CN113350770B

CN113350770B - Running robot for auxiliary training

Info

Publication number: CN113350770B
Application number: CN202110597595.3A
Authority: CN
Inventors: 李猛奇; 郑磊石; 林家仕
Original assignee: Jimei University
Current assignee: Jimei University
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2022-04-01
Anticipated expiration: 2041-05-31
Also published as: CN113350770A

Abstract

The invention belongs to the field of sports equipment, and particularly relates to a running robot for assisting training, which comprises a first unit, a second unit and a connecting unit for connecting the first unit and the second unit, wherein the first unit comprises a first camera shooting unit, the first camera shooting unit is arranged on a first vertical plate of a first shell, the first camera shooting unit comprises a first camera, and the first camera is towards the front downward direction of the running robot. The second unit comprises a pattern projection unit and an electric unit, the pattern projection unit projects patterns towards the ground in the lateral rear direction of the running robot, and the electric unit analyzes and judges the position of the running robot according to the image information collected by the first camera and adjusts the position of the running robot. The athlete trains the flexibility of the foot and the step frequency and the step length during running by treading the pattern projected by the running robot through the foot, and the accuracy of each lower foot point is known through different sounds fed back by the running robot so as to adjust or maintain the current step frequency and step length.

Description

Running robot for auxiliary training

Technical Field

The invention belongs to the field of sports equipment, and particularly relates to a running robot for auxiliary training.

Background

In running training, the control of pace and frequency is particularly important, and different running items are matched with different strides and frequencies, such as short-distance race and long-distance jogging. In the daily running training process, a coach can hardly guide an athlete to control the pace and the frequency of the athlete in the whole running process.

Disclosure of Invention

The invention aims to provide a running robot for auxiliary training, which determines the foothold of an athlete through a pattern projected by the running robot and further guides the athlete to control the stride and the stride frequency of the athlete in the whole running training of the athlete.

Therefore, the invention provides a running robot for assisting training, which comprises a first unit, a second unit and a connecting unit for connecting the first unit and the second unit, wherein the first unit comprises a first mounting plate, a first shell detachably connected to the first mounting plate, a first wheel set mounted on the first mounting plate, a connecting rod unit for enabling the first wheel set to turn, a first motor for driving the connecting rod unit to act and a first camera shooting unit arranged on a first vertical plate of the first shell, and a first camera of the first camera shooting unit faces the front downward direction of the running robot. The second unit comprises a second mounting plate, a second shell detachably connected to the second mounting plate, a second wheel set mounted on the second mounting plate, a second motor driving the second wheel set to rotate, an electric unit controlling the first motor and the second motor to rotate, a battery pack unit providing power for the first motor, the second motor and the electric unit, and a pattern projection unit projecting a pattern towards the ground in the lateral rear direction of the running robot. The electric unit analyzes and judges the position of the running robot according to the image information collected by the first camera and controls the first motor to rotate so as to enable the first wheel set to turn to adjust the position of the running robot.

Advantageous effects

1. The running robot controls the advancing speed and the position and the frequency of the projected pattern according to a set program, and further realizes the purpose of guiding the athlete to control the stride and the stride frequency of the athlete in the whole process.

2. The patterns projected by the running robot can be projected by selecting different patterns according to the preference of athletes, such as line segments, gold coins or small fishes, so that the interestingness in the training process can be improved, and the dryness in the training process can be reduced.

3. The first unit and the second unit are rotationally connected through the connecting unit, so that the bumping frequency of the running robot after passing through foreign matters is halved, the bumping frequency of the running robot is reduced, and the occurrence frequency of the shaking phenomenon during pattern projection can be reduced.

4. The first camera unit of the running robot can acquire clear images under the condition of insufficient natural light by providing light source compensation through the lighting unit, so that the running robot can provide running training service for athletes all the time.

5. The pattern projecting unit projects patterns, the athlete tramples the patterns, the second camera collects the pattern trampling results, and the sound generator gives sound feedback to form interaction between the running robot and the athlete, so that the athlete can know the accuracy of each step, and further the stride and the stride frequency can be adjusted. Through the sound feedback, the athlete can know the step position of the athlete without lowering the head to run, and then the correct motion posture of running forward is kept.

6. The pattern projection unit and the second camera shooting unit are rotatably connected to the second cover plate and fixed at the first working position or the second working position through the bolts, so that the requirement that the running robot guides the training of the athlete at any side of the athlete is met.

7. The rotation angle of the fifth motor is controlled in real time through the electric unit, so that the projection angle of the projection pattern unit is controlled in real time, after the running robot enters the curve section, the pattern projected on the track by the pattern projection unit is always positioned in the center of the track, and the projection range covers the left foot area and the right foot area of the athlete, so that the running robot can guide the training of the athlete in the straight section and can also guide the training of the athlete in the curve section, and the running robot can guide the training of the athlete in the whole course of the athlete on the complete track.

Drawings

The invention and its advantages will be better understood in the following description of embodiments given as non-limiting examples with reference to the accompanying drawings, in which:

FIG. 1 is a schematic diagram of a training-assisted running robot operating on a track according to an exemplary embodiment of the present application;

FIG. 2 is a schematic diagram of a training-assisted running robot operating on a track according to an exemplary embodiment of the present application, wherein the projected pattern is line segments;

FIG. 3 is a schematic view of a training aid running robot operating on a track according to an exemplary embodiment of the present application, wherein the projected pattern is gold;

FIG. 4 is a schematic view of a training aid running robot operating on a track according to an exemplary embodiment of the present application, wherein the projected pattern is a small fish;

FIG. 5 is a front perspective view of a training aid running robot according to an exemplary embodiment of the present application;

FIG. 6 is a schematic view of the running robot of FIG. 5 passing through a foreign object;

FIG. 7 is a perspective view of a portion of the internal structure of a training aid running robot according to an exemplary embodiment of the present application;

FIG. 8 is a perspective view of a portion of a training aid running robot according to an exemplary embodiment of the present application;

FIG. 9 is a perspective view of a steering structure of a training aid running robot with a first wheel set at a first angle in accordance with an exemplary embodiment of the present application;

FIG. 10 is a perspective view of a steering structure of a training aid running robot with a first wheel set at a second angle in accordance with an exemplary embodiment of the present application;

FIG. 11 is a perspective view of a linkage unit of a training aid running robot, according to an exemplary embodiment of the present application;

FIG. 12 is an exploded perspective view of FIG. 11;

FIG. 13 is a perspective view of a third mount according to an exemplary embodiment of the present application;

fig. 14 and 15 are perspective views of a first camera unit coupled to a first riser according to an exemplary embodiment of the present disclosure, wherein the first camera unit is located at different positions of a sliding groove;

FIG. 16 is a partial perspective cross-sectional view of FIG. 11;

FIG. 17 is an exploded perspective view of FIG. 15;

fig. 18 is a perspective view of a pattern emission unit according to a first disclosed exemplary embodiment of the present application;

FIG. 19 is an exploded perspective view of FIG. 18;

FIG. 20 is a schematic illustration of a laser firing path;

fig. 21 is a perspective view of a second mount according to a second disclosure of an exemplary embodiment of the present application;

fig. 22 is a perspective view of a second mount according to a third disclosed example embodiment of the present application;

fig. 23 is a front perspective view of a training aid running robot according to a second exemplary embodiment of the present application, wherein a second camera unit is located at a first working position;

fig. 24 is a front perspective view of a training aid running robot according to a second exemplary embodiment of the present application, wherein a second camera unit is located at a second working position;

fig. 25 is a rear perspective view of a training aid running robot according to a second exemplary embodiment of the present application, wherein a second camera unit is located at a first working position;

fig. 26 is a rear perspective view of a training aid running robot according to a second exemplary embodiment of the present application, wherein a second camera unit is located at a second working position;

fig. 27 is a perspective view of a second camera unit coupled to a pattern emission unit according to a second disclosed exemplary embodiment of the present application;

FIG. 28 is an exploded perspective view of FIG. 27;

fig. 29 is a front perspective view of a training aid running robot according to a third exemplary embodiment of the present application, wherein a second camera unit is located at a first working position;

fig. 30 is a front perspective view of a training aid running robot according to a third exemplary embodiment of the present application, wherein a second camera unit is located at a second working position;

FIG. 31 is an enlarged partial perspective view taken at A in FIG. 28;

FIG. 32 is an exploded perspective view of FIG. 33;

fig. 33 is a perspective view of a second camera unit coupled to a pattern emission unit according to a third disclosed exemplary embodiment of the present application;

FIG. 34 is a perspective view of FIG. 33 from another perspective;

fig. 35 is a schematic view of the running robot running on the track with no angular adjustment of the projection angle of the pattern emitting unit;

fig. 36 is a schematic view of the running robot running on the track, in which the projection angle of the pattern emission unit is angularly adjusted.

Description of the reference numerals

1. A running robot; 2, pattern; 3, a runway;

4. a first lane line; 5, a second lane line; a first unit;

7. a second unit; a coupling unit; a first camera unit;

10. a lighting unit; a link unit; a first wheel set;

14. a first motor; a first mounting plate; 16, a first vertical plate;

17. a first cover plate; 18. signal lamp; 19, a sliding groove;

20. a light emitting strip; a second camera unit; an electrical unit;

23. a battery pack unit; a second wheel set; a second motor;

27. a second mounting plate; 28. a second riser; a pattern projection unit;

30. a second cover plate; a sound generator; a first via hole;

33. a second through hole; a first shaft; a first seat;

36. a second seat; a first platen; a second platen;

39. a first pin group; a second set of pins; a first groove;

42. a second groove; a third motor; a fourth electric machine;

45. a first fixing frame; a second mount; a third mount;

48. a laser transmitter; a first reflective sheet; a second reflective sheet;

51. a first wall; a second wall; 53. third wall;

54. a fourth wall; a fifth wall; 56. sixth wall;

57. a seventh wall; 58. a first mounting bracket; a first camera;

60. a first fixing plate; 61. a first upright; a first portion;

63. a second section; a second mounting bracket; 65. a second camera;

66. a second fixing plate; 67. a second column; 68. a third part;

69. a fourth section; the fifth part; 71. a second rotating shaft;

72. a bolt; 73. a first pad; a first nut;

75. a second nut; 76. a first axle pin; 77. a second axle pin;

78. a fifth motor; 79. a first gear; 80. a second gear;

81. a third mounting bracket; 82. a first threaded portion; a second threaded portion 83;

86. a cross beam; a first swing arm; 88. a first link;

89. a second link; 90. a first axle; a second shaft body;

92. a second swing arm; 93. a third swing arm; 94. fourth fixing rack;

95. a first fastener; 96. a second fastener; a third fastener;

98. a fourth fastener; 99. a fifth fastener; a sixth fastener;

101. a seventh fastener; an eighth fastener; a ninth fastener;

104. a tenth fastener; an eleventh fastener; a third via.

Detailed Description

Example one

Fig. 1 shows a part of a track 3, each of two sides of the track 3 is provided with a lane line, an athlete trains and runs on a lane between the two lane lines, a running robot 1 is located on the lane line of the right hand side of the athlete and moves forward along with the current lane line, the athlete is located at the rear side of the running robot 1 and runs forward along with the running robot 1, the running robot 1 projects a pattern 2 into the lane where the athlete is located, and the position of the projected pattern 2 is the current foothold of the athlete, so that the athlete controls the stride of the athlete according to the position of the projected pattern 2, and controls the stride frequency of the athlete according to the moving speed of the running robot 1. The projection pattern 2 is projected intermittently in pulses rather than continuously. As shown in fig. 1, the running robot 1 shown by a dotted line projects a pattern 2 to the player's right foot side at the current position, and the player's right foot has to step on the currently projected pattern 2. When the running robot 1 moves forward to the position shown by the solid line, the running robot 1 projects the pattern 2 to the left foot side of the athlete, and the athlete's left foot has to step on the currently projected pattern 2. The running robot 1 controls the advancing speed and the position and the frequency of the projection pattern 2 according to a set program, and further guides the athlete to control the stride and the stride frequency of the athlete in the whole process. By selecting different training items of the running robot 1 to make the running robot 1 in different working modes, for example, the training item is running at a speed of hundred meters, the running robot 1 has a faster moving speed and a higher projection frequency in the current working mode. For example, when the training program is walking race, the running robot 1 has a slower moving speed and a higher projection frequency in the current operation mode. The pattern 2 projected by the running robot 1 can be projected by selecting different patterns 2 according to the preference of the athlete, such as line segments, gold coins or small fish, as shown in fig. 2, 3 and 4, which can improve the interest during the training process and reduce the dryness during the training process.

Referring to fig. 5, the running robot 1 disclosed in the present embodiment is configured in the form of a vehicle to improve the smoothness during its movement, and the running robot 1 includes a first cell 6 and a second cell 7, the first cell 6 and the second cell 7 being arranged in front and rear, the first cell 6 being located at the front side of the running robot 1, and the second cell 7 being located at the rear side of the running robot 1. The first unit 6 is provided with a first camera unit 9, the first camera unit 9 is arranged on the front side of the running robot 1 and inclines downwards to collect the position information of the lane line, the first unit 6 comprises a first wheel set 12 consisting of two small-size wheels and a first shell, the first shell is detachably connected to the first unit 6, the second unit 7 comprises a second wheel set 24 consisting of two large-size wheels and a second shell, and the second shell is detachably connected to the second unit 7.

Fig. 7 shows a perspective view of the internal structure of the running robot 1 with the first and second housings detached, the first unit 6 further includes a first mounting plate 15, a link unit 11, and a first motor 14, the second unit 7 further includes a second mounting plate 27, a second motor 26, an electric unit 22, and a battery pack unit 23, and the first unit 6 and the second unit 7 are coupled by a coupling unit 8. The first wheel set 12 is mounted on the first mounting plate 15, and the link unit 11 is driven by the first motor 14 to act so that the link unit 11 drives the first wheel set 12 to steer. The second wheel set 24 is mounted to a second mounting plate 27 and a second motor 26 drives the second wheel set 24 to rotate. The running robot 1 moves by means of a rear drive and changes the moving direction by means of the link unit 11, the electric unit 22 controls the operation of the second motor 26 and the first motor 14 to thereby realize the movement and steering of the running robot 1, and the battery unit 23 supplies power for the normal operation of the running robot 1.

Referring to fig. 9 and 10, the link unit 11 includes a cross beam 86, a first swing arm 87, a second swing arm 92, a third swing arm 93, a first link 88, a second link 89, a first shaft 90, and a second shaft 91, the first swing arm 87 and the second swing arm 92 are respectively rotatably coupled to both ends of the cross beam 86, the first swing arm 87 and the second swing arm 92 are rotatably coupled by the first link 88, the second link 89 and the first link 88 are rotatably coupled by the first shaft 90, the second link 89 is slidable in an axial direction of the second shaft 91, the second link 89 and the third swing arm 93 are rotatably coupled by the second shaft 91, the cross beam 86 is fixedly mounted to the first mounting plate 15, and two small wheels are respectively fixedly coupled to the first swing arm 87 and the second swing arm 92. The first motor 14 is fixedly mounted on the first mounting plate 15 through a fourth fixing frame 94, and a rotating shaft of the first motor 14 is fixedly coupled with the third swing arm 93. The rotating shaft of the first motor 14 drives the third swing arm 93 to rotate, the third swing arm 93 drives the second connecting rod 89 to move towards the first swing arm 87 or the second swing arm 92 through the second shaft body 91, and under the linkage of the first shaft body 90, the first connecting rod 88 drives the first swing arm 87 and the second swing arm 92 to swing, so that the steering of two small-size wheels is finally realized.

Referring to fig. 11, the first mounting plate 15 and the second mounting plate 27 are coupled by the coupling unit 8. Referring to fig. 12 and 16, the coupling unit 8 includes a first seat 35, a second seat 36, a first shaft 34 inserted into the first seat 35 and rotatably coupled with the first seat 35, a second shaft 34 inserted into the second seat 36 and rotatably coupled with the second seat 36, a first groove 41 provided on a circumferential surface of the first end of the first shaft 34, a second groove 42 provided on a circumferential surface of the second end of the first shaft 34, the first shaft 39 inserted into the first seat 35 in a radial direction of the first shaft 34, the first shaft 39 partially inserted into the first groove 41 and slidably engaged with the first groove 41, the second shaft 40 inserted into the second seat 36 in a radial direction of the second shaft, and the second shaft 40 partially inserted into the second groove 42 and slidably engaged with the second groove 42. The first presser plate 37 and the first mounting plate 15 sandwich the first seat 35, the first presser plate 37 is fastened to the first seat 35 by eighth fastening members 102, and the first seat 35 is fastened to the first mounting plate 15 by tenth fastening members 104. The second presser plate 38 and the second mounting plate 27 sandwich the second seat 36, the second presser plate 38 is fastened to the second seat 36 by the ninth fastening member 103, and the second seat 36 is fastened to the second mounting plate 27 by the eleventh fastening member 105. The first seat 35 is clamped by the first pressure plate 37 and the first mounting plate 15 such that the first set of pins 39 are confined within the first seat 35 to maintain a sliding fit with the first recess 41. The second seat 36 is clamped by the second pressure plate 38 and the second mounting plate 27 such that the second pin set 40 is confined within the second seat 36 to maintain a sliding fit with the second groove 42. The partial engagement of the first and

second pin groups

39, 40 in the corresponding first and

second grooves

41, 42 allows the first and

second seats

35, 36 to have a limited axial freedom along the first rotation axis 34, i.e. the first and

second seats

35, 36 are not disengaged from each other, since the first and

second seats

35, 36 are rotationally coupled to the first rotation axis 34, and therefore the first and

second seats

35, 36 can rotate relative to each other, so the first unit 6 fixedly coupled to the first seat 35 can also rotate relative to the second unit 7 fixedly coupled to the second seat 36, as shown in fig. 6. Such an arrangement can reduce the number of times of bumping when the running robot 1 passes through the foreign object on one side, for example, when the front left wheel of the running robot 1 presses the foreign object, the left side of the first unit 6 is raised, and due to the effect of the coupling unit 8, the second unit 7 is kept in a stable state, and after the front left wheel passes through the foreign object, the first unit 6 bumps once, and the second unit 7 is kept stable and does not bump. When the left rear wheel of the running robot 1 presses the foreign matter, the left side of the second unit 7 is lifted, the first unit 6 is kept in a stable state due to the effect of the connecting unit 8, and after the left rear wheel passes through the foreign matter, the second unit 7 is restored to the stable state, so that after the left rear wheel of the running robot 1 passes through the foreign matter once, the second unit 7 is bumped once, and the first unit 6 is kept stable and does not bump. Therefore, after the left side of the running robot 1 passes once by the foreign matter, the first unit 6 and the second unit 7 of the running robot 1 each generate one bump. When the first unit 6 and the second unit 7 are rigidly connected and are not rotationally connected, the left side of the running robot 1 passes through a foreign object once, the left front wheel passes through once, the first unit 6 and the second unit 7 respectively bump once, the left rear wheel passes through once, and the first unit 6 and the second unit 7 respectively bump once again, so that the first unit 6 and the second unit 7 respectively bump twice after the left side of the running robot 1 passes through a foreign object once. Therefore, the first unit 6 and the second unit 7 coupled by the coupling unit 8 can reduce the number of jounces by half, and the reduction of the number of jounces of the running robot 1 can reduce the number of occurrence of the chattering phenomenon when projecting the pattern 2. For example, when the front wheel passes a foreign object and the pattern 2 is just projected, in the case where the first unit 6 and the second unit 7 are rigidly coupled, the second unit 7 bumps, and the projected pattern 2 shakes. When the first unit 6 and the second unit 7 are connected by the connecting unit 8, only the first unit 6 bumps, but the second unit 7 does not bump, and the projection pattern 2 does not shake.

Referring to fig. 8, the first camera unit 9 is fastened to the first upright plate 16 of the first housing, and the first camera 59 of the first camera unit 9 faces downward toward the front of the running robot 1. The pattern projection unit 29 is fastened to the second vertical plate 28 of the second housing, and the pattern projection unit 29 projects the pattern 2 toward the lateral rear direction of the running robot 1. The electric unit 22 analyzes and judges the position of the running robot 1 according to the image information collected by the first camera 59, and respectively controls the first motor 14 and the second motor 26 to rotate to respectively steer the first wheel set 12 to adjust the position of the running robot 1 and drive the second wheel set 24 to rotate to enable the running robot 1 to move along the current lane line.

Referring to fig. 15 and 17, the first camera unit 9 further includes a first mounting bracket 58, a first fixing plate 60 and a first upright post 61, the first camera 59 is fastened and coupled to the first upright post 61 by a fifth fastener 99, the first upright post 61 is fastened and coupled to the first fixing plate 60 by a sixth fastener 100, that is, the first camera 59 is mounted to the first fixing plate 60 by the first upright post 61, the first fixing plate 60 is fastened and coupled to the first mounting bracket 58 by a seventh fastener 101, and the first mounting bracket 58 is fastened and coupled to the first upright plate 16 by a first fastener 95. The first vertical plate 16 is symmetrically provided with two sliding grooves 19, and the position of the first mounting frame 58 is adjusted through the sliding fit of the sliding grooves 19 and the first fastening pieces 95, so that the adjustment of the visual field range of the first camera 59 is realized, and as shown in fig. 14 and 15, the position of the first camera 59 is changed. The first mounting bracket 58 includes a first portion 62 and a second portion 63, an included angle between the first portion 62 and the second portion 63 is an obtuse angle, the first portion 62 is engaged with the first upright plate 16, and the second portion 63 is engaged with the first fixing plate 60. The first unit 6 further includes an illuminating unit 10 disposed on the first vertical plate 16 of the first housing, the illuminating unit 10 includes two light-emitting strips 20, the two light-emitting strips 20 are symmetrically distributed on two sides of the first camera unit 9, and the two light-emitting strips 20 are electrically connected to the electrical unit 22. The light source compensation provided by the lighting unit 10 enables the first camera unit 9 of the running robot 1 to acquire clear images even in the case of insufficient natural light, so that the running robot 1 can provide running training services for athletes all the time.

Referring to fig. 8, the second vertical plate 28 of the second unit 7 is provided with a pattern projection unit 29, the second vertical plate 28 is provided with an opening, and the pattern 2 projected by the pattern projection unit 29 passes through the opening and is projected onto the runway 3.

Referring to fig. 18, the pattern projection unit 29 includes a first holder 45, a second holder 46, a third holder 47, a third motor 43, a fourth motor 44, a first reflection sheet 49, a second reflection sheet 50, and a laser emitter 48. The first holder 45, the second holder 46, and the third holder 47 form a structure having two open sides, and the laser light emitted from the laser emitter 48 is reflected by the first reflection sheet 49 and the second reflection sheet 50 and then emitted from the open sides. The first reflective sheet 49 is fixedly connected with a rotating shaft of the third motor 43, and the third motor 43 drives the first reflective sheet 49 to rotate. The second reflective sheet 50 is fixedly connected to a rotating shaft of the fourth motor 44, and the fourth motor 44 drives the second reflective sheet 50 to rotate. The third motor 43 is disposed to be offset from the fourth motor 44, and the first reflective sheet 49 reflects the laser light generated by the laser generator, and the second reflective sheet 50 reflects the laser light reflected by the first reflective sheet 49, as shown in the laser emission path of fig. 20.

Referring to fig. 19, the first holder 45 includes a first wall 51 and a second wall 52, the first wall 51 is vertically disposed to the second wall 52, the third motor 43 is vertically inserted into the first wall 51, and the fourth motor 44 is vertically inserted into the second wall 52. The second holder 46 comprises a third wall 53 and a fourth wall 54, the third wall 53 is arranged perpendicular to the fourth wall 54, the third wall 53 is arranged parallel to the second wall 52, the fourth wall 54 is fastened to the first holder 45 by a second fastening element 96, and the laser emitter 48 is fastened perpendicular to the third wall 53. The third fixing frame 47 comprises a fifth wall 55 and a sixth wall 56, the included angle between the fifth wall 55 and the sixth wall 56 is an obtuse angle, and the fifth wall 55 realizes the fastening connection of the third fixing frame 47 and the first fixing frame 45 through a third fastening member 97.

Example two

The running robot 1 disclosed in this embodiment has the capability of interacting with the athlete while also guiding the athlete to train on either side of the athlete. Referring to fig. 23 and 24, the running robot 1 disclosed in the present embodiment is further provided with a signal lamp 18, a sound generator 31, and a second camera unit 21, the signal lamp 18 is provided on the first cover 17 of the first unit 6, the signal lamp 18 is fixedly coupled to the first cover 17, the second camera unit 21 is provided on the second cover 30 of the second unit 7, the second camera unit 21 is rotatably coupled to the second cover 30, and the sound generator 31 is fixedly coupled to the second camera unit 21. The signal lights 18 are electrically connected to the electrical unit 22, and the signal lights 18 provide light signals in a blinking manner to show the surrounding athletes where the running robot 1 is currently located. The second camera element 21 is electrically connected to the electrical unit 22, the second camera element 21 has a first operating position and a second operating position, and the second camera element 21 is held in the first operating position or the second operating position by manual adjustment.

Referring to fig. 25 and 26, the second camera unit 21 is fixedly coupled to the pattern projection unit 29, the orientation of the second camera unit 21 is identical to the orientation of the pattern projection unit 29, the second camera 65 of the second camera unit 21 collects the pattern 2 projected to the runway 3 by the pattern projection unit 29, and the electrical unit 22 triggers the sound generator 31 to respond according to the pattern 2 information collected by the second camera 65. The pattern 2 information includes the relative position of the player's foot to pattern 2. when the player's foot falls on pattern 2, sound generator 31 emits a first response, e.g., the type of sound emitted by sound generator 31 is a ticker. When the player's foot does not fall into the pattern 2, the sound generator 31 emits a second response, for example a rata type of sound emitted by the sound generator 31. The pattern 2 is projected by the pattern projection unit 29, the athlete tramples the pattern 2, the trampling result of the pattern 2 is collected by the second camera 65, and the sound generator 31 gives sound feedback, so that the interaction between the running robot 1 and the athlete is formed, the athlete can know the accuracy of each step, and the stride and the step frequency can be adjusted. Through the sound feedback, the athlete can know the step position of the athlete without lowering the head to run, and then the correct motion posture of running forward is kept.

The second camera unit 21 is provided with two working positions so that the athlete can place the running robot 1 on his left or right hand side according to the actual situation or preference, for example, when the running robot 1 is located on the athlete's right hand side, the pattern 2 projected by the running robot 1 is on the runway 3 on the left side of the running robot 1, just the runway 3 where the athlete is located, by manually adjusting the second camera unit 21 to be kept in the first working position, as shown in fig. 25 and 3. When the running robot 1 is positioned on the left hand side of the athlete, the pattern 2 projected by the running robot 1 is on the runway 3 on the right side of the running robot 1, just the runway 3 on which the athlete is located, by manually adjusting the second camera unit 21 to remain in the second working position, as shown in fig. 26 and 4.

Referring to fig. 13, the third fixing frame 47 of the pattern projection unit 29 disclosed in this embodiment is added with a seventh wall 57 on the basis of the first embodiment, an included angle between the seventh wall 57 and the sixth wall 56 is an obtuse angle, and the seventh wall 57 is used for matching with the second camera unit 21.

Referring to fig. 28, the second camera unit 21 includes a second mounting bracket 64, a second fixing plate 66, a second pillar 67, a second rotating shaft 71, a first pad 73, a first nut 74, a second nut 75, a first shaft pin 76, a second shaft pin 77, and a plug 72.

Referring to fig. 21, the second mounting bracket 64 includes a third portion 68, a fourth portion 69 and a fifth portion 70, the third portion 68 and the fifth portion 70 are located at two sides of the fourth portion 69, an included angle between the third portion 68 and the fourth portion 69 is an obtuse angle, an included angle between the fifth portion 70 and the fourth portion 69 is an obtuse angle, the third portion 68 and the fifth portion 70 are disposed at the same side of the fourth portion 69, the fourth portion 69 is provided with a third through hole 106 engaged with the latch 72, and the fifth portion 70 is used for mounting the sound generator 31.

Referring to fig. 27 and 28, the second camera 65 is mounted to the second fixing plate 66 through the second upright 67, the second fixing plate 66 is fastened to the third portion 68 of the second mounting bracket 64, the second mounting bracket 64 is rotatably coupled to the second cover 30 through the second rotating shaft 71, and the second rotating shaft 71 penetrates through the fourth portion 69 of the second mounting bracket 64. The first shaft pin 76 radially penetrates the second rotating shaft 71 and is fitted into the fourth portion 69 of the second mounting bracket 64, the second rotating shaft 71 penetrates the seventh wall 57 of the third fixing bracket 47 of the pattern projection unit 29, and the second shaft pin 77 radially penetrates the second rotating shaft 71 and is fitted into the seventh wall 57. The second rotating shaft 71 penetrates through the second cover plate 30 and the first backing plate 73, the second rotating shaft 71 is rotatably matched with the second cover plate 30 and the first backing plate 73, a first threaded portion 82 is arranged at a first end portion of the second rotating shaft 71, a second threaded portion 83 is arranged at a second end portion of the second rotating shaft 71, the first nut 74 is matched with the first threaded portion 82, the second nut 75 is matched with the second threaded portion 83, the second mounting frame 64, the second cover plate 30, the first backing plate 73 and the seventh wall 57 of the third mounting frame 47 are sequentially clamped between the first nut 74 and the second nut 75, and the bolt 72 penetrates through the fourth portion 69 of the second mounting frame 64 and the second cover plate 30 of the second unit 7. Because the two ends of the second rotating shaft 71 are respectively connected with the second mounting frame 64 and the third fixing frame 47, and the radial limiting effect of the first shaft pin 76 and the second shaft pin 77 on the second mounting frame 64 and the third fixing frame 47 enables the second mounting frame 64 and the third fixing frame 47 to synchronously rotate, the second camera 65 mounted on the second mounting frame 64 and the pattern projection unit 29 mounted on the third fixing frame 47 can synchronously rotate.

Referring to fig. 31, the second cover 30 is provided with a first through hole 32 and a second through hole 33, and the first through hole 32 or the second through hole 33 is engaged with the latch 72. The second camera unit 21 is maintained in the first operative position when the latch 72 is simultaneously inserted into the first through hole 32 and the third through hole 106 of the second mounting bracket 64, and the second camera unit 21 is maintained in the second operative position when the latch 72 is simultaneously inserted into the second through hole 33 and the third through hole 106 of the second mounting bracket 64.

EXAMPLE III

Fig. 29 and 30 show the running robot 1 disclosed in the present embodiment, which has a curve training guidance performance. The running robot 1 disclosed in the present embodiment is different from the running robot 1 disclosed in the second embodiment in that a fifth motor 78, a third mounting bracket 81, a first gear 79 and a second gear 80 are added, and the latch 72 is removed. Referring to fig. 32, 33 and 34, the second camera unit 21 of the present disclosure further includes a fifth motor 78, a third mounting bracket 81, a first gear 79 and a second gear 80, the fifth motor 78 is tightly coupled to the third mounting bracket 81, the third mounting bracket 81 is coupled to the second cover 30 of the second unit 7 by a fourth fastener 98, the first gear 79 is tightly coupled coaxially with a rotation shaft of the fifth motor 78, the second gear 80 is tightly coupled coaxially with the second rotation shaft 71, and the first gear 79 is engaged with the second gear 80. The fifth motor 78 is electrically connected to the electrical unit 22, and the electrical unit 22 controls the fifth motor 78 to rotate, and the second imaging unit 21 and the pattern projection unit 29 are driven to rotate by the fifth motor 78.

Referring to fig. 35, assuming that the angle of the pattern projection unit 29 is 101 degrees when the running robot 1 is in the straight section, the pattern 2 projected on the track 3 by the pattern projection unit 29 is located right at the center of the track 3, and the projection range covers the left and right foot areas of the athlete. After the running robot 1 keeps a 101-degree projection angle to enter a curve segment, the pattern 2 projected on the track 3 by the pattern projection unit 29 deviates from the center of the track 3, the projection range only covers the left foot area of the athlete, and the phenomenon of pattern 2 projection may mislead the athlete to deviate from the original track 3, which is irregular training. In order to avoid the deviation of the projection pattern 2 from the track 3, it is necessary to adjust the projection angle of the pattern projection unit 29 after the running robot 1 enters a curve.

The running robot 1 disclosed in this embodiment controls the rotation angle of the fifth motor 78 in real time through the electrical unit 22, and further controls the projection angle of the projection pattern 2 unit in real time, so that after the running robot 1 enters a curve section, the pattern 2 projected on the track 3 by the pattern projection unit 29 is always located in the center of the track 3, and the projection range covers the left and right foot areas of the athlete, as shown in fig. 36, therefore, the running robot 1 disclosed in this embodiment can not only guide the athlete to train in the straight section, but also guide the athlete to train in the curve section, and thus the running robot 1 can guide the athlete to train in the whole course of the athlete on the complete track 3.

Claims

1. A running robot for assisting training comprises a first unit (6), a second unit (7) and a connecting unit (8) for connecting the first unit (6) and the second unit (7), wherein the first unit (6) comprises a first mounting plate (15), a first shell detachably connected to the first mounting plate (15), a first wheel set (12) mounted on the first mounting plate (15), a connecting rod unit (11) enabling the first wheel set (12) to turn and a first motor (14) driving the connecting rod unit (11) to act, the second unit (7) comprises a second mounting plate (27), a second shell detachably connected to the second mounting plate (27), a second wheel set (24) mounted on the second mounting plate (27), a second motor (26) driving the second wheel set (24) to rotate, an electric unit (22) controlling the first motor (14) and the second motor (26) to rotate, And a battery pack unit (23) for providing electric power for the first motor (14), the second motor (26) and the electric unit (22), wherein the first unit (6) further comprises a first camera unit (9), the first camera unit (9) is arranged on the first vertical plate (16) of the first shell, the first camera unit (9) comprises a first camera (59), and the first camera (59) faces to the front downward direction of the running robot (1); the second unit (7) further comprises a pattern projection unit (29), the pattern projection unit (29) projecting the pattern (2) towards the side rear direction of the running robot (1); the electric unit (22) analyzes and judges the position of the running robot (1) according to the image information collected by the first camera (59) and controls the first motor (14) to rotate so as to enable the first wheel set (12) to steer to adjust the position of the running robot (1); the second unit (7) further comprises a second camera unit (21) and a sound generator (31), the second camera unit (21) is rotatably connected to a second cover plate (30) of the second unit (7), the second camera unit (21) is fixedly connected with the pattern projection unit (29), the orientation of the second camera unit (21) is consistent with the orientation of the pattern projection unit (29), a second camera (65) of the second camera unit (21) collects the pattern (2) projected to the runway (3) by the pattern projection unit (29), and the electric unit (22) triggers the sound generator (31) to respond according to the information of the pattern (2) collected by the second camera (65); the second camera shooting unit (21) further comprises a second mounting frame (64), a second fixing plate (66), a second upright post (67), a second rotating shaft (71), a first backing plate (73), a first nut (74), a second nut (75), a first shaft pin (76) and a second shaft pin (77), the second mounting frame (64) comprises a third portion (68), a fourth portion (69) and a fifth portion (70), the third portion (68) and the fifth portion (70) are located on two sides of the fourth portion (69), an included angle between the third portion (68) and the fourth portion (69) is an obtuse angle, an included angle between the fifth portion (70) and the fourth portion (69) is an obtuse angle, the third portion (68) and the fifth portion (70) are arranged on the same side of the fourth portion (69), and the sound generator (31) is arranged on the fifth portion (70); the second camera (65) is arranged on a second fixing plate (66) through a second upright post (67), the second fixing plate (66) is fixedly connected with a third part (68) of the second mounting frame (64), the second mounting frame (64) is rotatably connected with the second cover plate (30) through a second rotating shaft (71), the second rotating shaft (71) penetrates through a fourth part (69) of the second mounting frame (64), a first shaft pin (76) radially penetrates through the second rotating shaft (71) and is embedded into the fourth part (69) of the second mounting frame (64), the second rotating shaft (71) penetrates through a seventh wall (57) of a third fixing frame (47) of the pattern projection unit (29), a second shaft pin (77) radially penetrates through the second rotating shaft (71) and is embedded into the seventh wall (57), the second rotating shaft (71) penetrates through the second cover plate (30) and the first base plate (73), and the second rotating shaft (71) is rotatably matched with the second cover plate (30) and the first base plate (73), a first threaded portion (82) is arranged at a first end portion of the second rotating shaft (71), a second threaded portion (83) is arranged at a second end portion of the second rotating shaft (71), the first nut (74) is matched with the first threaded portion (82), the second nut (75) is matched with the second threaded portion (83), and a seventh wall (57) of the second mounting frame (64), the second cover plate (30), the first base plate (73) and the third fixing frame (47) is sequentially clamped between the first nut (74) and the second nut (75).

2. A running robot for assisting training according to claim 1, wherein the first camera unit (9) of the first unit (6) further comprises a first mounting frame (58), a first fixing plate (60) and a first upright post (61), the first camera (59) is mounted on the first fixing plate (60) through the first upright post (61), the first fixing plate (60) is fastened and coupled with the first mounting frame (58), the first mounting frame (58) is fastened and coupled with the first upright plate (16) through a first fastening member (95), the first upright plate (16) is provided with a sliding groove (19), the position of the first mounting frame (58) is adjusted through sliding fit of the sliding groove (19) and the first fastening member (95), the first mounting frame (58) comprises a first portion (62) and a second portion (63), and an included angle between the first portion (62) and the second portion (63) is an obtuse angle, the first part (62) is matched with the first vertical plate (16), and the second part (63) is matched with the first fixing plate (60); the pattern projection unit (29) comprises a first fixing frame (45), a second fixing frame (46), a third fixing frame (47), a third motor (43), a fourth motor (44), a first reflection sheet (49), a second reflection sheet (50) and a laser emitter (48), wherein the first fixing frame (45) comprises a first wall (51) and a second wall (52), the first wall (51) and the second wall (52) are vertically arranged, the third motor (43) is vertically inserted into the first wall (51), the fourth motor (44) is vertically inserted into the second wall (52), the first reflection sheet (49) is fixedly connected with a rotating shaft of the third motor (43), the second reflection sheet (50) is fixedly connected with a rotating shaft of the fourth motor (44), the third motor (43) and the fourth motor (44) are arranged in a staggered mode, the first reflection sheet (49) reflects laser emitted by the laser generator, and the second reflection sheet (50) reflects laser reflected by the first reflection sheet (49), the second fixing frame (46) comprises a third wall (53) and a fourth wall (54), the third wall (53) and the fourth wall (54) are arranged vertically, the third wall (53) and the second wall (52) are arranged in parallel, the fourth wall (54) realizes the fastening connection of the second fixing frame (46) and the first fixing frame (45) through a second fastening piece (96), the laser emitter (48) is fastened to the third wall (53) vertically, the third fixing frame (47) comprises a fifth wall (55) and a sixth wall (56), the included angle between the fifth wall (55) and the sixth wall (56) is an obtuse angle, and the fifth wall (55) realizes the fastening connection of the third fixing frame (47) and the first fixing frame (45) through a third fastening piece (97); the first unit (6) further comprises a lighting unit (10) arranged on a first vertical plate (16) of the first shell, the lighting unit (10) comprises two light-emitting strips (20), the two light-emitting strips (20) are distributed on two sides of the first camera unit (9), and the two light-emitting strips (20) are electrically connected with an electric unit (22); the pattern projection unit (29) is arranged on a second vertical plate (28) of the second unit (7), the second vertical plate (28) is provided with an opening, and the pattern (2) projected by the pattern projection unit (29) passes through the opening.

3. A running robot for assisting training in accordance with claim 1, characterized in that the first unit (6) further comprises a signal light (18), the signal light (18) being arranged at a first cover plate (17) of the first unit (6), the signal light (18) providing a light signal in a flashing manner.

4. A running robot for assisting training in accordance with claim 2, characterized in that the pattern (2) information comprises the relative position of the athlete's foot and the pattern (2), the sound generator (31) emitting a first response when the athlete's foot falls in the pattern (2) and the sound generator (31) emitting a second response when the athlete's foot does not fall in the pattern (2).

5. A running robot for assisting training according to claim 2, wherein the third holder (47) of the pattern projection unit (29) further comprises a seventh wall (57), and the seventh wall (57) and the sixth wall (56) form an obtuse angle.

6. A running robot for assisting training according to claim 1, wherein the second camera unit (21) further comprises a latch (72), the latch (72) extends through the fourth portion (69) of the second mounting frame (64) and the second cover (30) of the second unit (7), and the latch (72) is engaged with the first through hole (32) or the second through hole (33) of the second cover (30) to fix the second camera unit (21) in the first working position and the second working position.

7. A running robot for assisting training according to claim 1, wherein the second camera unit (21) further comprises a fifth motor (78), a third mounting frame (81), a first gear (79) and a second gear (80), the fifth motor (78) is fixedly coupled to the third mounting frame (81), the third mounting frame (81) is coupled to the second cover plate (30) of the second unit (7) by a fourth fastener (98), the first gear (79) is fixedly coupled coaxially with the rotation axis of the fifth motor (78), the second gear (80) is fixedly coupled coaxially with the second rotation axis (71), and the first gear (79) is engaged with the second gear (80).

8. A running robot for assisting training according to claim 1, wherein the coupling unit (8) comprises a first seat (35) fixedly coupled to the first mounting plate (15), a second seat (36) fixedly coupled to the second mounting plate (27), a first rotating shaft (34) rotatably coupled to the first seat (35) and the second seat (36), a first pin set (39) inserted into the first seat (35) and slidably engaged with a first groove (41) provided on a circumferential surface of the first rotating shaft (34), and a second pin set (40) inserted into the second seat (36) and slidably engaged with a second groove (42) provided on a circumferential surface of the first rotating shaft (34).