CN219662811U - Football training goalkeeper robot - Google Patents

Abstract

The utility model relates to a football training goalkeeper robot, including 3D camera, control system, goal frame and goalkeeper baffle subassembly, 3D camera with control system connects, goalkeeper baffle subassembly includes folding baffle and servo motor, folding baffle sets up the front side of goal frame, folding baffle's upper portion can be to the direction is folding in the goal frame, servo motor with folding baffle connects, is used for the drive folding baffle rotates. The position of the football is captured in real time at a high frame rate through the 3D camera, the control system analyzes the football coordinate data in real time to generate a football motion track and pre-judges the falling point position of the football, and then the servo motor is controlled to rotate to a corresponding angle, so that the purpose of driving the folding baffle to block the football from being shot into the football door frame is achieved; meanwhile, by folding the baffle, the situation that the player will get out of hand due to overlarge ball speed and force of the football in actual combat is simulated, and the aim of multi-aspect training of shooting angles, shooting force and the like of the player is fulfilled.

Description

Football training goalkeeper robot

Technical Field

The disclosure relates to the technical field of robots, in particular to a football training goalkeeper robot.

Background

Football sports are one of the world hot sports, in which a goal player has the role of shooting football into an opponent's goal, and a goal has the role of catching or shooting football shot by an opponent's goal player so as to prevent football from entering the goal. In football training, especially when training the shooting player, need to be equipped with the gatherer, to strengthen and perfect the training such as shooting angle, the dynamics of shooting player. However, the introduction difficulty of excellent football gate pairs is relatively large, and the number of gate pairs is far smaller than the number of shooting athletes, and the training strength of gate pairs is large, the efficiency is low and the training effect is poor.

In the related art, as in the patent application No. CN201120574311.0, the utility model of the patent name "football shooting training device based on goalkeeper simulation device and switch pad" describes that by laying a guide rail along the length direction of the goal, a mobile station is arranged on the guide rail, a goalkeeper simulation board is fixed on the mobile station, and the goalkeeper simulation board is controlled to move and driven to move, so that football is blocked by the goalkeeper simulation board, and the goalkeeper goal is simulated. However, since the standard length of the goal is 7.32 meters, if the goalkeeper simulation board moves far from the left side of the goal to the right side of the goal to catch the ball during actual training, the goalkeeper simulation board moves at a speed less than the ball speed, which causes a problem of low success rate of catching the ball. In actual combat, the gate will (goalkeeper) will take off hands due to the excessive ball speed and force of the football, but in the prior art, the gate will not take off hands due to the fact that the gate will take off the ball in actual combat can not be simulated by a simple goalkeeper simulation board.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a goalkeeper robot for football training.

According to the embodiment of the disclosure, a football training goalkeeper robot is provided, including 3D camera, control system, goal frame and goalkeeper baffle subassembly, 3D camera with control system connects, goalkeeper baffle subassembly includes folding baffle and servo motor, folding baffle sets up the front side of goal frame, folding baffle's upper portion can be to the direction is folding in the goal frame, servo motor with folding baffle connects, is used for the drive folding baffle rotates.

In one embodiment, the folding baffle comprises a first baffle and a second baffle, the first baffle is arranged on the upper portion of the second baffle, a spring hinge is arranged between the first baffle and the second baffle, and two ends of the spring hinge are respectively connected with the first baffle and the second baffle.

In one embodiment, a relief opening is provided in the second baffle plate at a spring position corresponding to the spring hinge.

In one embodiment, the goalkeeper baffle assembly further comprises a fixing support, the fixing support is connected with the bottom of the goal frame, the servo motor is arranged in the fixing support, and a protection plate is arranged on the outer side of the fixing support.

In one embodiment, the fixing support is slidably connected to the bottom of the goal frame, and the fixing support can move along the length direction of the goal frame relative to the goal frame.

In one embodiment, the ball door frame further comprises a linear guide rail, wherein the linear guide rail is arranged at the bottom of the ball door frame along the length direction of the ball door frame, and the fixed support is arranged on the linear guide rail in a sliding manner.

In one embodiment, a cover plate is provided on the linear guide, the cover plate having a slope, and the slope direction of the slope is set to incline from the inside of the door frame to the outside of the door frame.

In one embodiment, the folding device further comprises a speed reducer arranged between the servo motor and the folding baffle, and the speed reducer is respectively connected with the servo motor and the folding baffle.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

1. the position of the football is captured in real time by setting a high frame rate of the 3D camera, the control system analyzes the football coordinate data in real time to generate a football motion track, the falling point position of the football is prejudged in advance according to the football motion track, the servo motor is controlled to rotate to a corresponding angle based on the falling point position, and the purpose that the servo motor drives the folding baffle to block the football from being shot into the football door frame is achieved; by arranging the folding baffle, the condition that the player is out of hand due to overlarge ball speed and force of the football in actual combat can be simulated, the training purpose of attaching actual combat can be achieved for the player, and the training purpose aiming at the shooting angle, shooting force and other aspects of the player can be achieved;

2. by arranging the spring hinge, when the first baffle is folded relative to the second baffle to simulate the condition that the door will be out of hand in actual combat, the purpose of rebound and resetting of the first baffle can be realized, and the normal work of the next shooting is effectively ensured;

3. the movable goal of the folding baffle along the length direction of the goal frame can be realized by arranging the linear guide rail, so that the folding baffle serves as the goal frame, the goal frame can be flexibly divided into two goal shooting areas, and the special training purpose of shooting angles and shooting positions of athletes is realized;

4. by arranging the cover plate with the inclined plane, the ball can be conveniently picked up while the linear guide rail is protected.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is an overall schematic diagram of a football training goalkeeper robot, shown in accordance with an exemplary embodiment;

FIG. 2 is a schematic diagram of a goalkeeper baffle assembly shown according to an exemplary embodiment;

FIG. 3 is a schematic diagram of a spring hinge shown according to an exemplary embodiment;

FIG. 4 is a simplified schematic diagram illustrating a folding baffle rotated to the left side of a goal frame, according to an exemplary embodiment;

fig. 5 is a simplified schematic diagram illustrating the folding barrier rotated to the right side of the goal frame, according to an exemplary embodiment.

Reference numerals illustrate:

a 3D camera 10;

a ball door frame 20;

the door guard assembly 30, the folding guard 31, the servo motor 32, the fixed bracket 33, the first guard 311, the second guard 312, the protection plate 331 and the relief port 3121;

a spring hinge 40, a spring 41;

a cover plate 50;

a speed reducer 60.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

Examples

Example 1

As shown in fig. 1, in order to solve the related technical problems, the disclosed embodiment provides a goal robot for training football, which includes a 3D camera 10, a control system (not shown), a goal frame 20 and a goal guard assembly 30, wherein the 3D camera 10 is connected with the control system, the 3D camera 10 is an existing high frame rate depth camera based on the time-of-flight technology, and is installed in a training field, such as a position above a football service point and the goal frame 20 installed on the goal frame 20 or on the training field, and is preferably arranged at the latter position to prevent the 3D camera 10 from being damaged due to collision with football, so as to capture 3D images of football. The control system is existing, is arranged in a training field, can comprise a computer host, a controller and the like, and is used for analyzing a 3D image captured by the 3D camera 10 to obtain a three-dimensional coordinate point of the football, generating a motion track of the football according to an algorithm, and forming the coordinate of the falling point position of the football after the collected data are enough to fit into a track which is long enough to be used for analyzing the falling point position of the football. Based on the transformation of the falling point position coordinates of the football into the rotating angle value of the servo motor 32, the servo motor 32 is controlled to rotate through the controller, and then the folding baffle plate 31 of the goalkeeper baffle plate assembly 30 is controlled to rotate to the corresponding football falling point position to blow the football. The goalkeeper baffle assembly 30 comprises a folding baffle 31 and a servo motor 32, the folding baffle 31 is arranged on the front side of the goal frame 20, the upper portion of the folding baffle 31 can be folded towards the inner direction of the goal frame 20, the servo motor 32 is connected with the folding baffle 31, and the servo motor 32 is used for driving the folding baffle 31 to rotate.

According to the football training goalkeeper robot provided by the embodiment of the disclosure, the position of a football is captured in real time by setting the high frame rate of the 3D camera 10, the control system analyzes football coordinate data in real time to generate a football motion track, the falling point position of the football is prejudged in advance according to the football motion track, the servo motor 32 is controlled to rotate to a corresponding angle based on the falling point position, and the purpose that the servo motor 32 drives the folding baffle 31 to block the football from being shot into the ball door frame 20 is achieved. Through setting up folding baffle 31, can simulate the condition that the door will be out of hand because of football speed, dynamics are too big in the actual combat, can realize providing the training purpose of laminating actual combat to the sportsman, it is relatively humanized to can realize the many-sided training purpose such as shooting angle and the dynamics of shooting to the sportsman.

In the embodiment of the present disclosure, as shown in fig. 2, the folding baffle 31 includes a first baffle 311 and a second baffle 312, the first baffle 311 is disposed at an upper portion of the second baffle 312, a spring hinge 40 is disposed between the first baffle 311 and the second baffle 312, and both ends of the spring hinge 40 are connected with the first baffle 311 and the second baffle 312, respectively. Through setting up the action that the adoption both arms, both hands of gate will in the actual combat can be simulated to first baffle 311, and then through the folding of first baffle 311 come simulate gate will catch the ball after the condition that leads to the hand-off because of football speed, dynamics are too big. By providing a relatively fixed second baffle 312, the action that the gate will catch a ball with the body during actual combat can be simulated. Therefore, through the arrangement of the first baffle 311 and the second baffle 312, the goal-to-real goal-playing effect in actual combat can be simulated, the player is given the goal-shooting training experience of the laminating actual combat, and the training effect is improved. Through setting up spring hinge 40, when first baffle 311 is folding and simulate the door in actual combat and will take off the hand the condition, can realize that first baffle 311 kick-backs, the purpose that resets, the normal work when effectively guaranteeing next shooting.

It should be noted that, as shown in fig. 3, the spring hinge 40 is conventional, the strength of the spring 41 of the spring hinge 40 can be set based on actual requirements, and when the force of the football overcomes the elastic force of the spring hinge 40 during football training, the first baffle 311 is folded towards the inside of the ball door frame 20, so that the situation that the door will catch the ball and the hands are taken off due to the excessive ball speed and force of the football can be simulated, and at this time, the spring 41 of the spring hinge 40 is stretched. When the soccer ball is separated from the first barrier 311, the spring 41 of the spring hinge 40 is sprung back, so that the first barrier 311 can be reset. In the embodiment of the present disclosure, a relief port 3121 is provided on the second baffle 312 at a position corresponding to the spring 41 of the spring hinge 40 to facilitate the normal operation of the spring hinge 40. In addition, the number of the spring hinges 40 is not limited herein, and may be set based on actual demands.

Further, as further shown in FIG. 2, the goalkeeper baffle assembly 30 further includes a securing bracket 33, the securing bracket 33 being attached to the bottom of the goal frame 20. In the embodiment of the present disclosure, the fixing bracket 33 is fixedly connected with the bottom of the goal frame 20, preferably, the fixing bracket 33 is fixed at a middle position of the bottom of the goal frame 20, the servo motor 32 is disposed in the fixing bracket 33, and the protection plate 331 is disposed at the outer side of the fixing bracket 33 to provide protection to the servo motor 32 in the fixing bracket 33. The folding shutter 31 rotates about the connection end with the servo motor 32, thereby blocking the soccer ball directed to the left, middle and right positions of the ball door frame 20 (see fig. 1, 4 and 5). The football training goalkeeper robot that this disclosed embodiment provided still includes speed reducer 60, sets up between servo motor 32 and folding baffle 31, and speed reducer 60 is connected with servo motor 32 and folding baffle 31 respectively. The speed reducer 60 is conventional, and can achieve the purpose of reducing the speed when the folding baffle 31 rotates to approach the ground, and will not be described here.

Example 2

The soccer training goalkeeper according to the present disclosure differs from the above embodiments in that the fixed bracket 33 is slidably connected to the bottom of the goal frame 20, and the fixed bracket 33 can move along the length direction of the goal frame 20 relative to the goal frame 20. Specifically, the goalkeeper robot for football training provided in this embodiment of the present disclosure further includes a linear guide rail (not illustrated in the drawing), the linear guide rail is disposed at the bottom of the goal frame 20 along the length direction of the goal frame 20, and the fixing support 33 is slidably disposed on the linear guide rail, so that the fixing support 33 moves along the length direction of the goal frame 20 relative to the goal frame 20. Therefore, by providing the linear guide rail, the purpose of moving the folding baffle 31 along the length direction of the goal frame 20 can be achieved, for example, the fixing support 33 can be moved and fixed at the middle position of the goal frame 20, that is, the folding baffle 31 is located at the middle position of the goal frame 20, and the purpose of flapping the ball by the folding baffle 31 is achieved by controlling the servo motor 32 to rotate and control the folding baffle 31 through the interactive cooperation of the 3D camera 10 and the control system, that is, the embodiment 1.

For another example, the fixing bracket 33 may be moved and fixed at a position near the left side of the goal frame 20 by providing a linear guide, and a shot region may be formed between the folding baffle 31 and the left side of the goal frame 20. During training, the blocking work of the folding baffle 31 on the football can be suspended, special training aiming at the shooting angles of the upper left corner and the lower left corner of the athlete can be realized, the shooting skill of the athlete is improved, the shooting angle of the athlete, which is used for playing the drill in actual combat, is convenient, and the success rate of breaking the goal is improved. Similarly, the fixing bracket 33 can be moved and fixed at a position near the right side of the door frame 20 by providing a linear guide, which will not be described herein. Therefore, the folding baffle 31 can serve as a goal frame, and can achieve the purpose of inspiring and separating the goal shooting areas through the linear guide rail, so that a specific training project is increased, special training of athletes is relatively increased, special skills of the athletes are improved, and the success rate of the goal breaking in actual combat is improved.

In the embodiment of the present disclosure, the cover plate 50 is disposed on the linear guide, the cover plate 50 has a slope, and the slope direction of the slope is set to incline from the inside of the goal frame 20 to the outside of the goal frame 20, thereby facilitating the ball to be ejected into the goal frame 20 and the ball to be rolled out of the goal frame 20 while providing protection for the linear guide, the servo motor 32, and the like.

It is understood that the term "plurality" in this disclosure means two or more, and other adjectives are similar thereto. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. The singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It is further understood that the terms "first," "second," and the like are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish one type of information from another and do not denote a particular order or importance. Indeed, the expressions "first", "second", etc. may be used entirely interchangeably. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.

It will be further understood that the terms "center," "longitudinal," "transverse," "front," "rear," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience in describing the present embodiments and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operate in a particular orientation.

It will be further understood that "connected" includes both direct connection where no other member is present and indirect connection where other element is present, unless specifically stated otherwise.

It will be further understood that although operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (8)

1. The utility model provides a football training goalkeeper robot, includes 3D camera, control system, goal frame and goalkeeper baffle subassembly, 3D camera with control system connects, its characterized in that:

the goalkeeper baffle assembly comprises a folding baffle and a servo motor, wherein the folding baffle is arranged on the front side of the goal frame, the upper portion of the folding baffle can be folded towards the direction in the goal frame, and the servo motor is connected with the folding baffle and used for driving the folding baffle to rotate.

2. The football training goalkeeper robot of claim 1, wherein:

the folding baffle comprises a first baffle and a second baffle, the first baffle is arranged on the upper portion of the second baffle, a spring hinge is arranged between the first baffle and the second baffle, and two ends of the spring hinge are respectively connected with the first baffle and the second baffle.

3. The football training goalkeeper robot of claim 2, wherein:

and a yielding port is arranged on the second baffle plate at a position corresponding to the spring of the spring hinge.

4. The football training goalkeeper robot of claim 1, wherein:

the goalkeeper baffle component further comprises a fixed support, the fixed support is connected with the bottom of the goal frame, the servo motor is arranged in the fixed support, and a protection plate is arranged on the outer side of the fixed support.

5. The football training goalkeeper robot of claim 4, wherein:

the fixed support is in sliding connection with the bottom of the goal frame, and the fixed support can move along the length direction of the goal frame relative to the goal frame.

6. The football training goalkeeper robot of claim 5, wherein:

the ball door frame is characterized by further comprising a linear guide rail, wherein the linear guide rail is arranged at the bottom of the ball door frame along the length direction of the ball door frame, and the fixed support is arranged on the linear guide rail in a sliding manner.

7. The football training goalkeeper robot of claim 6, wherein:

the linear guide rail is provided with a cover plate, the cover plate is provided with an inclined plane, and the inclined direction of the inclined plane is inclined from the inner part of the ball door frame to the outer part of the ball door frame.

8. The football training goalkeeper robot of claim 1, wherein:

the folding baffle plate is characterized by further comprising a speed reducer which is arranged between the servo motor and the folding baffle plate, and the speed reducer is respectively connected with the servo motor and the folding baffle plate.