drive links: 421 attaching parts: 422
Shovel thing frame: 423 gripper shoes: 424 second shackle member: 425
Servomotor: 43 shooting motors: 44
Mobile device: 5 rollers: 51 mobile motors: 52
Position detecting device: 6 compasses: 61 position sensitive detectors: 62
First optical sensor: 7
Second optical sensor: 8
First touching switch: 9
Second touching switch: 10
Wait to throw shiner: 11
Detailed description of the invention
Lift preferred embodiment below, and come by reference to the accompanying drawings clearlyer intactly the present invention to be described.
As shown in Figure 1, the present invention for the robot shot comprise bracing frame 1, basket shooting appts 4, be fixed on the controller 2 on this bracing frame 1, at least one sensor, mobile device 5, position detecting device 6, at least one first optical sensor 7, at least one second optical sensor 8,1 first touch switch 9 and two second touching switches 10.In the present embodiment, the quantity of sensor is 2, and each sensor is an optoelectronic switch 3.
Wherein, as shown in Figure 1, this mobile device 5 comprises four rolling 51 and four for driving the mobile motor 52 of corresponding respectively this roller 51.Four these rollers are symmetricly set in the both sides bottom bracing frame 1.Respectively the input of this mobile motor is electrically connected with the output of controller 2.This mobile device 5 energy auxiliary robot completes to pick up and waits to throw shiner 11, move to a series of moving movements such as basketry, improves the flexibility of this robot.
In addition, respectively this first optical sensor 7 and the second optical sensor 8 to be all fixed on this bracing frame 1 and to be electrically connected with the input of controller 2.First optical sensor 7 is for detecting the distance of waiting to throw shiner 11 and this robot in the horizontal direction, and the second optical sensor 8 is waited whether to throw shiner 11 to the 3rd desired location for detecting this in vertical direction.Wherein, the 3rd desired location is wait that throwing shiner is placed on shovel thing the frame 423 and position contacted with drive link 421.In the present embodiment, the quantity of the first optical sensor 7 is 2, and the quantity of the second optical sensor 8 is 1.Wait that throwing shiner 11 throws luminescent ball for waiting.
Robot is in shot making game process, detect this in the horizontal direction by the first optical sensor 7 to wait to throw shiner 11, search out this to wait to throw after shiner 11, pass the signal along in controller 2, make controller 2 control mobile device 5 and wait that throwing shiner 11 direction moves to this.In addition, the second optical sensor 8 detects this in vertical direction and waits whether throw shiner 11 puts in place, if put in place, by this signal transmission to controller 2, controller 2 controls servomotor and rotarily drives handgrip 41 and this waited to throw shiner 11 promptly.
In addition, as shown in Figure 1, this position detecting device 6 comprises one for measuring the compass 61 of the orientation angles of this robot and some position sensitive detectors 62 for measuring this robot distance of each frame to competition area.This compass 61 and each position Sensitive Apparatus 62 to be all fixed on bracing frame 1 and to be electrically connected with the input of this controller 2.The signal results of this controller 2 also for compass 61 and position sensitive detector 62 being detected controls unlatching, the direction of rotation of each mobile motor.In the present embodiment, the quantity of position sensitive detector is 4.
Further, the bottom that switch 10 is arranged at intervals at support frame as described above 1 is touched for two second.This controller 2 is also for detecting: control shooting motor when basketry touches two second touching switches 10 and start to rotate.
Position sensitive detector (PSD, PositionSensitiveDetector), belongs to semiconductor devices, generally makes P+I+N structure, has the advantages such as high sensitivity, high-resolution, fast response time and configuration circuit are simple.Its operation principle is based on lateral photo effect.
In the present embodiment, position sensitive detector measures the orientation angles that this robot measured by the distance of this robot each frame in distance competition area and compass, thus determine the relative position between this robot and basketry, make controller 2 control mobile device 5 to move to basketry, when two second touching switches 10 are touched by basketry simultaneously, robot starts shooting, avoids robot shooting hour offset basketry, improve the degree of accuracy of shooting, complete the process of shooting accurately.
As shown in Figures 1 to 3, this basket shooting appts 4 comprises handgrip 41, drive disk assembly 42, and is fixed on servomotor on this drive disk assembly 43 and and is fixed on shooting motor 44 on this bracing frame 1.
Wherein, as shown in figures 2-3, this handgrip 41 for promptly one waiting to throw shiner 11, and is in transmission connection with the output shaft of this servomotor 43.This handgrip 41 comprises two connecting rods 411.Wherein one end of this connecting rod and the output shaft of servomotor 43 are in transmission connection, and the other end of this connecting rod 411 is provided with one first shackle member 412.One end of another this connecting rod is also provided with one first shackle member 412.
Wherein, respectively between this first shackle member 412 by least one connecting axle 413 affixed formation one paw 414.This paw 414 is waited to throw shiner 11 clamping with this.Make this paw 414 to firmly grasp flexibly like this and unclamp to wait to throw shiner 11, improve flexibility and the degree of accuracy of shooting.
In addition, one end of this drive disk assembly 42 is in transmission connection with the output shaft of shooting motor 44, and this drive disk assembly 42 realizes for matching with this handgrip 41 shooting that this waits to throw shiner 11.And this drive disk assembly 42 comprises two drive links 421 and a junction part 422.Two these drive links 421 are individually fixed in the two ends of these attaching parts 422, and these attaching parts 422 are in transmission connection with the output shaft of shooting motor 44.
In addition, one end of this drive disk assembly 42 is provided with one for placing the shovel thing frame 423 that this waits to throw shiner 11.Wherein, as shown in Figure 2, this shovel thing frame 423 comprises a gripper shoe 424 and two the second shackle member 425.One end of two these the second shackle member 425 is affixed with this gripper shoe 424 respectively, and the other end of two these the second shackle member 425 is connected with corresponding drive link 421 respectively.
In the present embodiment, this shovel thing frame 423 be arranged so that robot can place in shooting process wait throw shiner 11, especially stop operating at servomotor 43, after handgrip 41 opens, make to wait that throwing shiner 11 still can continue motion, throwing shiner 11 does not arrive assigned address and just departs from this basket shooting appts 4 to avoid this to treat, improves the stability of shooting.
Further, as shown in Figure 1, this sensor is used for whether moving to the first desired location for detecting this drive disk assembly 42, this sensor is fixed on bracing frame 1 to be waited to throw shiner 11 place near this, whether this first touching switch 9 moves to the second desired location for detecting this drive disk assembly, and this first touching switch 9 is fixed on bracing frame 1 throws one end of shiner 11 near drive disk assembly 42 away from waiting.In the present embodiment, the first desired location is the position when sensor detects drive disk assembly residing for drive disk assembly.Second desired location is the position when drive disk assembly touches the first touching switch residing for drive disk assembly.
Controller 2 is for controlling servomotor respectively and the rotary speed of motor of shooting, direction of rotation and unlatching by the signal of each sensor and the first touching switch 9, the input of this controller 2 is touched switch 9 with this sensor, first and is electrically connected, and the output of this controller 2 is electrically connected with this servomotor, motor of shooting.
In the present embodiment, the setting of switch 9 is touched by sensor and first, the motion state of servomotor, shooting motor can be controlled respectively, make robot in shooting process, provide two speed that can control separately to debug, and debugging accuracy is high, and then change the power of waiting to throw shiner 11 upward direction and horizontal direction, thus effectively control the parabola treating throwing shiner 11, make parabola higher, improve the degree of accuracy of shooting, stability and reliability.
Present invention also offers a kind of shooting control method of the robot for shooting, as shown in Figures 1 to 3, this robot being used for shooting is described above, and the concrete steps of this shooting control method are as follows:
Step 100, this waits that throwing shiner 11 is connected with this drive disk assembly 42, and this servomotor rotarily drives rotating closed the waiting of this handgrip 41 and throws shiner 11 promptly, as shown in Figure 4.
Step 101, shooting motor rotarily drives drive disk assembly 42 and rotates, and makes to wait to throw shiner 11 and drive disk assembly 42 synchronous rotary.
Step 102, sensor detects that this drive disk assembly 42 arrives the first desired location, and controller 2 controls servomotor revolution and drives handgrip 41 to open, as shown in Figure 5.
Step 103, this drive disk assembly 42 touches the first touching switch 9, and controller 2 controls shooting motor stalls, and as shown in Figure 6, wait that throwing shiner 11 is dished out, shooting completes.
In the present embodiment, adopt above-mentioned control method, achieve and separately control two speed, and then control separately to wait to throw the power of shiner 11 upward direction and the power of horizontal direction, improve the degree of accuracy of the accuracy of debugging and shooting, accuracy.
Preferably, comprise the following steps before step 100:
Step 1000, one second optical sensor 8 detects that this waits that throwing shiner 11 has arrived the 3rd desired location in vertical direction, and controller 2 controls servomotor to start to rotate.
Preferably, further comprising the steps of before step 1000:
Step 10000, one first optical sensor 7 detects in the horizontal direction to be waited to throw shiner 11, and controller 2 controls mobile device 5 to waiting that throwing shiner 11 direction moves.
Preferably, further comprising the steps of between step 100 and step 101:
Step 1010, a position detecting device 6 detects distance between each frame of robot and competition area and orientation angles, and controller 2 controls mobile device 5 and moves to hoop direction.
Step 1011, two second touching switches 10 all detect hoop, and shooting motor starts to rotate.
In sum, the present invention for the robot that shoots and shooting control method debugging accuracy high, effectively can control the parabola waiting to throw shiner 11, make parabola higher, improve the degree of accuracy of shooting, stability and reliability.
Although the foregoing describe the specific embodiment of the present invention, it will be understood by those of skill in the art that this only illustrates, protection scope of the present invention is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present invention and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection scope of the present invention.
Claims (13)
1. the robot for shooting, comprise a bracing frame, a basket shooting appts and is fixed on controller on this bracing frame, it is characterized in that, this basket shooting appts comprises a handgrip, a drive disk assembly, servomotor and be fixed on this drive disk assembly is fixed on shooting motor on this bracing frame;
This handgrip is used for promptly one waiting to throw shiner, and is in transmission connection with the output shaft of this servomotor;
The output shaft of one end of this drive disk assembly and this shooting motor is in transmission connection, and this drive disk assembly is used for matching with this handgrip realizing the shooting that this waits to throw shiner;
This robot also comprises whether at least one sensor, whether moving to the first desired location for detecting this drive disk assembly moves to the second desired location the first touching switch for detecting this drive disk assembly, this sensor is fixed on this bracing frame to be waited to throw shiner place near this, and this first touching switch is fixed on this bracing frame throws one end of shiner near this drive disk assembly away from waiting;
This controller is used for controlling servomotor respectively and the rotary speed of motor of shooting, direction of rotation and unlatching by the signal of sensor and the first touching switch, the input of this controller is touched switch with this sensor, first and is electrically connected, and the output of this controller is electrically connected with this servomotor, motor of shooting;
This handgrip comprises two connecting rods, wherein one end of this connecting rod and the output shaft of this servomotor are in transmission connection, the other end of this connecting rod is provided with one first shackle member, one end of another this connecting rod is also provided with one first shackle member, respectively between this first shackle member by least one connecting axle affixed formation one paw, this paw and this wait to throw shiner clamping.
2. robot as claimed in claim 1, it is characterized in that, described sensor is an optoelectronic switch.
3. robot as claimed in claim 1, it is characterized in that, this drive disk assembly comprises two drive links and a junction part, and one end of two these drive links is individually fixed in the two ends of these attaching parts, and the output shaft of these attaching parts and this shooting motor is in transmission connection.
4. robot as claimed in claim 3, is characterized in that, the other end of this drive disk assembly is provided with one for placing the shovel thing frame that this waits to throw shiner.
5. robot as claimed in claim 4, it is characterized in that, this shovel thing frame comprises a gripper shoe and two the second shackle member, and one end of two these the second shackle member is affixed with this gripper shoe respectively, and the other end of two these the second shackle member is connected with this corresponding drive link respectively.
6. robot as claimed in claim 1, it is characterized in that, this robot also comprises a mobile device, this mobile device comprises four rolling and four for driving the mobile motor of corresponding respectively this roller, four these rollers are symmetricly set in the both sides bottom bracing frame, and respectively the input of this mobile motor is electrically connected with the output of controller.
7. robot as claimed in claim 6, it is characterized in that, this robot also comprises at least one first optical sensor and at least one second optical sensor, this first optical sensor and the second optical sensor are all fixed on this bracing frame and with the input of this controller and are electrically connected, first optical sensor is used for detecting the distance that this waits to throw shiner and this robot in the horizontal direction, second optical sensor is used for detecting this in vertical direction to be waited whether to throw shiner to the 3rd desired location, this controller also for by the first optical sensor and the second light sensors to signal results control the unlatching of each mobile motor, direction of rotation.
8. robot as claimed in claim 6, it is characterized in that, this robot also comprises a position detecting device, this position detecting device comprises one for measuring the compass of the orientation angles of this robot and some position sensitive detectors for measuring this robot distance of each frame to competition area, this compass and each position Sensitive Apparatus are all fixed on bracing frame and with the input of this controller and are electrically connected, and the signal results of this controller also for compass and position sensitive detector being detected controls unlatching, the direction of rotation of each mobile motor.
9. as the robot in claim 1 ~ 8 as described in any one, it is characterized in that, this robot also comprises the second touching switch that two are arranged at intervals at the bottom of support frame as described above, and this controller is also for detecting: control shooting motor when basketry touches two second touching switches and start to rotate.
10. the shooting control method of robot for shooting, this is used for the robot that shoots as in claim 1 ~ 9 as described in any one, and it is characterized in that, the concrete steps of this shooting control method are as follows:
S
1, this wait throw shiner be connected with this drive disk assembly, this servomotor rotarily drive this handgrip rotating closed this is waited throw shiner firmly grasp;
S
2, this shooting motor rotarily drives this drive disk assembly and rotates, and makes this wait to throw shiner and this drive disk assembly synchronous rotary;
S
3, this sensor detects that this drive disk assembly arrives this first desired location, this controller controls the revolution of this servomotor and drives this handgrip to open;
S
4, this drive disk assembly touch this first touching switch, this controller controls this shooting motor stalls, this wait throw shiner dished out, shooting completes.
11. shoot control method as claimed in claim 10, it is characterized in that, step S
1comprise the following steps before:
S
11, one second optical sensor detect in vertical direction this wait throw shiner arrived the 3rd desired location, this controller control this servomotor starts rotate.
12. shoot control method as claimed in claim 11, it is characterized in that, step S
11before further comprising the steps of:
S
111, one first optical sensor detect in the horizontal direction this wait throw shiner, this controller control mobile device to this wait throw shiner direction move.
13. shoot control method as claimed in claim 10, it is characterized in that, step S
1with S
2between further comprising the steps of:
S
21, a position detecting device detects distance between each frame of this robot and competition area and orientation angles, this controller controls mobile device and moves to hoop direction;
S
22, two second touching switches all detect hoop, this shooting motor starts to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310421855.7A CN103446763B (en) | 2013-09-16 | 2013-09-16 | For the robot that shoots and shooting control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310421855.7A CN103446763B (en) | 2013-09-16 | 2013-09-16 | For the robot that shoots and shooting control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103446763A CN103446763A (en) | 2013-12-18 |
| CN103446763B true CN103446763B (en) | 2016-02-10 |
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ID=49729849
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310421855.7A Expired - Fee Related CN103446763B (en) | 2013-09-16 | 2013-09-16 | For the robot that shoots and shooting control method thereof |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104383689B (en) * | 2014-07-15 | 2017-01-18 | 广州大学 | Intelligent shooting athletic robot |
| CN105082104B (en) * | 2015-09-17 | 2016-09-21 | 黑龙江大学 | Pitching robot |
| CN108297110B (en) * | 2018-04-12 | 2024-05-31 | 苏州菱麦自动化设备科技有限公司 | Shooting manipulator device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2403469Y (en) * | 1999-12-14 | 2000-11-01 | 钟喜耀 | Decorative fish |
| CN2407807Y (en) * | 1999-12-13 | 2000-11-29 | 诠丰玩具股份有限公司 | Swing device for toy |
| EP1044707B1 (en) * | 1999-04-16 | 2003-11-12 | Jamina Corporation | Movable frog toy |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6171169B1 (en) * | 1999-01-29 | 2001-01-09 | Mattel, Inc. | Articulated toy figure simulating basketball play |
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2013
- 2013-09-16 CN CN201310421855.7A patent/CN103446763B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1044707B1 (en) * | 1999-04-16 | 2003-11-12 | Jamina Corporation | Movable frog toy |
| CN2407807Y (en) * | 1999-12-13 | 2000-11-29 | 诠丰玩具股份有限公司 | Swing device for toy |
| CN2403469Y (en) * | 1999-12-14 | 2000-11-01 | 钟喜耀 | Decorative fish |
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| CN103446763A (en) | 2013-12-18 |
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