CN108127672B - Intelligent shooting robot - Google Patents
Intelligent shooting robot Download PDFInfo
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- CN108127672B CN108127672B CN201810194763.2A CN201810194763A CN108127672B CN 108127672 B CN108127672 B CN 108127672B CN 201810194763 A CN201810194763 A CN 201810194763A CN 108127672 B CN108127672 B CN 108127672B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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Abstract
The invention provides an intelligent shooting robot which comprises a base, a travelling mechanism arranged below the base, a ball shooting mechanism arranged above the base, a ball picking mechanism, a first positioning mechanism, a control mechanism, a ball searching mechanism arranged in front of the base and three second positioning mechanisms arranged outside a basketball court, wherein the control mechanism is in signal connection with the travelling mechanism, the ball shooting mechanism, the ball picking mechanism, the first positioning mechanism, the ball searching mechanism and the second positioning mechanism. The shooting robot can automatically pick up basketball, can shoot the basketball at any position of a basketball court, and has higher intelligent degree and more powerful functions than the existing shooting robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent shooting robot.
Background
21. Today in century, robots are ubiquitous, and the types and functions of robots are even more ubiquitous, for example, sports robots are products which are already marketed, but are not of the same type, are generally expensive and have extremely high cost. The basketball robot competition is a competition item which is about to be raised.
However, most of the current shooting robots are of a fixed ornamental nature, namely, the shooting robots are motionless, after shooting, the shooting balls can return to the feet of the shooting robots due to the ground relationship, and then the shooting robots continue to pick up the balls and shoot the balls according to the steps set before. The shooting robot has no movable shooting capability at all.
At present, some shooting robots capable of moving are also available, but the shooting robots are not different from fixed shooting robots, the robots need to run to a set shooting area to start shooting, and the robots do not have the capability of automatically adjusting angles and shooting at any position. The invention disclosed in publication number 204604310U relates to an entertainment robot, in particular to a pitching robot. The invention provides the following technical scheme: the utility model provides a pitching robot, includes the automobile body and locates the pitching device on the automobile body, the automobile body including the base, with the support frame of base linking and with the mounting bracket linking, be equipped with wheel and universal wheel on the base, pitching device is including setting up the driving piece on the mounting bracket, locates the horizontal both sides of mounting bracket and links up and can throw the ball frame towards the mounting bracket outside through driving piece and driving piece link up respectively. The robot of this patent can only shoot in shooting region, and the function is single.
Disclosure of Invention
In view of the above, the invention provides an intelligent shooting robot which can automatically pick up basketball and can shoot at any position of a basketball court.
In order to solve the technical problems, the invention provides an intelligent shooting robot which comprises a base, a travelling mechanism arranged below the base, a ball shooting mechanism arranged above the base, a ball picking mechanism, a first positioning mechanism, a control mechanism, a ball searching mechanism arranged in front of the base and three second positioning mechanisms arranged outside a basketball court, wherein the control mechanism is in signal connection with the travelling mechanism, the ball shooting mechanism, the ball picking mechanism, the first positioning mechanism, the ball searching mechanism and the second positioning mechanism.
Further, the shooting mechanism comprises a first rotating bottom plate arranged at the center line of the base, the first rotating bottom plate is in transmission connection with a first rotating driving module, a U-shaped frame is arranged on the first rotating bottom plate, a rotating shaft is arranged at the upper end of the U-shaped frame, a mounting plate is arranged on the rotating shaft, the rotating shaft is in transmission connection with a second rotating driving module, a shooting cylinder is arranged on the mounting plate, an arc plate for fixing basketball is arranged at the end part of the shooting cylinder, the arc plate is matched with the shape of the basketball, a guiding mechanism is arranged on the mounting plate corresponding to the arc plate, and the shooting cylinder is in signal connection with the control mechanism.
Further, the guiding mechanism comprises a guiding plate arranged at the edge of the arc-shaped plate, a guiding hole is formed in the guiding plate, a guiding rod is arranged on the mounting plate corresponding to the guiding hole, and the guiding rod is parallel to a straight line where the telescopic direction of the pitching cylinder is located.
Further, the first rotary driving module comprises a first ring gear arranged at the edge of the first rotary bottom plate, a first L-shaped bracket corresponding to the first rotary bottom plate is arranged on the base, a first rotary motor is downwards arranged on the first L-shaped bracket, a first driving wheel matched with the first ring gear is arranged at the lower end of the first rotary motor, and the first rotary motor is in signal connection with the control mechanism.
Further, the second rotary driving module comprises a second rotary motor arranged on the U-shaped frame, a second driving wheel is arranged on the second rotary motor, a second ring gear matched with the second driving wheel is arranged on the rotary shaft, and the second rotary motor is in signal connection with the control mechanism.
Further, the first positioning mechanism comprises a first ultrasonic transmitter arranged at the center of the front end of the base and a second ultrasonic transmitter arranged at the center of the rear end of the base, the first ultrasonic transmitter and the second ultrasonic transmitter are connected with the control mechanism through signals, the second positioning mechanism comprises an ultrasonic receiver arranged outside the basketball court, and a microcontroller and a communication module, wherein the microcontroller and the communication module are sequentially connected with the ultrasonic receiver, and the microcontroller is connected with the control mechanism through signals.
Further, the ball searching mechanism comprises a CCD camera arranged at the front end of the base, the CCD camera is in signal connection with the control mechanism, the ball picking mechanism comprises a second rotary bottom plate arranged on the base, the second rotary bottom plate is in transmission connection with a third rotary driving module, a first telescopic rod is arranged on the second rotary bottom plate, a cross rod is arranged at the upper end of the first telescopic rod, a second telescopic rod is downwards arranged at the end part of the cross rod, a basketball fixing mechanism is arranged at the lower end of the second telescopic rod, and the first telescopic rod, the second telescopic rod and the control mechanism are in signal connection.
Further, the third rotary driving module comprises a third ring gear arranged at the edge of the second rotary bottom plate, a second L-shaped bracket corresponding to the second rotary bottom plate is arranged on the base, a third rotary motor is downwards arranged on the second L-shaped bracket, a third driving wheel matched with the third ring gear is arranged at the lower end of the third rotary motor, and the third rotary motor is in signal connection with the control mechanism.
Further, basketball fixed establishment includes the sucking disc that the second telescopic link lower extreme set up, the upper end of sucking disc sets up the through-hole, the through-hole is in through the pipeline of bleeding with the setting is in the negative pressure air pump intercommunication of sucking disc top, sucking disc lower extreme edge sets up rubber seal ring.
Further, the control mechanism comprises a programmable logic controller, and the travelling mechanism comprises two steering wheels arranged on two sides of the front end below the base and two travelling wheels arranged on two sides of the rear end.
An operation method of an intelligent shooting robot comprises the following steps;
S1, a CCD camera of a ball searching mechanism searches for the basketball position, a control mechanism controls a traveling mechanism to run beside the basketball after receiving information, and then the control mechanism controls a ball picking mechanism to pick up the basketball;
S2, the third rotary driving module drives the second rotary bottom plate to drive the first telescopic rod to rotate, so that the second telescopic rod on the cross rod moves to the upper part of the basketball, the process is completed through the cooperation of the CCD camera and the control mechanism, then the second telescopic rod stretches downwards, the negative pressure air pump pumps air, and the basketball moves to the position right below the sucker under the action of air flow and is fixed by the sucker;
s3, when the ball is not thrown, the right side of the mounting plate faces upwards, and the U-shaped frame and the ball throwing cylinder are perpendicular to the mounting plate;
S4, the first telescopic rod stretches, the second telescopic rod shortens, the third rotary bottom plate rotates to enable the arc plate of the second telescopic rod to be right above, the height of the sucker is larger than that of the guide rod, then the second telescopic rod stretches to enable the basketball to be located in the arc plate, and the negative pressure air pump is closed to enable the basketball to fall into the arc plate;
S5, the two ultrasonic generators of the first positioning mechanism send out ultrasonic waves under the action of the control mechanism, the three ultrasonic receivers outside the basketball court receive the ultrasonic waves, the microcontroller sends the received time to the control mechanism, the control mechanism calculates the position of the shooting robot through six groups of time and the positions of the three ultrasonic receivers, and the positions of the front end center and the rear end center of the base can be calculated, so that the angles between the center line formed by the front end center and the rear end center of the base and the basket can be calculated;
s6, the control mechanism adjusts the first rotary bottom plate according to the angle problem, so that the direction of the shooting cylinder is opposite to the basket, and adjusts the second rotary driving module, so that the shooting cylinder is no longer vertical to the ground, namely, the shooting direction of basketball is adjusted;
S7, after the horizontal angle and the vertical angle of shooting are adjusted, the control mechanism calculates the initial speed of shooting the basketball through the distance from the shooting position of the basketball to the basket, and controls the shooting cylinder to push the arc plate to shoot;
and S8, after shooting is completed, continuing the content of the step S1.
The invention provides an intelligent shooting robot which comprises a base, a travelling mechanism arranged below the base, a ball shooting mechanism arranged above the base, a ball picking mechanism, a first positioning mechanism, a control mechanism, a ball searching mechanism arranged in front of the base and three second positioning mechanisms arranged outside a basketball court, wherein the control mechanism is in signal connection with the travelling mechanism, the ball shooting mechanism, the ball picking mechanism, the first positioning mechanism, the ball searching mechanism and the second positioning mechanism.
The shooting mechanism comprises a first rotating bottom plate arranged at the center line of a base, the first rotating bottom plate is in transmission connection with a first rotating driving module, a U-shaped frame is arranged on the first rotating bottom plate, a rotating shaft is arranged at the upper end of the U-shaped frame, a mounting plate is arranged on the rotating shaft, the rotating shaft is in transmission connection with a second rotating driving module, a shooting cylinder is arranged on the mounting plate, an arc plate for fixing basketball is arranged at the end part of the shooting cylinder, the arc plate is matched with the shape of the basketball, a guiding mechanism is arranged on the mounting plate corresponding to the arc plate, and the shooting cylinder is in signal connection with a control mechanism. The first rotating bottom plate and the first rotating driving module are used for adjusting the horizontal angle between the initial direction and the basket when the basketball is shot, and the rotating shaft and the second rotating driving mechanism are used for adjusting the vertical angle between the initial direction and the basket when the basketball is shot, so that the shooting cylinder can be used for shooting the basketball after shooting. The arc is used for bearing basketball, and the arc is fit with the shape of the basketball, so that the situation that the basketball is unstable in direction due to shaking after being pushed by the arc is avoided. The height from the center of the arc plate to the plane of the opening is smaller than the radius of the basketball and is larger than one half of the radius of the basketball, so that the stability is better and the basketball is not influenced when being launched.
The guide mechanism comprises a guide plate arranged at the edge of the arc-shaped plate, a guide hole is formed in the guide plate, a guide rod is arranged on the mounting plate corresponding to the guide hole, and the guide rod is parallel to a straight line where the telescopic direction of the pitching cylinder is located. The guide mechanism guides the arc-shaped plate during movement, so that the problem of low shooting hit rate caused by fine shaking is avoided.
The first rotary driving module comprises a first ring gear arranged at the edge of the first rotary bottom plate, a first L-shaped support corresponding to the first rotary bottom plate is arranged on the base, a first rotary motor is arranged on the first L-shaped support downwards, a first driving wheel matched with the first ring gear is arranged at the lower end of the first rotary motor, and the first rotary motor is in signal connection with the control mechanism. The first rotating motor rotates to enable the first driving wheel to rotate, and accordingly the first ring gear is driven to rotate, the first rotating bottom plate rotates, the first rotating bottom plate and the second rotating bottom plate below the first rotating bottom plate are arranged on the base through a rotating upright post, and the scheme is quite common and not described more.
The second rotary driving module comprises a second rotary motor arranged on the U-shaped frame, a second driving wheel is arranged on the second rotary motor, a second ring gear matched with the second driving wheel is arranged on the rotary shaft, and the second rotary motor is in signal connection with the control mechanism. The second rotating motor drives the second driving wheel, thereby driving the second ring gear, and finally driving the rotating shaft to rotate, so that the mounting plate rotates along with the rotating shaft, and the adjustment of the basketball shooting angle is realized.
The first positioning mechanism comprises a first ultrasonic transmitter arranged at the center of the front end of the base and a second ultrasonic transmitter arranged at the center of the rear end of the base, the first ultrasonic transmitter and the second ultrasonic transmitter are connected with the control mechanism through signals, the second positioning mechanism comprises an ultrasonic receiver arranged outside a basketball court, and a microcontroller and a communication module, wherein the microcontroller and the communication module are sequentially connected with the ultrasonic receiver, and the microcontroller is connected with the control mechanism through signals. The first positioning mechanism and the second positioning mechanism are matched to realize the positioning of the robot, and the angle and the distance between the robot and the basket. The principle is realized based on the ultrasonic ranging principle, the first ultrasonic transmitter is positioned at the front end center of the base, the second ultrasonic generator is positioned at the rear end center of the base, the positions of the front end center and the rear end center of the base plate are measured through ultrasonic ranging, the position of the basketball when the basketball is shot is determined on the base, and the position of the basketball when the basketball is shot at a basketball court can also be determined. The horizontal included angle between the center line formed by the front end center and the rear end center of the base and the basket can be obtained through the measured positions, so that the position, the height and the distance between the basket and the basketball are determined when the basketball is shot, the direction of the shooting cylinder is adjusted by the control mechanism according to the information, the direction of the basketball when being shot is accurate, and the initial speed of the shooting cylinder when the basketball is ejected out is adjusted according to the distance.
The ball searching mechanism comprises a CCD camera arranged at the front end of the base, the CCD camera is in signal connection with the control mechanism, the ball picking mechanism comprises a second rotary bottom plate arranged on the base, the second rotary bottom plate is in transmission connection with a third rotary driving module, a first telescopic rod is arranged on the second rotary bottom plate, a cross rod is arranged at the upper end of the first telescopic rod, a second telescopic rod is downwards arranged at the end part of the cross rod, a basketball fixing mechanism is arranged at the lower end of the second telescopic rod, and the first telescopic rod, the second telescopic rod and the control mechanism are in signal connection. The CCD camera can shoot the front of the robot, and after the control mechanism recognizes basketball, the traveling mechanism is controlled to enable the basketball machine to move to the side of the basketball to pick up the basketball. The specific steps of picking up the ball have been described in the method, and the position adjustment of picking up the ball and placing the basketball in the arcuate plate is accomplished by the rotating second rotating base plate and the third rotating drive module. The length of the transverse rod is determined according to the horizontal distance from the first telescopic rod to the arc-shaped plate, so that the basketball can be positioned right above the arc-shaped plate after the ball picking mechanism rotates.
The third rotary driving module comprises a third ring gear arranged at the edge of the second rotary bottom plate, a second L-shaped bracket corresponding to the second rotary bottom plate is arranged on the base, a third rotary motor is arranged on the second L-shaped bracket downwards, a third driving wheel matched with the third ring gear is arranged at the lower end of the third rotary motor, and the third rotary motor is in signal connection with the control mechanism.
Basketball fixed establishment includes the sucking disc that the second telescopic link lower extreme set up, the upper end of sucking disc sets up the through-hole, the through-hole is in through the pipeline of bleeding with the negative pressure air pump intercommunication of setting above the sucking disc, sucking disc lower extreme edge sets up rubber seal ring. The basketball fixing device adopts a negative pressure mode, is simple in structure and good in fixing effect. The rubber sealing ring can ensure the stability when fixing basketball, so that the gap between the basketball and the sucker becomes smaller or disappears, and the effect is better.
The control mechanism comprises a programmable logic controller, the running mechanism comprises two steering wheels arranged on two sides of the front end below the base and two running wheels arranged on two sides of the rear end, the control mechanism is used as a control center, the steering wheels of the running mechanism are responsible for special items, the running wheels are in transmission connection with a running motor and are responsible for providing power, and the technology is conventional and is not described.
The shooting robot can automatically pick up basketball, can shoot the basketball at any position of a basketball court, and has higher intelligent degree and more powerful functions than the existing shooting robot.
Drawings
FIG. 1 is a schematic diagram of an intelligent shooting robot;
FIG. 2 is a schematic view of the positioning structure of the shooting robot of the present invention;
FIG. 3 is a schematic view of a basketball securing mechanism according to the present invention;
FIG. 4 is a schematic diagram of a second rotary driving module according to the present invention;
FIG. 5 is a schematic view of a mechanism for shooting a basket by the shooting robot of the present invention;
FIG. 6 is a schematic diagram of a ball picking mechanism of the shooting robot of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 6 of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which are obtained by a person skilled in the art based on the described embodiments of the invention, fall within the scope of protection of the invention.
The first embodiment of the invention provides an intelligent shooting robot, which comprises a base 31, a travelling mechanism arranged below the base 31, a ball shooting mechanism arranged above the base 31, a ball picking mechanism, a first positioning mechanism, a control mechanism 8, a ball searching mechanism arranged in front of the base 31 and three second positioning mechanisms arranged outside a basketball court, wherein the control mechanism 8 is in signal connection with the travelling mechanism, the ball shooting mechanism, the ball picking mechanism, the first positioning mechanism, the ball searching mechanism and the second positioning mechanism.
The shooting mechanism comprises a first rotating bottom plate 27 arranged at the central line of a base 31, the first rotating bottom plate 27 is in transmission connection with a first rotating driving module, a U-shaped frame 24 is arranged on the first rotating bottom plate 27, a rotating shaft 20 is arranged at the upper end of the U-shaped frame 24, a mounting plate 19 is arranged on the rotating shaft 20, the rotating shaft 20 is in transmission connection with a second rotating driving module, a shooting cylinder 18 is arranged on the mounting plate 19, an arc plate 14 for fixing basketball is arranged at the end part of the shooting cylinder 18, the arc plate 14 is matched with the shape of the basketball, a guide mechanism is arranged on the mounting plate 19 corresponding to the arc plate 14, and the shooting cylinder 18 is in signal connection with a control mechanism 8. The first rotating bottom plate and the first rotating driving module are used for adjusting the horizontal angle between the initial direction and the basket when the basketball is shot, and the rotating shaft and the second rotating driving mechanism are used for adjusting the vertical angle between the initial direction and the basket when the basketball is shot, so that the shooting cylinder can be used for shooting the basketball after shooting. The arc is used for bearing basketball, and the arc is fit with the shape of the basketball, so that the situation that the basketball is unstable in direction due to shaking after being pushed by the arc is avoided. The height from the center of the arc plate to the plane of the opening is smaller than the radius of the basketball and is larger than one half of the radius of the basketball, so that the stability is better and the basketball is not influenced when being launched.
The guide mechanism comprises a guide plate 15 arranged at the edge of the arc-shaped plate 14, a guide hole 16 is formed in the guide plate 15, a guide rod 17 is arranged on the mounting plate 19 corresponding to the guide hole 16, and the guide rod 17 is parallel to a straight line where the telescopic direction of the pitching cylinder 18 is located. The guide mechanism guides the arc-shaped plate during movement, so that the problem of low shooting hit rate caused by fine shaking is avoided.
The first rotary driving module comprises a first ring gear 28 arranged at the edge of the first rotary bottom plate 27, a first L-shaped bracket 25 arranged on the base 31 corresponding to the first rotary bottom plate 27, a first rotary motor 26 arranged on the first L-shaped bracket 25 downwards, a first driving wheel 29 matched with the first ring gear 28 arranged at the lower end of the first rotary motor 26, and the first rotary motor 26 is in signal connection with the control mechanism 8. The first rotating motor rotates to enable the first driving wheel to rotate, and accordingly the first ring gear is driven to rotate, the first rotating bottom plate rotates, the first rotating bottom plate and the second rotating bottom plate below the first rotating bottom plate are arranged on the base through a rotating upright post, and the scheme is quite common and not described more.
The second rotary driving module comprises a second rotary motor 23 arranged on the U-shaped frame 24, a second driving wheel 22 is arranged on the second rotary motor 23, a second ring gear 21 matched with the second driving wheel 22 is arranged on the rotary shaft 20, and the second rotary motor 23 is in signal connection with the control mechanism 8. The second rotating motor drives the second driving wheel, thereby driving the second ring gear, and finally driving the rotating shaft to rotate, so that the mounting plate rotates along with the rotating shaft, and the adjustment of the basketball shooting angle is realized.
Example two
The difference between this embodiment and the first embodiment is that: the first positioning mechanism comprises a first ultrasonic emitter 5 arranged at the center of the front end of the base 31 and a second ultrasonic emitter 30 arranged at the center of the rear end of the base 31, the first ultrasonic emitter 5 and the second ultrasonic emitter 30 are connected with the control mechanism 8 through signals, the second positioning mechanism comprises an ultrasonic receiver 33 arranged outside a basketball court, a microcontroller 35 and a communication module 34, the microcontroller 35 and the communication module 34 are sequentially connected with the ultrasonic receiver 33, and the microcontroller 35 is connected with the control mechanism 8 through signals through the communication module 34.
The principle is realized based on the ultrasonic ranging principle, the first ultrasonic transmitter is positioned at the front end center of the base, the second ultrasonic generator is positioned at the rear end center of the base, the positions of the front end center and the rear end center of the base plate are measured through ultrasonic ranging, the position of the basketball when the basketball is shot is determined on the base, and the position of the basketball when the basketball is shot at a basketball court can also be determined. The horizontal included angle between the center line formed by the front end center and the rear end center of the base and the basket can be obtained through the measured positions, so that the position, the height and the distance between the basket and the basketball are determined when the basketball is shot, the direction of the shooting cylinder is adjusted by the control mechanism according to the information, the direction of the basketball when being shot is accurate, and the initial speed of the shooting cylinder when the basketball is ejected out is adjusted according to the distance.
Example III
The difference between this embodiment and the first embodiment is that:
the ball searching mechanism comprises a CCD camera 4 arranged at the front end of a base 31, the CCD camera 4 is in signal connection with a control mechanism 8, the ball picking mechanism comprises a second rotary bottom plate 6 arranged on the base 31, the second rotary bottom plate 6 is in transmission connection with a third rotary driving module, a first telescopic rod 7 is arranged on the second rotary bottom plate 6, a cross rod 3 is arranged at the upper end of the first telescopic rod 7, a second telescopic rod 2 is downwards arranged at the end part of the cross rod 3, a basketball fixing mechanism 1 is arranged at the lower end of the second telescopic rod 2, and the first telescopic rod 7, the second telescopic rod 2 and the control mechanism 8 are in signal connection. The CCD camera can shoot the front of the robot, and after the control mechanism recognizes basketball, the traveling mechanism is controlled to enable the basketball machine to move to the side of the basketball to pick up the basketball. The specific steps of picking up the ball have been described in the method, and the position adjustment of picking up the ball and placing the basketball in the arcuate plate is accomplished by the rotating second rotating base plate and the third rotating drive module. The length of the transverse rod is determined according to the horizontal distance from the first telescopic rod to the arc-shaped plate, so that the basketball can be positioned right above the arc-shaped plate after the ball picking mechanism rotates.
The third rotary driving module comprises a third ring gear 41 arranged at the edge of the second rotary bottom plate 6, a second L-shaped bracket 11 arranged on the base 31 corresponding to the second rotary bottom plate 6, a third rotary motor 10 arranged on the second L-shaped bracket 11 downwards, a third driving wheel 9 matched with the third ring gear 41 arranged at the lower end of the third rotary motor 10, and the third rotary motor 10 is in signal connection with the control mechanism 8.
The basketball fixing mechanism 1 comprises a sucker 36 arranged at the lower end of the second telescopic rod 2, a through hole 38 is formed in the upper end of the sucker 36, the through hole 38 is communicated with a negative pressure air pump 39 arranged above the sucker 36 through an air suction pipeline 37, and a rubber sealing ring 40 is arranged at the edge of the lower end of the sucker 36. The basketball fixing device adopts a negative pressure mode, is simple in structure and good in fixing effect. The rubber sealing ring can ensure the stability when fixing basketball, so that the gap between the basketball and the sucker becomes smaller or disappears, and the effect is better.
The control mechanism 8 comprises a programmable logic controller, the running mechanism comprises two steering wheels 12 arranged on two sides of the front end below the base 31 and two running wheels 32 arranged on two sides of the rear end, the control mechanism is used as a control center, the steering wheels of the running mechanism are responsible for special items, the running wheels are in transmission connection with a running motor and are responsible for providing power, and the conventional technology is not described.
Example IV
The invention provides an operation method of an intelligent shooting robot, which comprises the following steps of;
S1, a CCD camera of a ball searching mechanism searches for the basketball position, a control mechanism controls a traveling mechanism to run beside the basketball after receiving information, and then the control mechanism controls a ball picking mechanism to pick up the basketball;
S2, the third rotary driving module drives the second rotary bottom plate to drive the first telescopic rod to rotate, so that the second telescopic rod on the cross rod moves to the upper part of the basketball, the process is completed through the cooperation of the CCD camera and the control mechanism, then the second telescopic rod stretches downwards, the negative pressure air pump pumps air, and the basketball moves to the position right below the sucker under the action of air flow and is fixed by the sucker;
s3, when the ball is not thrown, the right side of the mounting plate faces upwards, and the U-shaped frame and the ball throwing cylinder are perpendicular to the mounting plate;
S4, the first telescopic rod stretches, the second telescopic rod shortens, the third rotary bottom plate rotates to enable the arc plate of the second telescopic rod to be right above, the height of the sucker is larger than that of the guide rod, then the second telescopic rod stretches to enable the basketball to be located in the arc plate, and the negative pressure air pump is closed to enable the basketball to fall into the arc plate;
S5, the two ultrasonic generators of the first positioning mechanism send out ultrasonic waves under the action of the control mechanism, the three ultrasonic receivers outside the basketball court receive the ultrasonic waves, the microcontroller sends the received time to the control mechanism, the control mechanism calculates the position of the shooting robot through six groups of time and the positions of the three ultrasonic receivers, and the positions of the front end center and the rear end center of the base can be calculated, so that the angles between the center line formed by the front end center and the rear end center of the base and the basket can be calculated;
s6, the control mechanism adjusts the first rotary bottom plate according to the angle problem, so that the direction of the shooting cylinder is opposite to the basket, and adjusts the second rotary driving module, so that the shooting cylinder is no longer vertical to the ground, namely, the shooting direction of basketball is adjusted;
S7, after the horizontal angle and the vertical angle of shooting are adjusted, the control mechanism calculates the initial speed of shooting the basketball through the distance from the shooting position of the basketball to the basket, and controls the shooting cylinder to push the arc plate to shoot;
and S8, after shooting is completed, continuing the content of the step S1.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (4)
1. An intelligent shooting robot which is characterized in that: comprises a base, a travelling mechanism arranged below the base, a ball throwing mechanism, a ball picking mechanism, a first positioning mechanism, a control mechanism, a ball searching mechanism arranged in front of the base and three second positioning mechanisms arranged outside the basketball court, wherein the control mechanism is in signal connection with the travelling mechanism, the ball throwing mechanism, the ball picking mechanism, the first positioning mechanism, the ball searching mechanism and the second positioning mechanism,
The shooting mechanism comprises a first rotating bottom plate arranged at the center line of the base, the first rotating bottom plate is in transmission connection with a first rotating driving module, a U-shaped frame is arranged on the first rotating bottom plate, a rotating shaft is arranged at the upper end of the U-shaped frame, a mounting plate is arranged on the rotating shaft, the rotating shaft is in transmission connection with a second rotating driving module, a shooting cylinder is arranged on the mounting plate, an arc plate for fixing basketball is arranged at the end part of the shooting cylinder, the arc plate is matched with the shape of the basketball, a guide mechanism is arranged on the mounting plate corresponding to the arc plate, the shooting cylinder is in signal connection with the control mechanism, the guide mechanism comprises a guide plate arranged at the edge of the arc plate, a guide hole is arranged on the guide plate corresponding to the guide hole, the guide rod is parallel to a straight line where the expansion direction of the shooting cylinder is located,
The ball searching mechanism comprises a CCD camera arranged at the front end of the base, the CCD camera is in signal connection with the control mechanism, the ball picking mechanism comprises a second rotary bottom plate arranged on the base, the second rotary bottom plate is in transmission connection with a third rotary driving module, a first telescopic rod is arranged on the second rotary bottom plate, a cross rod is arranged at the upper end of the first telescopic rod, a second telescopic rod is downwards arranged at the end part of the cross rod, a basketball fixing mechanism is arranged at the lower end of the second telescopic rod, the first telescopic rod and the second telescopic rod are in signal connection with the control mechanism, the basketball fixing mechanism comprises a sucker arranged at the lower end of the second telescopic rod, a through hole is arranged at the upper end of the sucker, the through hole is communicated with a negative pressure air pump arranged above the sucker through an air suction pipeline,
The first positioning mechanism comprises a first ultrasonic transmitter arranged in the center of the front end of the base and a second ultrasonic transmitter arranged in the center of the rear end of the base, the first ultrasonic transmitter and the second ultrasonic transmitter are connected with the control mechanism through signals, the second positioning mechanism comprises an ultrasonic receiver arranged outside a basketball court, a microcontroller and a communication module which are sequentially connected with the ultrasonic receiver, the microcontroller is connected with the control mechanism through signals of the communication module,
The operation method of the intelligent shooting robot comprises the following steps of;
S1, a CCD camera of a ball searching mechanism searches for the basketball position, a control mechanism controls a traveling mechanism to run beside the basketball after receiving information, and then the control mechanism controls a ball picking mechanism to pick up the basketball;
S2, the third rotary driving module drives the second rotary bottom plate to drive the first telescopic rod to rotate, so that the second telescopic rod on the cross rod moves to the upper part of the basketball, the process is completed through the cooperation of the CCD camera and the control mechanism, then the second telescopic rod stretches downwards, the negative pressure air pump pumps air, and the basketball moves to the position right below the sucker under the action of air flow and is fixed by the sucker;
S3, when the ball is not thrown, the front surface of the mounting plate faces upwards, and the U-shaped frame and the ball throwing cylinder are perpendicular to the mounting plate;
s4, the first telescopic rod is extended, the second telescopic rod is shortened, the second rotary bottom plate rotates to enable the second telescopic rod to be located right above the arc-shaped plate, the height of the sucker is larger than that of the guide rod, then the second telescopic rod is extended to enable the basketball to be located in the arc-shaped plate, and the negative pressure air pump is closed to enable the basketball to fall into the arc-shaped plate;
S5, the two ultrasonic generators of the first positioning mechanism send out ultrasonic waves under the action of the control mechanism, the three ultrasonic receivers outside the basketball court receive the ultrasonic waves, the microcontroller sends the received time to the control mechanism, the control mechanism calculates the position of the shooting robot through six groups of time and the positions of the three ultrasonic receivers, and the positions of the front end center and the rear end center of the base can be calculated, so that the angles between the center line formed by the front end center and the rear end center of the base and the basket can be calculated;
S6, the control mechanism adjusts the first rotary bottom plate according to the angle problem, so that the direction of the shooting cylinder is opposite to the basket, and adjusts the second rotary driving module, so that the shooting cylinder is no longer perpendicular to the ground, namely, the shooting direction of basketball is adjusted;
S7, after the horizontal angle and the vertical angle of shooting are adjusted, the control mechanism calculates the initial speed of shooting the basketball through the distance from the shooting position of the basketball to the basket, and controls the shooting cylinder to push the arc plate to shoot;
and S8, after shooting is completed, continuing the content of the step S1.
2. The intelligent basketball shooting robot of claim 1, wherein: the first rotary driving module comprises a first ring gear arranged at the edge of the first rotary bottom plate, a first L-shaped support corresponding to the first rotary bottom plate is arranged on the base, a first rotary motor is arranged on the first L-shaped support downwards, a first driving wheel matched with the first ring gear is arranged at the lower end of the first rotary motor, and the first rotary motor is in signal connection with the control mechanism.
3. The intelligent basketball shooting robot of claim 2, wherein: the second rotary driving module comprises a second rotary motor arranged on the U-shaped frame, a second driving wheel is arranged on the second rotary motor, a second ring gear matched with the second driving wheel is arranged on the rotary shaft, and the second rotary motor is in signal connection with the control mechanism.
4. The intelligent basketball shooting robot of claim 3, wherein: the third rotary driving module comprises a third ring gear arranged at the edge of the second rotary bottom plate, a second L-shaped bracket corresponding to the second rotary bottom plate is arranged on the base, a third rotary motor is arranged on the second L-shaped bracket downwards, a third driving wheel matched with the third ring gear is arranged at the lower end of the third rotary motor, and the third rotary motor is in signal connection with the control mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810194763.2A CN108127672B (en) | 2018-03-09 | 2018-03-09 | Intelligent shooting robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810194763.2A CN108127672B (en) | 2018-03-09 | 2018-03-09 | Intelligent shooting robot |
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| CN108127672A CN108127672A (en) | 2018-06-08 |
| CN108127672B true CN108127672B (en) | 2024-05-07 |
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| CN110216695A (en) * | 2019-07-01 | 2019-09-10 | 河海大学常州校区 | Basket-Shooting Robot |
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| KR20040035198A (en) * | 2002-10-18 | 2004-04-29 | 흥 리 블레쓰 | Ball shooting apparatus |
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| CN205699305U (en) * | 2016-04-28 | 2016-11-23 | 常州信息职业技术学院 | Basketball training auxiliary robot |
| CN205699306U (en) * | 2016-05-13 | 2016-11-23 | 河南科技学院 | The training devices that receives thrown by a kind of circulating basketball |
| CN206881041U (en) * | 2017-03-13 | 2018-01-16 | 海南科技职业学院 | A kind of ball picking robot |
| CN208163650U (en) * | 2018-03-09 | 2018-11-30 | 石一非 | A kind of shooting mobile robot |
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| KR20040035198A (en) * | 2002-10-18 | 2004-04-29 | 흥 리 블레쓰 | Ball shooting apparatus |
| CN104027967A (en) * | 2013-03-07 | 2014-09-10 | 马键 | Intelligent ball picking, serving and cleaning device with photovoltaic power |
| JP2016022016A (en) * | 2014-07-16 | 2016-02-08 | 共和技研株式会社 | Ball shooting device using air pressure |
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