CN217939082U - STM-based basketball training auxiliary robot - Google Patents
STM-based basketball training auxiliary robot Download PDFInfo
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- CN217939082U CN217939082U CN202221517239.2U CN202221517239U CN217939082U CN 217939082 U CN217939082 U CN 217939082U CN 202221517239 U CN202221517239 U CN 202221517239U CN 217939082 U CN217939082 U CN 217939082U
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Abstract
The utility model provides a basketball training auxiliary machinery people based on STM, includes the chassis module of qxcomm technology, throws the module, connects ball module, visual identification module, STM host system and power module. The omnidirectional chassis module comprises a rectangular base, an omnidirectional wheel, a chassis motor, parallel slide rails, a rotating disc and arc slide rails; the projection module comprises a projection box frame, a sliding rail support, a friction wheel support, a steering engine, a baffle, a pressure sensor, a sliding rail, a friction wheel and a friction wheel driving motor; the projection box frame comprises a cuboid bracket, a cover plate and a bottom plate; the ball receiving module comprises a ball blocking net, a guide rail and a bracket. The projection module and the ball receiving module are fixed on the omnidirectional chassis module, and the visual identification module is fixed on the projection module; the STM main control module is electrically connected with the omnidirectional chassis module, the projection module, the ball receiving module and the visual identification module. The utility model discloses simple structure easily makes, has good human-computer interaction, can realize the pertinence training of multiple difference, and the applied place is wide, has higher market value.
Description
Technical Field
The utility model relates to a basketball training auxiliary instrument technical field, especially a basketball training auxiliary robot based on STM.
Background
In recent years, robots have become more and more important in people's daily life with technological progress in various aspects of society. Sports training is a high-intensity and high-sensitivity activity, and the introduction of a training auxiliary robot in the sports training is particularly necessary.
Most of the existing basketball training robots focus on repetitive and mechanical training, some information of users cannot be fed back, and the human-computer interaction is not strong, for example, a robot basketball training apparatus with a patent publication number of CN 104474693A; still other basketball training robots are fixed in a training field, or can only achieve a few functions such as serving or picking up a ball, and cannot achieve the option of more places for the user. Therefore, the design of the basketball training robot with strong interactivity and multiple adaptive situations is a problem which needs to be improved.
Disclosure of Invention
The utility model aims at overcoming the above-mentioned not enough of prior art and providing a basketball training auxiliary robot based on STM.
The technical scheme of the utility model is that: the utility model provides a basketball training auxiliary machinery people based on STM, includes the chassis module of qxcomm technology, throws the module, connects ball module, visual identification module, STM host system and power module.
The omnidirectional chassis module comprises a rectangular base, four omnidirectional wheels, four chassis motors, parallel slide rails, a rotating disc and arc slide rails, wherein a first cross bar and a second cross bar are respectively arranged at the inner sides of four corners of the rectangular base, and the four omnidirectional wheels are respectively arranged on the outer side of the first cross bar of the rectangular base; the four chassis motors are fixed between the first cross rod and the second cross rod at four corners of the rectangular base; two ends of the pair of parallel slide rails are respectively fixed between the corresponding second cross bars in the rectangular base; the bottom of the rotating disc is fixed in the middle of the parallel sliding rails, and the bottom of the arc sliding rail is fixed at the tail end of one side of the parallel sliding rails.
The projection module comprises a projection box frame, a sliding rail support, a friction wheel support, a steering engine, a baffle, a pressure sensor, a sliding rail, a friction wheel and a friction wheel driving motor.
The projection box frame comprises a cuboid bracket, a cover plate on the upper surface and a bottom plate on the lower surface, the cover plate is provided with a hole, and the slide rail support is positioned on the bottom plate; the friction wheel support comprises two fixed seats respectively positioned on the cover plate and the bottom plate and a fixed frame connected with the two fixed seats; the steering engine is positioned on the bottom surface of the cover plate and close to the hole, the baffle plate is connected with the output end of the steering engine and positioned right below the hole, and the pressure sensor is arranged on the baffle plate; the slide rail is arranged on the slide rail support, one end of the slide rail is fixed on the bottom surface of the cover plate, the track is positioned right below the baffle, the other end of the slide rail is fixedly connected with the fixing frame, the two friction wheels are respectively arranged on the fixing base, the two friction wheel driving motors are positioned on the fixing frame, and output shafts of the two friction wheel driving motors are respectively connected with the friction wheels.
The ball receiving module comprises a ball blocking net, a guide rail and a bracket, wherein the ball blocking net is arranged in an arc shape and comprises a fixed front net and a movable rear net, the guide rail is in a funnel shape, and an upper opening of the guide rail is fixedly connected with the front net; the brackets are respectively positioned on two side edges of the front net and the rear net.
The vision identification module comprises an image identification component and an angle and distance calculation component; is fixedly arranged at the foremost end or the side edge of the projection box frame.
The bottom plate of the projection module is fixed on the rotating disc of the omnidirectional chassis module, the support of the ball receiving module is fixed in the arc slide rail of the omnidirectional chassis module, the lower opening of the guide rail of the ball receiving module is positioned above the hole of the projection module, and the visual identification module is fixed on the projection box frame of the projection module; the STM main control module is respectively and electrically connected with the omnidirectional chassis module, the projection module, the ball receiving module and the visual identification module; the power supply module is used for supplying power supply for the robot.
The utility model discloses further technical scheme is: the four omnidirectional wheel platforms are uniform in mass distribution, and the mass center position is located at the center of the rectangle.
The utility model discloses still further technical scheme is: the arc slide rail is provided with two slide ways, and the angle of the arc is more than or equal to 180 degrees.
The utility model discloses a further technical scheme is: the distance between the hole diameter on the apron, the width of slide rail, the mount is slightly greater than the basketball diameter, and the distance between two friction wheels slightly is less than the diameter of basketball.
The utility model discloses a further technical scheme is: the baffle can rotate under the driving of the steering engine; the friction wheel positioned on the lower fixed seat is tangent to the tail end of the sliding rail.
The utility model discloses a further technical scheme is: the radius of the upper opening of the guide rail is equal to the arc radius of the arc-shaped ball blocking net
The utility model discloses a further technical scheme is: the image recognition component comprises a camera for collecting data of training personnel and tracking actions, and the angle and distance calculation component is used for recognizing angles and distances according to the motion data collected by the image recognition component
The utility model discloses further technical scheme is: the STM main control module is electrically connected with a chassis motor, a rotating disc, a steering engine, a pressure sensor and a friction wheel driving motor in a wireless or wired mode;
the utility model discloses a further technical scheme is: the STM main control module adopts STM32F407 series chips and a FreeRTOS real-time operating system.
Compared with the prior art, the utility model have following characteristics:
1. the utility model discloses can realize the omnidirectional movement of the horizontal direction of robot, control the robot through wireless or wired, improve basketball training robot's flexibility.
2. The utility model discloses can be through the human gesture of vision identification module discernment to feedback back human body coordinate jets out the ball with certain angle and dynamics according to return information, realizes good human-computer interaction, improves the interest of sportsman's training.
3. The utility model discloses a can realize the training of multiple mode, temper its running consciousness, promote its psychological diathesis in the face of defending, effectively compensate unmanned training or train not enough, improve training personnel's level.
The detailed structure of the present invention will be further described with reference to the accompanying drawings and the detailed description.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of an omnidirectional chassis module;
FIG. 3 is a schematic structural diagram of a projection module;
FIG. 4 is a front view of a projection module;
fig. 5 is a left side view (right side view) of the projection module;
fig. 6 is a schematic view of the connection between the ball catching module and the omnidirectional chassis module.
Detailed Description
In the first embodiment, as shown in fig. 1 to 6, an STM-based basketball training assisting robot includes an omnidirectional chassis module 1, a projection module 2, a ball catching module 3, a visual recognition module, an STM main control module, and a power supply module.
As shown in fig. 2, the omnidirectional chassis module comprises a rectangular base 1-1, four omnidirectional wheels 1-2, four chassis motors 1-3, parallel sliding rails 1-4, a rotating disc 1-5 and arc sliding rails 1-6, wherein a first cross bar 1-1-1 and a second cross bar 1-1-2 are respectively arranged at the inner sides of four corners of the rectangular base 1-1, the four omnidirectional wheels 1-2 are respectively arranged on the outer sides of the first cross bar 1-1-1 of the rectangular base 1-1, the mass distribution of platforms of the four omnidirectional wheels 1-2 is uniform, and the mass center position is located at the rectangular center, so that the supporting force of the four omnidirectional wheels 1-2 at ground contact points is the same, and the omnidirectional wheels 1-2 are not suspended to cause idle running in the platform moving process. Four chassis motors 1-3 are fixed between a first cross bar 1-1-1 and a second cross bar 1-1-2 at four corners of a rectangular base 1-1. Two ends of a pair of parallel slide rails 1-4 are respectively fixed between corresponding second cross bars 1-1-2 in the rectangular base 1-1. The bottom of the rotating disc 1-5 is fixed in the middle of the parallel sliding rail 1-4 and can rotate freely on the parallel sliding rail 1-4. The arc slide rails 1-6 are provided with two slide ways, the bottoms of the slide ways are fixed at the tail ends of one sides of the parallel slide rails 1-4, and the angle of the arc is more than or equal to 180 degrees.
As shown in fig. 3-5, the projection module 2 comprises a projection box frame 2-1, a slide rail support 2-2, a friction wheel support 2-3, a steering engine 2-4, a baffle 2-5, a pressure sensor 2-6, a slide rail 2-7, a friction wheel 2-8 and a friction wheel driving motor 2-9.
The projection box frame 2-1 comprises a cuboid support 2-1-1, a cover plate 2-1-2 on the upper surface and a bottom plate 2-1-3 on the lower surface, and a hole 2-1-4 with the diameter slightly larger than that of a basketball is formed in the cover plate 2-1-2, so that the basketball can smoothly pass through the hole 2-1-4. The slide rail support 2-2 is positioned on the bottom plate 2-1-3. The friction wheel support 2-3 comprises two fixed seats 2-3-1 which are respectively positioned on the cover plate 2-1-2 and the bottom plate 2-1-3 and a fixed frame 2-3-2 which is connected with the two fixed seats 2-3-1. The steering engine 2-4 is located on the bottom face of the cover plate 2-1-2 and close to the hole 2-1-4, the baffle 2-5 is connected with the output end of the steering engine 2-4 and located right below the hole 2-1-4, the baffle 2-5 can rotate for a certain angle under the driving of the steering engine 2-4, the baffle is enabled to move to the position where the baffle does not block the hole 2-1-4 from the blocking hole 2-1-4, and the pressure sensor 2-6 is arranged on the baffle 2-5. The slide rail 2-7 is arranged on the slide rail support 2-2 and supported by the slide rail support 2-2, one end of the slide rail 2-7 is fixed on the bottom surface of the cover plate 2-1-2, the track is positioned under the baffle 2-5, the other end of the slide rail is fixedly connected with the fixed frame 2-3-2, and the slide rail 2-7 is arc-shaped, so that the basketball has a certain initial speed under the action of gravity when moving from the upper end to the lower end of the slide rail 2-7. The two friction wheels 2-8 are respectively arranged on the fixed seats 2-3-1, and the friction wheels 2-8 positioned on the lower fixed seats 2-3-1 are tangent to the tail ends of the slide rails 2-7. The width of the slide rail 2-7 and the distance between the fixing frames 2-3-2 are set to be slightly larger than the diameter of the basketball, so that the basketball cannot be deflected too much in the moving process, and the distance between the two friction wheels 2-8 is slightly smaller than the diameter of the basketball, so that the basketball is squeezed and rubbed when moving from the slide rail 2-7 to the friction wheels 2-8, and the basketball can be better launched. Two friction wheel driving motors 2-9 are positioned on the fixed frame 2-3-2, and output shafts of the two friction wheel driving motors are respectively connected with the friction wheels 2-8 to drive the friction wheels 2-8 to rotate.
As shown in FIG. 6, the ball catching module 3 includes a ball blocking net 3-1, a guide rail 3-2 and a support 3-3. The ball blocking net 3-1 is arranged in an arc shape and comprises a fixed front net 3-1-1 and a movable rear net 3-1-2, and the positions of the movable rear net 3-1-2 and the front net 3-1-1 are manually adjusted and fixed to ensure that the basketball can fall on the ball blocking net 3-1. The guide rail 3-2 is funnel-shaped, the upper opening of the guide rail 3-2 is fixedly connected with the front net 3-1-3, and the radius of the upper opening of the guide rail 3-2 is equal to the radius of the circular arc ball blocking net 3-1. The brackets 3-3 are respectively positioned on two side edges of the front net 3-1-1 and the rear net 3-2-2 and are used for fixing the ball blocking net 3-1 and the guide rail 3-2. The ball receiving module 3 forms an arc-shaped gauze window together through the fixed front net 3-1-1 and the movable rear net 3-1-2, so that the corresponding buffering effect is achieved, the ball passing in different directions can be changed, and meanwhile, the guide rail 3-2 connected with the ball blocking net 3-1 can ensure that a basketball can be limited to move along the guide rail 3-2.
The vision recognition module (not shown in the figures) includes an image recognition component, an angle and distance calculation component. The image recognition component comprises a camera, the camera is used for collecting data of training personnel and tracking actions, and can be fixedly arranged at the foremost end or the side edge of the projection box frame 2-1 according to actual needs, the camera is positioned at the foremost end of the projection box frame 2-1 and can observe images at most angles on the front side, and meanwhile, the camera moves along with the projection box frame 2-1, so that the tracking of the training personnel is guaranteed; the camera can also be fixedly arranged on the side edge of the projection box frame 2-1 so as to ensure the safety of the camera and training personnel during the movement process. The angle and distance calculation component is used for recognizing the angles and distances of the trainers by adopting an opencv program according to the motion data acquired by the image recognition component. The models provided by the opencv official parties can well realize human body recognition and motion recognition on the pictures and the videos, and the details are not repeated here.
The bottom plate 2-1-3 of the projection module 2 is fixed on a rotating disc 1-5 of the omnidirectional chassis module 1, the support 3-3 of the ball receiving module 3 is fixed in an arc sliding rail 1-6 of the omnidirectional chassis module 1, the lower opening of the guide rail 3-2 of the ball receiving module 3 is positioned above a hole 2-1-4 of the projection module 2, and the visual identification module is fixed on a projection box frame 2-1 of the projection module 2; the STM main control module (not shown in the figure) is electrically connected with the omnidirectional chassis module 1, the projection module 2, the ball receiving module 3 and the visual identification module respectively. Specifically, the STM main control module is electrically connected with a chassis motor 1-3, a rotating disc 1-5, a steering engine 2-4, a pressure sensor 2-6 and a friction wheel driving motor 2-9 in a wireless or wired mode, an STM32F407 high-performance M4 kernel chip is adopted to serve as a central control system of the whole robot, the speed and the precision of analog-to-digital conversion are higher, the running frequency is higher, the power consumption is lower, the requirements for speed and precision can be completely met, and in order to meet the simultaneous running of multiple tasks, a FreeRTOS real-time operating system is adopted to avoid redundancy and disorientation of a bare computer program.
The power supply module (not shown in the figure) is used for providing power supply for the robot.
Briefly describe this basketball training auxiliary robot's based on STM working process: the auxiliary robot can be used for training skills of basketball trainers in three modes.
The first mode is a cutting mode, the basketball skills of long-distance passing of the ball are trained, and the coordination awareness of the training personnel between the game and the teammates is enhanced. A trainer throws a basketball to the robot ball receiving module 3, the visual recognition module collects the state of the trainer, the angle and the distance of the basketball are calculated and sent to the STM main control module, meanwhile, the basketball falls into the hole 2-1-4 under the action of the ball blocking net 3-1 and the guide rail 3-2, the pressure sensor 2-6 senses that the ball enters and sends a signal to the STM main control module, the STM main control module controls the steering engine 2-4 to move away from the baffle 2-5 and controls the friction wheel motor 2-9 after receiving the gesture that the ball enters and the trainer wants the ball, and the basketball moves on the slide rail 2-7 to the tail end and returns the ball to the trainer at a certain speed under the action of the friction wheel 2-8.
The second mode is a pass-and-go mode, which trains the basketball training personnel to pass the ball receiving skills and the consciousness of reaching the ball during the advancing process. Similar to the first mode, the difference lies in that when pressure sensor does not perceive the basketball, STM main control module control chassis motor 1-3 makes the robot move fast and surpass training personnel on its route, makes training personnel's better bowling get into the ball catching device of robot, and this can further test training personnel pass the ball level to this passes the ball through two triples, and training personnel finally accomplish the pass through the last basket and go up the basket. And finally, the robot returns to the initial position according to a preset command to wait for the next ball receiving and basketball training.
The third mode is a defensive step training mode and a direction-changing dribbling mode during traveling, the robot serves as a moving attacker or a barrier, and the trainers are trained to take the ball to pass the skill. Similar to the first approach, except that while acting as an attacker, the defending step of the trainee can be trained; when acting as the barrier, can block in the direction that the training personnel gos forward, this not only can train the training personnel to advance the diversion dribble between, also can reach and keep certain distance with the robot and carry out the purpose of passing people with the ball at any time, and this kind of mode can also overcome the training personnel and have the obstacle in the front or disturb at a bit and dare out the psychology that hand bowling or dribble through.
Claims (9)
1. The utility model provides a basketball training auxiliary robot based on STM, characterized by: the system comprises an omnidirectional chassis module, a projection module, a ball receiving module, a visual identification module, an STM (scanning tunneling microscope) main control module and a power supply module;
the omnidirectional chassis module comprises a rectangular base, four omnidirectional wheels, four chassis motors, parallel slide rails, a rotating disc and arc slide rails, wherein a first cross bar and a second cross bar are respectively arranged at the inner sides of four corners of the rectangular base, and the four omnidirectional wheels are respectively arranged on the outer side of the first cross bar of the rectangular base; the four chassis motors are fixed between the first cross rod and the second cross rod at four corners of the rectangular base; two ends of the pair of parallel slide rails are respectively fixed between the corresponding second cross bars in the rectangular base; the bottom of the rotating disc is fixed in the middle of the parallel sliding rails, and the bottom of the arc sliding rail is fixed at the tail end of one side of the parallel sliding rails;
the projection module comprises a projection box frame, a sliding rail support, a friction wheel support, a steering engine, a baffle, a pressure sensor, a sliding rail, a friction wheel and a friction wheel driving motor;
the projection box frame comprises a cuboid bracket, a cover plate on the upper surface and a bottom plate on the lower surface, the cover plate is provided with a hole, and the slide rail support is positioned on the bottom plate; the friction wheel support comprises two fixed seats respectively positioned on the cover plate and the bottom plate and a fixed frame connected with the two fixed seats; the steering engine is positioned on the bottom surface of the cover plate and close to the hole, the baffle is connected with the output end of the steering engine and positioned right below the hole, and the pressure sensor is arranged on the baffle; the sliding rail is arranged on the sliding rail support, one end of the sliding rail is fixed on the bottom surface of the cover plate, the rail is positioned right below the baffle, the other end of the sliding rail is fixedly connected with the fixed frame, the two friction wheels are respectively arranged on the fixed seat, the two friction wheel driving motors are positioned on the fixed frame, and output shafts of the two friction wheel driving motors are respectively connected with the friction wheels;
the ball receiving module comprises a ball blocking net, a guide rail and a bracket, wherein the ball blocking net is arranged in an arc shape and comprises a fixed front net and a movable rear net, the guide rail is in a funnel shape, and an upper opening of the guide rail is fixedly connected with the front net; the brackets are respectively positioned on two side edges of the front net and the rear net;
the vision recognition module comprises an image recognition component and an angle and distance calculation component; fixedly arranged at the foremost end or the side edge of the projection box frame;
the bottom plate of the projection module is fixed on the rotating disc of the omnidirectional chassis module, the support of the ball receiving module is fixed in the arc slide rail of the omnidirectional chassis module, the lower opening of the guide rail of the ball receiving module is positioned above the hole of the projection module, and the visual identification module is fixed on the projection box frame of the projection module; the STM main control module is respectively and electrically connected with the omnidirectional chassis module, the projection module, the ball receiving module and the visual identification module; the power supply module is used for providing power supply for the robot.
2. An STM-based basketball training assisting robot as recited in claim 1, wherein: the four omnidirectional wheel platforms are uniform in mass distribution, and the mass center position is located at the center of the rectangle.
3. An STM-based basketball training aid robot as defined in claim 1, wherein: the arc slide rail is provided with two slide ways, and the angle of the arc is more than or equal to 180 degrees.
4. An STM-based basketball training aid robot as defined in claim 1, wherein: the distance between the hole diameter on the apron, the width of slide rail, the mount is slightly greater than the basketball diameter, and the distance between two friction wheels slightly is less than the diameter of basketball.
5. An STM-based basketball training assisting robot as recited in claim 1, wherein: the baffle can rotate under the driving of the steering engine; the friction wheel positioned on the lower fixed seat is tangent to the tail end of the sliding rail.
6. An STM-based basketball training assisting robot as recited in claim 1, wherein: the radius of the upper opening of the guide rail is equal to the radius of the circular arc ball blocking net.
7. An STM-based basketball training assisting robot as recited in claim 1, wherein: the image recognition component comprises a camera and is used for collecting data of training personnel and tracking actions, and the angle and distance calculation component is used for recognizing angles and distances according to motion data collected by the image recognition component.
8. An STM-based basketball training aid robot as claimed in any one of claims 1-7, wherein: the STM main control module is electrically connected with a chassis motor, a rotating disc, a steering engine, a pressure sensor and a friction wheel driving motor in a wireless or wired mode.
9. An STM-based basketball training aid robot as claimed in claim 8, wherein: the STM main control module adopts STM32F407 series chips and a FreeRTOS real-time operating system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221517239.2U CN217939082U (en) | 2022-06-17 | 2022-06-17 | STM-based basketball training auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221517239.2U CN217939082U (en) | 2022-06-17 | 2022-06-17 | STM-based basketball training auxiliary robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217939082U true CN217939082U (en) | 2022-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221517239.2U Expired - Fee Related CN217939082U (en) | 2022-06-17 | 2022-06-17 | STM-based basketball training auxiliary robot |
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| Country | Link |
|---|---|
| CN (1) | CN217939082U (en) |
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2022
- 2022-06-17 CN CN202221517239.2U patent/CN217939082U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20221202 |