CN114082165A - Intelligent wooden dummy robot capable of measuring power and control method thereof - Google Patents
Intelligent wooden dummy robot capable of measuring power and control method thereof Download PDFInfo
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- CN114082165A CN114082165A CN202111331493.3A CN202111331493A CN114082165A CN 114082165 A CN114082165 A CN 114082165A CN 202111331493 A CN202111331493 A CN 202111331493A CN 114082165 A CN114082165 A CN 114082165A
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- 230000001960 triggered effect Effects 0.000 claims description 28
- 210000000038 chest Anatomy 0.000 claims description 22
- 210000001015 abdomen Anatomy 0.000 claims description 12
- 210000001503 joint Anatomy 0.000 claims description 11
- 230000001795 light effect Effects 0.000 claims description 9
- 210000000481 breast Anatomy 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000007619 statistical method Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 10
- 238000004364 calculation method Methods 0.000 abstract description 3
- 238000012800 visualization Methods 0.000 abstract description 2
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- A63B69/004—
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/34—Tackling, blocking or grappling dummies, e.g. boxing or wrestling or American- football dummies
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0669—Score-keepers or score display devices
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
- A63B2220/53—Force of an impact, e.g. blow or punch
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- Physical Education & Sports Medicine (AREA)
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses an intelligent wooden dummy robot capable of measuring power and a control method thereof, wherein the intelligent wooden dummy robot comprises an intelligent wooden dummy body, a step induction system, a lighting system and an MCU (microprogrammed control unit) master control system; the intelligent wooden dummy body comprises a dummy body, a pile hand, a pile foot and an outer filling layer, wherein the pile hand and the pile foot are arranged on the dummy body, and the outer filling layer wraps the outer surface of the whole intelligent wooden dummy body; the step induction system detects the step through a radar; the lighting system is used for displaying different lighting effects according to different power values; the MCU master control system comprises a controller, a force sensor module, a light module, a telescopic arm driving module, a step sensing module and a PC communication module and is used for power value calculation, area judgment, light control, telescopic arm driving and data updating output. The intelligent wooden dummy robot can actively go out to punch a trainer, detect the pace and the punching force of the trainer and enable the trainer to have a strength visual visualization effect during training by matching with a lighting effect.
Description
Technical Field
The invention belongs to the technical field of intelligent wooden dummy piles, and particularly relates to an intelligent wooden dummy pile robot capable of measuring power and a control method thereof.
Background
Wooden dummy is the best training equipment of training chanting spring boxing, and traditional wooden dummy adopts fixed pile body, three arm and a leg to simulate people's basic part, can't initiatively go out the boxing and hit the training person, lacks the training mode with training person interaction, and the training effect is general.
At present, the field of the wooden dummy combines an intelligent sensor and the wooden dummy to research with less achievements. Although the wooden dummy disclosed in application No. CN202023038871.2 can extend and retract arms and feet, the present invention cannot measure power and cannot detect human steps. Therefore, a wooden dummy robot that can evaluate the force value of singing spring boxing is one of the directions studied by those skilled in the art.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provides an intelligent wooden dummy robot capable of measuring power and a control method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an intelligent wooden dummy robot capable of measuring power, which comprises an intelligent wooden dummy body, a step induction system, a lighting system and an MCU (microprogrammed control unit) master control system, wherein the intelligent wooden dummy body is provided with a power measuring device;
the intelligent wooden dummy body comprises a dummy body, a pile hand, a pile foot and an outer filling layer, wherein the pile hand and the pile foot are arranged on the dummy body, and the outer filling layer is wrapped on the outer surface of the whole intelligent wooden dummy body; the pile body is divided into a pile head, a pile chest and a pile abdomen; the pile hand comprises a telescopic arm and a common arm, and the telescopic arm can freely move in a telescopic way along the radial direction of the body;
the step induction system detects the step method of the exerciser through a radar, and feeds back the detected step method information to the MCU master control system through a switch signal;
the lighting system is used for displaying different lighting effects according to different power values;
the MCU master control system comprises a controller, a force sensor module, a light module, a telescopic arm driving module, a step induction module and a PC communication module; the force sensor module is connected to the controller through a bus and used for detecting the hitting force of the intelligent wooden human pile body and sending the detected hitting force to the controller; the telescopic boom driving module is used for driving and controlling the telescopic boom through a switching signal of the controller; the step induction module is driven and controlled through a switching signal of the controller and is used for detecting the step of the exerciser to judge the power of the exerciser; and the PC communication module sends the detection data to the external equipment through the serial port.
Preferably, the force sensor module comprises a pile head force sensor, a pile chest force sensor, a pile abdomen force sensor, a pile hand force sensor and a pile foot force sensor;
the pile head force sensor is arranged on the pile head and used for measuring the power value of the pile head;
the pile chest force sensor is arranged on the pile chest and used for measuring the power value of the striking on the pile chest;
the pile web force sensor is arranged on the pile web and used for measuring the power value of the pile web;
the pile hand force sensor is arranged on the pile hand and used for measuring the power value of the pile hand;
the pile foot force sensor is arranged on the pile foot and used for measuring the power value of the striking on the pile foot.
Preferably, the common arm comprises a common arm connecting rod and a first arm, the pile hand force sensor is arranged in the first arm and used for measuring the force value of the pile striking on the first arm, a square groove matched with the connecting rod is arranged between the pile breast and the pile belly, and after the connecting rod is arranged in the square groove, the tail of the connecting rod is used for limiting and fixing the common arm through a limiting device;
the telescopic arm comprises an execution element, a push rod and a second arm, the execution element supplies air source through an air pipe, a square groove matched with the execution element is formed between the pile head and the pile breast, and a limit block is fixed on the execution element after the execution element is installed in the square groove; when the execution element drives, the push rod drives the arm to stretch back and forth; the first arm and the second arm are identical in structure.
Preferably, the spud foot comprises a spud foot connecting rod and a leg joint; the pile foot connecting rod is fixedly connected with the leg joint; the leg joint comprises a horizontal part and a bending part, the horizontal part and the bending part are respectively provided with a spud foot force sensor, the power value of the driving on the spud foot is measured through a two-segment measuring mode, and after the spud foot connecting rod is fixed with the pile body in a clearance fit mode through a third square groove, the tail part of the spud foot connecting rod is limited and fixed through a limiting device.
Preferably, lighting system includes full-color lamp area and light controller, lighting system is provided with different power threshold value, shows the light effect that matches with this power threshold value when the power value that detects surpasss corresponding power threshold value.
Preferably, the detection area of the step induction module is divided into three half-circle lengthened square areas, the three half-circle lengthened square areas are installed on the base of the fixed wooden dummy and are used for respectively detecting the areas where the steps are located and feeding back the areas to the MCU master control system through switch signals.
Preferably, the area where the current step is located is obtained by the IO states of three half-turn lengthened square areas scanned by the radar, specifically:
when the exerciser is in the inner circle, the IO1 level is triggered to be high, and the IO2 and the IO3 are triggered to be low; when the exerciser is in the middle circle, the IO2 level is triggered to be high, and the IO1 and the IO3 are triggered to be low; when the exerciser is on the outer circle, the IO3 level is triggered to be high, and the IO1 and the IO2 are triggered to be low; therefore, the information of the area where the current step is positioned is judged.
Preferably, the actuating element comprises an air cylinder and a shell, the air cylinder is fixed on the shell through screws, the push rod is fixed on a sliding block of the air cylinder through screws, and the air inlet and the air outlet of the air pipe are switched to drive the push rod to perform telescopic motion.
The invention provides a control method of an intelligent wooden dummy robot capable of measuring power, which comprises the following steps:
starting the intelligent wood-robot pile robot, and initializing a force sensor on the intelligent wood-robot pile robot by using the MCU master control system;
when the MCU master control system detects a piezoelectric signal of a force sensor on the intelligent wooden-human-pile robot, filtering the piezoelectric signal, and calculating the striking force value of each part by using the mapping relation between the piezoelectric signal and the force;
driving the display brightness of the lamplight according to the calculated striking power value; the display brightness of the lamplight is preset different lamplight effects and is used for showing the power grade;
obtaining the area where the current step is located through IO level states of three areas scanned by the radar;
the MCU master control system drives and controls the telescopic arm to perform telescopic motion by switching the IO level state according to preset arranged actions;
the MCU master control system updates output data by judging whether the data of the driving state information, the power value information, the light effect information and the step area information of the telescopic boom change or not, the updated data are sent to the PC end through the PC communication module, and the PC end performs further statistical analysis.
Preferably, the obtaining of the area where the current step is located through IO level states of three areas scanned by the radar specifically includes: when the exerciser does work, the inner ring level IO1 is triggered to be high, and the middle ring level IO2 and the outer ring level IO3 are triggered to be low; when a exerciser turns the middle ring, the level of the middle ring IO2 is triggered to be high, and the level of the inner ring IO1 and the level of the outer ring IO3 are triggered to be low; when the exerciser is in the outer circle, the outer circle level IO3 is triggered to be high, and the inner circle level IO1 and the middle circle level IO2 are triggered to be low, so that the area information where the current step is located is judged.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention provides an intelligent wooden dummy robot capable of measuring power and a control method thereof, which starts from the fact that the traditional wooden dummy can not carry out intelligent interactive training with people and can not measure the pain point of the power of a trainer, and mainly has the following advantages:
1. the intelligent wooden dummy robot comprises an intelligent wooden dummy body, a step induction system, a lighting system and an MCU (microprogrammed control unit) master control system; through acquisition of sensor signals and acquisition of foot step data, calculation of power values of the acquired signals, area judgment, light control, drive control of the telescopic arm and data updating output of the PC communication module are achieved, then the power values of the exerciser are displayed through the light module, and visualization is achieved.
2. The invention has better autonomy and intelligence: the intelligent wooden man pile robot is provided with a plurality of force sensors, so that the force of hitting each part of the intelligent wooden man pile robot can be accurately measured, and the magnitude of the force can be displayed through lamplight; meanwhile, the telescopic arm can be used for stretching and drawing a fist, so that a more real training mode is provided for a trainer.
3. According to the invention, the step sensing system is arranged, and the accuracy of the steps of the exerciser is monitored by the radar, so that whether the training mode of the exerciser is correct or not is judged more accurately.
4. The invention considers the consistency of the external dimensions of the traditional wooden dummy: by adopting the appearance and the size of the traditional wooden dummy, on the basis of keeping the original appearance of the wooden dummy, the buffering filling layer is added, and the safety of people in the using process is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only preferred embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic overall structure diagram of an intelligent wooden dummy robot according to an embodiment of the invention;
FIG. 2 is a schematic diagram of an internal structure of a pile body of the intelligent wooden dummy robot in the embodiment of the invention;
FIG. 3 is a hardware architecture diagram of an MCU master control system of an intelligent stake robot of the invention;
FIG. 4 is a schematic structural diagram of a common arm of an intelligent wooden robot pile robot according to an embodiment of the invention;
fig. 5(a) is a schematic structural diagram of a retraction state of a telescopic arm of an intelligent wooden robot pile robot according to an embodiment of the invention;
fig. 5(b) is a mechanism schematic diagram of the intelligent wooden robot pile robot telescopic arm in an extending state according to the embodiment of the invention;
FIG. 6 is a schematic diagram of the internal structure of a pile foot of the intelligent wooden robot pile robot in the embodiment of the invention;
FIG. 7 is a schematic structural diagram of a step sensing module in the intelligent wooden robot pile robot according to the embodiment of the invention;
fig. 8 is a schematic flow chart of a control method of the intelligent wooden man-machine robot in the embodiment of the invention.
The reference numbers illustrate: 1. pile head; 2. piling a breast; 3. pile web; 4. pile hand; 5. pile foot; 6. a second arm; 7. an actuator; 8. an air tube; 9. a limiting block; 10. a push rod; 11. a first radar; 12. a second radar; 13. fixing the intelligent wooden dummy; 14. a pile foot limiting bolt; 15. a spud foot connecting rod; 16. a toe force sensor; 17. a first spud foot dynamometer cell; 18. a leg joint; 19. a second spud foot dynamometer cell; 20. an outer filling layer; 21. a pile head dynamometer unit; 22. a pile head force sensor; 23. a pile chest dynamometer unit; 24. a pile chest force sensor; 25 pile belly dynamometer units; 26. a pile web force sensor; 27. a first square groove; 28. a second square groove; 29. a third square groove; 30. a pile body column; 31. a common arm limit bolt; 32. a common arm connecting rod; 33. a common arm force sensor; 34. pile hand dynamometer unit.
Detailed Description
In order to make the objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "up," "down," and the like are used for descriptive purposes only and not for purposes of indicating or implying that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through an intermediate medium, or they may be connected internally between two members. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 3, the intelligent wooden dummy robot capable of measuring power of the embodiment includes an intelligent wooden dummy body, a step sensing system, a lighting system and an MCU master control system; the step induction system is arranged around the base of the intelligent wooden dummy body, the lighting system is arranged on the intelligent wooden dummy body, and the MCU master control system is used for controlling the step induction system and the lighting system.
Further, the intelligent wooden dummy body comprises a dummy body, a dummy head 4, a dummy foot 5 and an outer filling layer; the pile hand 4 and the pile foot 5 are arranged on the pile body, and the outer filling layer is wrapped on the outer surface of the whole intelligent wooden man pile body; the pile body is divided into a pile head 1, a pile breast 2 and a pile belly 3; the pile hand 4 comprises a telescopic arm and a common arm, and the telescopic arm can freely move in a telescopic mode along the radial direction of the body.
The step induction system detects the step method of the exerciser through the radar and feeds the detected step method information back to the MCU main control system through the switch signal.
The lighting system is used for displaying different lighting effects according to different power values;
the MCU master control system comprises a controller, a force sensor module, a light module, a telescopic arm driving module, a step induction module and a PC communication module; the force sensor module is connected to the controller through a bus and used for detecting the hitting force of the intelligent wooden human pile body and sending the detected hitting force to the controller; the telescopic boom driving module is used for driving and controlling the telescopic boom through a switching signal of the controller; the step induction module is driven and controlled through a switching signal of the controller and is used for detecting a step method of a exerciser; and the PC communication module sends the detection data to the external equipment through the serial port.
Further, the force sensor module includes a pile head force sensor 22, a pile chest force sensor 24, a pile belly force sensor 26, a pile hand force sensor and a pile foot force sensor 16; the pile head force sensor 22 is arranged on the pile head 1 and used for measuring the power value of the pile head; the pile chest force sensor 24 is arranged on the pile chest 2 and used for measuring the force value of the striking on the pile chest; the pile web force sensor 26 is arranged on the pile web 3 and used for measuring the force value of the striking on the pile web; the pile hand force sensor is arranged on the pile hand and used for measuring the power value of the pile hand; the footing force sensor 16 is mounted on the footing 5 for measuring the value of the power of the attack on the footing.
Furthermore, the three parts of the pile head 1, the pile breast 2 and the pile belly 3 of the pile body are all provided with power measuring units, and each power measuring unit is provided with a corresponding force sensor; the dynamometer unit comprises a pile head dynamometer unit 21, a pile chest dynamometer unit 23 and a pile abdomen dynamometer unit; the pile head power measuring unit 21 is realized by two pile head force sensors 22, the two pile head force sensors 22 are arranged on the pile head, and the pile head force sensors are used for detecting the striking force on the pile head; the pile chest dynamometer unit 23 is realized by two pile chest force sensors 24, and the pile chest force sensors are used for detecting the striking force on the pile chest; the pile web dynamometer cell 25 is implemented by two pile web force sensors 26.
Further, as shown in fig. 4, in this embodiment, the intelligent wooden dummy body has three staffs, the staffs are divided into telescopic arms and common arms, two arms located at the top of the dummy body are telescopic arms, and the lower arm is a common arm. The pile hand penetrates through the pile body and is in clearance fit with the pile body, and can move up and down front and back, left and right. The telescopic arm can freely move in a telescopic mode along the radial direction of the pile body, and the common arm cannot move in a telescopic mode.
Furthermore, the ordinary arm includes ordinary arm connecting rod 32 and first arm, have pile hand power measuring unit 34 on the first arm, pile hand power measuring unit 34 is realized through ordinary arm force sensor 33, ordinary arm force sensor sets up in first arm for measure hit the power value of beating on first arm. For installing ordinary arm, be equipped with the first square groove 27 that matches with ordinary arm connecting rod between stake chest 2 and the stake abdomen 3, ordinary arm connecting rod 32 is installed behind first square groove 27, and the afterbody of ordinary arm connecting rod 32 is passed through stop device like ordinary arm spacing bolt 31 and is carried out spacing fixed to ordinary arm, prevents the landing in the use.
As shown in fig. 5(a) and 5(b), the telescopic arm includes an actuating element 7, a push rod 10 and a second arm 6, and when the actuating element works, the actuating element drives the push rod to move telescopically, so as to drive the telescopic arm to move telescopically; the actuating element 7 is supplied with a gas source through a gas pipe 8; a second square groove 28 matched with the execution element is arranged between the pile head 1 and the pile breast 2, and after the execution element 7 is installed in the second square groove 28, the limit block 9 is fixed on the execution element 7; when the actuating element 7 is driven, the push rod 10 drives the second arm 6 to stretch back and forth; in this embodiment, the first arm and the second arm 6 have the same structure.
Furthermore, the actuating element comprises an air cylinder and a shell, the air cylinder is fixed on the shell through screws, the push rod is fixed on a sliding block of the air cylinder through screws, and the second arm is driven to perform telescopic motion through air inlet and air outlet switching of the air pipe.
Further, as shown in fig. 6, the spud 5 includes a spud link 15 and a leg joint 18; the pile foot connecting rod 15 is fixedly connected with the leg joint through a screw; leg joint 18 includes the horizontal part and the portion of bending, and the horizontal part sets up first spud foot power measuring unit 17 and second spud foot power measuring unit 19 respectively with the portion of bending, first spud foot power measuring unit 17 and second spud foot power measuring unit 19 all realize through spud foot force transducer 16, measure the power value of hitting on the spud foot through two segmentations' measuring method, after third square groove clearance fit is fixed on spud foot connecting rod and pile body, use stop device at spud foot connecting rod 15 afterbody to carry out spacing fixedly like spud foot limit pin 14, prevent that the spud foot from droing in the use. The spud foot and leg joint are integrally wrapped by an outer filling layer 20.
For a more stable fixation of the foot, the foot is fixed in a clearance fit with the connecting rod of the foot by means of a third, square groove 29 provided in the pile body.
Furthermore, the light system comprises a full-color light strip and a light controller, and the brightness of the display light is driven by the power value measured by the power sensor. Different light effects can be preset, different light effects can be displayed according to different power values, and the current power grade can be displayed by using different light effects.
Furthermore, as shown in fig. 7, the step sensing system detects the step method through the first radar 11 and the second radar 12, the intelligent wooden dummy body is arranged on the intelligent wooden dummy fixing position, the detected area is divided into three half-circle lengthened square areas, the areas where the steps are located can be respectively detected, and the detected areas are fed back to the MCU master control system through the switch signal.
As shown in fig. 8, in another embodiment, a method for controlling an intelligent wooden dummy robot capable of measuring work force is further provided, which is implemented by acquiring signals of a force sensor on a dynamometer unit and acquiring foot step data, so as to calculate work force values of the acquired signals, judge regions, control light, control driving of a telescopic arm, and update and output data of a PC communication module. The method comprises the following steps:
s1, starting the intelligent wooden dummy robot, and initializing a force sensor on the intelligent wooden dummy robot by the MCU master control system;
s2, when the MCU master control system detects a piezoelectric signal of a force sensor on the intelligent wooden-human-pile robot, filtering the piezoelectric signal, and calculating the striking force value of each part by using the mapping relation between the piezoelectric signal and the force;
s3, driving the display brightness of the light according to the calculated striking power value; the display brightness of the lamplight is preset different lamplight effects and is used for showing the power grade;
s4, obtaining the area where the current step is located through IO level states of three areas scanned by the radar, specifically:
s5, when the exerciser turns the inner ring, triggering the inner ring level IO1 to be high, and triggering the middle ring level IO2 and the outer ring level IO3 to be low; when a exerciser turns the middle ring, the level of the middle ring IO2 is triggered to be high, and the level of the inner ring IO1 and the level of the outer ring IO3 are triggered to be low; when the exerciser is at the outer ring, the outer ring level IO3 is triggered to be high, the inner ring level IO1 and the middle ring level IO2 are triggered to be low, and therefore the region information where the current step is located is judged;
s6, driving and controlling the telescopic arm to perform telescopic motion by the MCU master control system through switching IO level states according to preset programmed actions;
and S7, the MCU master control system updates output data by judging whether the data of the driving state information of the telescopic arm, the power value information, the lighting effect information and the step area information change or not, the updated data are sent to the PC end through the PC communication module, and the PC end performs further statistical analysis.
Further, in this embodiment, through the power calculation, when 50kg < power value <100kg, the light effect 1 is displayed; when the power value is 100kg <150kg, displaying a light effect 2; when 150kg < power value <200kg, a light effect 3 is displayed.
It should also be noted that in this specification, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An intelligent wooden dummy robot capable of measuring power is characterized by comprising an intelligent wooden dummy body, a step induction system, a lighting system and an MCU master control system;
the intelligent wooden dummy body comprises a dummy body, a pile hand, a pile foot and an outer filling layer, wherein the pile hand and the pile foot are arranged on the dummy body, and the outer filling layer is wrapped on the outer surface of the whole intelligent wooden dummy body; the pile body is divided into a pile head, a pile chest and a pile abdomen; the pile hand comprises a telescopic arm and a common arm, and the telescopic arm can freely move in a telescopic way along the radial direction of the body;
the step induction system detects the step method of the exerciser through a radar, and feeds back the detected step method information to the MCU master control system through a switch signal;
the lighting system is used for displaying different lighting effects according to different power values;
the MCU master control system comprises a controller, a force sensor module, a light module, a telescopic arm driving module, a step induction module and a PC communication module; the force sensor module is connected to the controller through a bus and used for detecting the hitting force of the intelligent wooden human pile body and sending the detected hitting force to the controller; the telescopic boom driving module is used for driving and controlling the telescopic boom through a switching signal of the controller; the step induction module is driven and controlled through a switching signal of the controller and is used for detecting the step of the exerciser to judge the power of the exerciser; and the PC communication module sends the detection data to the external equipment through the serial port.
2. The intelligent wooden robot pile robot capable of measuring power of claim 1, wherein the force sensor module comprises a pile head force sensor, a pile chest force sensor, a pile abdomen force sensor, a pile hand force sensor and a pile foot force sensor;
the pile head force sensor is arranged on the pile head and used for measuring the power value of the pile head;
the pile chest force sensor is arranged on the pile chest and used for measuring the power value of the striking on the pile chest;
the pile web force sensor is arranged on the pile web and used for measuring the power value of the pile web;
the pile hand force sensor is arranged on the pile hand and used for measuring the power value of the pile hand;
the pile foot force sensor is arranged on the pile foot and used for measuring the power value of the striking on the pile foot.
3. The intelligent wooden robot pile robot capable of measuring power as claimed in claim 2, wherein the common arm comprises a common arm connecting rod and a first arm, the pile hand force sensor is arranged in the first arm and used for measuring the power value of the pile on the first arm, a square groove matched with the connecting rod is arranged between the pile breast and the pile belly, and after the connecting rod is arranged in the square groove, the tail of the connecting rod is limited and fixed by a limiting device;
the telescopic arm comprises an execution element, a push rod and a second arm, the execution element supplies air source through an air pipe, a square groove matched with the execution element is formed between the pile head and the pile breast, and a limit block is fixed on the execution element after the execution element is installed in the square groove; when the execution element drives, the push rod drives the arm to stretch back and forth; the first arm and the second arm are identical in structure.
4. The intelligent wooden robot stake robot of measurable power of claim 2, wherein said stake foot includes a stake foot connecting rod and a leg joint; the pile foot connecting rod is fixedly connected with the leg joint; the leg joint comprises a horizontal part and a bending part, the horizontal part and the bending part are respectively provided with a spud foot force sensor, the power value of the driving on the spud foot is measured through a two-segment measuring mode, and after the spud foot connecting rod is fixed with the pile body in a clearance fit mode through a third square groove, the tail part of the spud foot connecting rod is limited and fixed through a limiting device.
5. The intelligent wooden dummy robot capable of measuring power as claimed in claim 1, wherein the lighting system comprises a full-color light strip and a lighting controller, the lighting system is provided with different power thresholds, and when the detected power value exceeds the corresponding power threshold, a lighting effect matched with the power threshold is displayed.
6. The intelligent wooden dummy robot capable of measuring power as claimed in claim 1, wherein the detection area of the step sensing module is divided into three half-circle elongated square areas, and the three half-circle elongated square areas are installed on a base for fixing the wooden dummy, are used for respectively detecting the areas where the steps are located, and are fed back to the MCU master control system through a switch signal.
7. The intelligent wooden robot stake robot of measurable merit of claim 6, characterized in that, obtains the region that current step is located through the IO state in three half-turn extension square regions of radar scanning, specifically is:
when the exerciser is in the inner circle, the IO1 level is triggered to be high, and the IO2 and the IO3 are triggered to be low; when the exerciser is in the middle circle, the IO2 level is triggered to be high, and the IO1 and the IO3 are triggered to be low; when the exerciser is on the outer circle, the IO3 level is triggered to be high, and the IO1 and the IO2 are triggered to be low; therefore, the information of the area where the current step is positioned is judged.
8. The intelligent wooden dummy robot capable of measuring power of claim 3, wherein the actuating element comprises an air cylinder and a shell, the air cylinder is fixed on the shell through screws, a push rod is fixed on a sliding block of the air cylinder through screws, and the second arm is driven to perform telescopic motion through air inlet and air outlet switching of an air pipe.
9. The method for controlling the intelligent wooden dummy robot capable of measuring the work force according to any one of claims 1 to 8, is characterized by comprising the following steps:
starting the intelligent wood-robot pile robot, and initializing a force sensor on the intelligent wood-robot pile robot by using the MCU master control system;
when the MCU master control system detects a piezoelectric signal of a force sensor on the intelligent wooden-human-pile robot, filtering the piezoelectric signal, and calculating the striking force value of each part by using the mapping relation between the piezoelectric signal and the force;
driving the display brightness of the lamplight according to the calculated striking power value; the display brightness of the lamplight is preset different lamplight effects and is used for showing the power grade;
obtaining the area where the current step is located through IO level states of three areas scanned by the radar;
the MCU master control system drives and controls the telescopic arm to perform telescopic motion by switching the IO level state according to preset arranged actions;
the MCU master control system updates output data by judging whether the data of the driving state information, the power value information, the light effect information and the step area information of the telescopic boom change or not, the updated data are sent to the PC end through the PC communication module, and the PC end performs further statistical analysis.
10. The control method according to claim 9, wherein the area where the current step is located is obtained by the IO level states of three areas scanned by the radar, specifically: when the exerciser does work, the inner ring level IO1 is triggered to be high, and the middle ring level IO2 and the outer ring level IO3 are triggered to be low; when a exerciser turns the middle ring, the level of the middle ring IO2 is triggered to be high, and the level of the inner ring IO1 and the level of the outer ring IO3 are triggered to be low; when the exerciser is in the outer circle, the outer circle level IO3 is triggered to be high, and the inner circle level IO1 and the middle circle level IO2 are triggered to be low, so that the area information where the current step is located is judged.
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Cited By (1)
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| CN118228078A (en) * | 2024-05-07 | 2024-06-21 | 广州智昊科技有限公司 | Intelligent wood man-pile robot capable of measuring power and action analysis system |
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| CN114082165B (en) | 2022-08-23 |
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