WO2024032563A1 - 一种模拟守门员装置 - Google Patents

一种模拟守门员装置 Download PDF

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Publication number
WO2024032563A1
WO2024032563A1 PCT/CN2023/111527 CN2023111527W WO2024032563A1 WO 2024032563 A1 WO2024032563 A1 WO 2024032563A1 CN 2023111527 W CN2023111527 W CN 2023111527W WO 2024032563 A1 WO2024032563 A1 WO 2024032563A1
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WIPO (PCT)
Prior art keywords
simulated
human body
control module
drive
simulated human
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PCT/CN2023/111527
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English (en)
French (fr)
Inventor
曹志伟
Original Assignee
曹志伟
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202210952360.6A external-priority patent/CN117618860A/zh
Priority claimed from CN202222093489.4U external-priority patent/CN219539402U/zh
Application filed by 曹志伟 filed Critical 曹志伟
Publication of WO2024032563A1 publication Critical patent/WO2024032563A1/zh

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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
    • 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

Definitions

  • the invention relates to the technical field of sports equipment, and in particular to a simulated goalkeeper device.
  • Ice Hockey is a collective competitive sport on the ice that uses skates and hockey sticks as tools to compete with each other. Ice hockey players constantly use the hockey stick to hit the puck, dribble and other actions to complete the game. Hit the puck into the goal to score.
  • the technical problem to be solved by the present invention is to provide a simulated goalkeeper device that can automatically perform interception actions according to the incoming ball situation to improve the training effect of athletes.
  • the present invention provides a simulated goalkeeper device for setting up in front of the goal frame to intercept shots, including a simulated human body, a motion driving mechanism, a sensing device and an analysis control module.
  • the simulated human body is arranged in front of the goal frame,
  • the motion driving mechanism is connected to the simulated human body and can drive the simulated human body to move to different positions in front of the goal frame.
  • the sensing device is connected to the analysis control module.
  • the sensing device is used to detect the position of the incoming ball and transmit the data to
  • An analysis control module is connected to the motion drive mechanism control.
  • the motion driving mechanism includes a connecting block, a connecting rod, and a power component.
  • the connecting block is installed on the crossbeam of the goal frame.
  • the upper end of the connecting rod is connected to the connecting block, and the lower end is connected to the simulated human body.
  • the power assembly can drive the connecting rod to swing and/or drive the connecting block to move along the cross beam, and the analysis control module is controllably connected to the power assembly.
  • the power assembly includes a swing drive assembly and a sliding drive assembly
  • the connecting block is movably installed on the cross beam of the goal frame, the sliding drive assembly drives the connecting block to move along the cross beam;
  • the swing driving assembly is installed On the connecting block and connected to the upper end of the connecting rod, the swing driving component can drive the connecting rod to swing in the left and right directions of the goal frame.
  • a rotational sliding connection structure is provided between the lower end of the connecting rod and the simulated human body.
  • the connecting rod can rotate and slide up and down relative to the simulated human body through the rotating sliding connection structure.
  • the rotation sliding connection structure includes a vertical slide rail vertically fixed on the simulated human body, and a vertical slide rail installed on the simulated human body.
  • the vertical slide block on the vertical slide rail, the lower end of the connecting rod is hinged with the vertical slide block.
  • the motion driving mechanism also includes a rotating rod and a rotating drive assembly.
  • the rotating rod and the rotating driving assembly are both arranged on the connecting block.
  • the rotating driving assembly is connected to the rotating rod and can drive the rotating rod in the horizontal direction. Rotate, and the connecting rod is connected to the rotating rod.
  • the rotating rod can be telescopic, or the rotating driving assembly can also drive the rotating rod to move along its length direction.
  • the motion driving mechanism includes two traction assemblies respectively provided on the vertical beams on both sides of the goal frame.
  • the traction assemblies include a winding motor and a pull rope.
  • the winding motor is fixed on the vertical beam, and the pull rope
  • the rope is wrapped around the output shaft of the winding motor and connected to the simulated human body, and the pull ropes of the traction components on both sides are respectively connected to the left and right sides of the simulated human body;
  • the analysis control module is connected to the winding motor control.
  • the simulated human body includes a trunk, four limbs, and four limb driving assemblies.
  • the limbs are hingedly installed on the trunk, and the limb driving assemblies are installed on the trunk and connected with the limbs.
  • the motion driving mechanism is connected to the trunk; the analysis control module is connected to the limb driving assembly for control.
  • a remote controller which is signal-connected to the analysis control module.
  • the simulated goalkeeper device related to the present invention has the following beneficial effects:
  • a motion drive mechanism By setting up a simulated human body, a motion drive mechanism, a sensing device and an analysis control module, when used, after the simulated goalkeeper device is installed on the goal frame, the sensing device detects the position of the incoming ball and transmits the data to the analysis control module, analyzing and controlling
  • the module has built-in corresponding analysis and processing programs to calculate the best defensive position and control the action of the motion drive mechanism to drive the simulated human body to the corresponding position for interception.
  • the simulated goalkeeper device of the present invention can automatically perform interception actions based on the incoming ball situation when shooting, and simulate the goalkeeper's reaction to improve the athlete's training effect.
  • Figure 1 is a schematic front structural view of the first embodiment of the simulated goalkeeper device of the present invention.
  • Figure 2 is a schematic structural diagram of the back of the simulated goalkeeper device according to Embodiment 1 of the present invention.
  • Figure 3 is a schematic structural diagram of the rotation and sliding connection structure in the first embodiment of the simulated goalkeeper device of the present invention.
  • Figure 4 is a schematic front view of the simulated goalkeeper device in motion according to Embodiment 1 of the present invention.
  • Figure 5 is a schematic back view of the first embodiment of the simulated goalkeeper device of the present invention during movement.
  • Figure 6 is a schematic structural diagram of the second embodiment of the simulated goalkeeper device of the present invention.
  • Figure 7 is a schematic front structural view of the second embodiment of the simulated goalkeeper device of the present invention.
  • Figure 8 is a schematic front view of the second embodiment of the simulated goalkeeper device of the present invention during movement.
  • Figure 9 is a schematic structural diagram of the third embodiment of the simulated goalkeeper device of the present invention.
  • Figure 10 is a schematic front structural view of the third embodiment of the simulated goalkeeper device of the present invention.
  • Figure 11 is a schematic top structural view of the third embodiment of the simulated goalkeeper device of the present invention.
  • Component label description 1 goal frame 11 beams 12 vertical beams 2 Simulating the human body 21 trunk 22 limbs 23 limb drive motor 3 sensing devices 4 Analysis Control Module 5 motion drive mechanism 51 connection block 52 connecting rod 53 Swing drive assembly 54 winding motor 55 drawstring 56 transverse slide rail 57 turning lever 58 steering drive motor 6 Rotating sliding connection structure 61 vertical slide rail 62 vertical slider 7 hockey sticks 8 fixed block 9 Club drive motor
  • the present invention provides a simulated goalkeeper device for setting up in front of the goal frame 1 to intercept shots.
  • the simulated goalkeeper device includes a simulated human body 2, a motion drive mechanism 5, a sensing device 3 and an analysis control module 4 , the simulated human body 2 is set in front of the goal frame 1, the motion driving mechanism 5 is connected to the simulated human body 2, and can drive the simulated human body 2 to move to different positions in front of the goal frame 1, the sensing device 3 is connected to the analysis control module 4, the sensing device 3 It is used to detect the position of the incoming ball and transmit the data to the analysis control module 4.
  • the analysis control module 4 is connected to the motion drive mechanism 5 for control.
  • the motion driving mechanism 5 can be installed on the goal frame 1 .
  • the simulated goalkeeper device When in use, after the simulated goalkeeper device is installed on the goal frame 1, it detects the position of the incoming ball through the sensing device 3 and transmits the data to the analysis control module 4.
  • the analysis control module 4 has a built-in corresponding analysis processing program to calculate the optimal
  • the defensive position is controlled by the motion driving mechanism 5 to drive the simulated human body 2 to the corresponding position for interception.
  • the simulated goalkeeper device can automatically perform interception actions according to the incoming ball situation and simulate the goalkeeper's reaction to improve the athlete's practice effect.
  • the simulated human body 2 includes a trunk part 21, four limb parts 22, and four limb driving assemblies (not shown in the drawings).
  • the limb parts 22 are hingedly installed on the trunk part 21. It is used to simulate human hands and feet.
  • the limb driving components are installed on the trunk part 21 and connected with the limb parts 22. They are used to drive the rotation of the limb parts 22 to simulate the activities of the hands and feet, and the four limb driving components are driven separately.
  • the four limbs 22 and the motion driving mechanism 5 are connected to the trunk 21; the analysis control module 4 is connected to the limb driving assembly for control.
  • the sensing device 3 detects the position of the incoming ball and transmits the data to the analysis control module 4.
  • the analysis control module 4 has a built-in corresponding analysis processing program. In addition to calculating the best defensive position, it also calculates the defensive posture and controls the corresponding
  • a limb driving component is used to drive the corresponding limbs 22 to rotate, adjust the posture of the simulated human body 2, and better model the movements of the goalkeeper.
  • the limb drive assembly can use a limb drive motor 23. See Figure 3. Four limb drive motors 23 are fixedly installed on the back of the trunk 21, which are used to drive the four limbs 22 respectively.
  • the output shafts of the limb drive motors 23 pass through
  • the trunk part 21 is fixedly connected to the limb parts 22, and the rotation center of the limb part 22 is the output shaft of the limb drive motor 23.
  • the limb driving assembly can also adopt other existing suitable structures.
  • a cylinder, an electric cylinder, etc. can be directly used to drive the limbs 22 to rotate around their hinge points.
  • the limb driving assembly is not limited.
  • the simulated goalkeeper device is used to simulate a goalkeeper in ice hockey.
  • the torso 21 and limbs 22 of the simulated human body 2 are both flat plates, and their shapes are made according to the general shape of an ice hockey goalkeeper. Of course, both the trunk part 21 and the limb parts 22 may have a flat structure or a three-dimensional structure.
  • An ice hockey stick 7 is installed on one of the limbs 22 used to simulate human hands on the simulated human body 2 to better simulate the actions of the ice hockey goalkeeper.
  • a stick driving assembly can be provided on the limbs 22 to drive the ice.
  • the stick 7 rotates. See Figure 9.
  • the stick drive assembly uses a stick drive motor 9.
  • the stick drive motor 9 is fixed on the back of the limbs 22, and its output shaft passes through the limbs 22 and is fixed to the ice hockey stick 7.
  • the analysis control module 4 is connected to the stick drive motor 9 to better simulate the movements of ice hockey players.
  • the motion drive mechanism 5 includes a connecting block 51, a connecting rod 52, and a swing drive assembly 53.
  • the connecting block 51 is fixedly installed on the crossbeam of the goal frame 1 11, in which the connecting block 51 can adopt a sleeve structure and be set on the cross beam 11.
  • the swing drive assembly 53 is installed on the connecting block 51 and connected to the upper end of the connecting rod 52, and the lower end of the connecting rod 52 is connected to the simulated human body 2.
  • the swing drive assembly 53 can drive the connecting rod 52 to swing left and right, thereby driving the simulated human body 2 to move left and right in front of the goal frame 1, and drive the simulated human body 2 to move to different positions in front of the goal frame 1 for interception.
  • the swing driving component 53 can be a motor, and its output shaft is fixedly connected to the upper end of the connecting rod 52.
  • the swing driving component 53 can also be made of other suitable driving structures.
  • a rotational sliding connection structure 6 is provided between the lower end of the connecting rod 52 and the simulated human body 2.
  • the connecting rod 52 can rotate and slide up and down relative to the simulated human body 2 through the rotating sliding connection structure 6.
  • the rotating sliding connection structure 6 includes There is a vertical slide rail 61 fixed on the torso 21 of the simulated human body 2 and a vertical slide block 62 installed on the vertical slide rail 61.
  • the lower end of the connecting rod 52 is hinged with the vertical slide block 62.
  • the simulated human body 2 is generally located on the ground, and the torso 21 is in a vertical state to better simulate human movements.
  • the connecting rod 52 swings, the lower end will rotate relative to the vertical slider 62, and the torso 21 of the simulated human body 2 can slide vertically relative to the lower end of the connecting rod 52 through the vertical slide rail 61 and the vertical slider 62, thereby realizing simulation.
  • the relative rotation and relative vertical movement of the trunk 21 of the human body 2 and the lower end of the connecting rod 52 allows the trunk 21 to always maintain a vertical state, while simulating the human body 2 to always be located on the ground.
  • the analysis control module 4 includes a processor, a memory
  • the memory is used for data storage
  • the processor is used to analyze the data of the sensing device 3 and calculate the best defensive position and posture of the goalkeeper object.
  • the controller is connected to the processor, and controls the motion drive mechanism 5 and limb drive components to perform corresponding movements based on the calculation data.
  • it also includes a remote controller.
  • the remote controller can communicate with the controller through a wireless network device. It can issue instructions through the remote controller to control the movement of the simulated goalkeeper device to achieve manual control.
  • the battery is used to provide power and data communication between various devices.
  • Wireless transmission can be carried out through wireless network devices.
  • the analysis control module 4 is provided on the connection block 51, and the sensing device 3 is installed on the analysis control module 4.
  • the sensing device 3 can also be fixedly provided on the goal frame 1 superior.
  • the position information collection, calculation, and simulated human body 2 motion control methods used by the sensing device 3 and the analysis control module 4 can specifically adopt existing appropriate methods, and the corresponding algorithm programs can be set in the storage, processing In the device and controller, by capturing the position information of the ice ball when it moves toward the goal frame 1, it is judged to which position the simulated human body 2 should move and which limbs 22 need to rotate.
  • artificial intelligence can be used to analyze the analysis of different athletes to form corresponding control programs and carry out targeted defense.
  • by obtaining the position of the ice puck when shooting it can also analyze the optimal points of the player's movements when shooting and provide feedback.
  • FIGS 6 to 8 are structural diagrams of Embodiment 2.
  • a different motion drive mechanism 5 is used, and the sensing device 3 and the analysis control module 4 are arranged at different positions of the door frame, as detailed below. ;
  • the motion driving mechanism 5 includes two traction assemblies respectively provided on the vertical beams 12 on both sides of the goal frame 1.
  • the traction assemblies include a winding motor 54 and a pull rope 55.
  • the winding motor 54 is fixed to the vertical beams 12 of the goal frame 1.
  • a fixed block 8 is fixed on the vertical beam 12 of the goal frame 1.
  • the winding motor 54 is fixed on the fixed block 8.
  • the pull rope 55 is wound around the output shaft of the winding motor 54 and connected with the simulated human body 2
  • the draw ropes 55 of the traction components on both sides are connected to the left and right sides of the torso 21 of the simulated human body 2 respectively, and the analysis control module 4 is connected to the winding motor 54 for control.
  • the analysis control module 4 drives the winding motors 54 on both sides to move in reverse according to the calculated data. One of them performs the pulling of the rope 55 to release the wire, and the other performs the pulling of the wire 55 to take up the wire. They cooperate together to pull the simulated human body 2 on the Move left and right to control the position of simulated human body 2.
  • the sensing device 3 and the analysis control module 4 are installed on the fixed blocks 8 of the vertical beams 12 on both sides of the goal frame 1.
  • the sensing device 3 and the analysis control module 4 can also be fixedly installed. on beam 11.
  • the dynamic driving mechanism 5 also includes a rotating rod 59 and a rotating driving assembly, and also includes a sliding driving assembly (not shown in the drawings), wherein the rotating driving assembly and sliding drive components are all connected to the analysis control module 4 for control.
  • the connecting block 51 is installed on the crossbeam 11 of the goal frame 1 and can move along the crossbeam 11.
  • a transverse slide rail 56 is fixed on the crossbeam 11, and the connecting block 51 is slidably installed on the transverse slide rail.
  • On the rail 56 it plays the role of a slider.
  • the sliding driving assembly is connected with the connecting block 51 and drives the connecting block 51 to slide laterally.
  • the sliding drive assembly can adopt an existing suitable structure, such as a cylinder, a screw drive mechanism, etc., and can drive the connecting block 51 to move linearly along the beam 11, which is not limited here.
  • the rotating rod 59 and the rotating driving assembly are both arranged on the connecting block 51.
  • the rotating driving assembly is connected with the rotating rod 59 and can drive the rotating rod 59 to rotate in the horizontal direction.
  • the swing driving assembly 53 is installed on the rotating rod 59. Specifically, the rotating rod 59 can be rotated in the horizontal direction.
  • the driving assembly adopts a rotating drive motor 58, which is vertically fixed on the connecting block 51.
  • the rotating rod 59 is fixedly connected to the output shaft of the rotating driving motor 58 and maintains a horizontal attitude.
  • the swing driving assembly 53 is installed on the front end of the rotating rod 59. , the upper end of the connecting rod 52 is connected with the dynamic driving assembly 53 .
  • the rotating rod 59 can be telescopic to adjust the front and rear position of the simulated human body 2 .
  • the front end position of the rotating rod 59 can be adjusted by driving the rotating rod 59 to move along its length direction through a suitable rotational driving assembly.
  • the motion driving mechanism 5 can adjust the position of the simulated human body 2 from many aspects. First, it drives the connecting block 51 to slide left and right through the sliding driving assembly, and drives the connecting rod 52 to swing left and right through the swing driving assembly 53. to adjust the left and right positions of the simulated human body 2; secondly, by rotating the driving assembly to drive the rotating rod 59 to rotate horizontally, the orientation position of the simulated human body 2 in front of the goal frame 1 is adjusted, that is, the simulated human body can be adjusted according to the direction of the incoming ball. 2; thirdly, the front and rear position of the simulated human body 2, that is, the distance from the goal frame 1, is adjusted through the telescopic movement of the rotating rod 59. In this way, through the above method, the position of the simulated human body 2 can be better adjusted and the goalkeeper's saving action can be better simulated.
  • the analysis control module 4 is fixed on the crossbeam 11 of the goal frame 1 and is located on both sides of the action.
  • the sensing device 3 is arranged in the analysis control module 4.
  • Other parts of this embodiment are basically the same as the above-mentioned Embodiment 1, and therefore will not be described again.
  • the swing form of the driving connecting rod 52 used in Embodiment 1 can be changed to the form of driving the connecting block 51 to slide on the crossbeam 11 of the goal frame 1 .
  • the simulated goalkeeper device of the present invention is not limited to the above-mentioned embodiments. Based on its structural principles, it can also be in other forms. In other embodiments, the motion driving mechanism 5 can also adopt other suitable driving structures, as long as it can drive the simulated human body 2 to move in front of the goal frame 1, and the moving speed and sensitivity meet the corresponding requirements.
  • the simulated goalkeeper device of the present invention can be used for ice hockey, and can also be applied to other sports that require goalkeeping, such as football.
  • the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

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Abstract

本发明涉及一种模拟守门员装置，用于设置在球门框前进行射门拦截，包括模拟人体、运动驱动机构、感知器件和分析控制模块，所述模拟人体设置在球门框前，所述运动驱动机构与模拟人体连接，能够驱动模拟人体在球门框前移动至不同位置处，所述感知器件与分析控制模块相连，所述感知器件用于检测感知来球位置并将数据传输到分析控制模块，所述分析控制模块与运动驱动机构控制相连。本发明的模拟守门员装置能够根据来球情况，自动进行拦截动作，模拟守门员的反应，以提升运动员的练习效果。

Description

一种模拟守门员装置 技术领域
本发明涉及体育器械技术领域，具体涉及一种模拟守门员装置。
背景技术
冰球运动(Ice Hockey)是以冰刀和冰球杆为工具在冰上进行的一种相互对抗的集体性竞技运动，冰球运动员通过不断的用冰球杆对冰球进行打击，盘带等动作，完成将冰球打进球门进行得分。
目前冰球运动员在独自练习射门的时候，缺乏可以互动交互的冰球守门员，只能使用静态的模拟守门员的障碍物，练习射门精度，然而静态模拟障碍物只能保持不动，不能用于练习面对守门员时所需要的快速反应能力，不利于提高实战水平。
发明内容
鉴于以上所述现有技术的缺点，本发明要解决的技术问题在于提供一种模拟守门员装置，能够根据来球情况，自动进行拦截动作，提升运动员的练习效果。
为实现上述目的，本发明提供一种模拟守门员装置，用于设置在球门框前进行射门拦截，包括模拟人体、运动驱动机构、感知器件和分析控制模块，所述模拟人体设置在球门框前，所述运动驱动机构与模拟人体连接，能够驱动模拟人体在球门框前移动至不同位置处，所述感知器件与分析控制模块相连，所述感知器件用于检测感知来球位置并将数据传输到分析控制模块，所述分析控制模块与运动驱动机构控制相连。
进一步地，所述运动驱动机构包括连接块、连接杆、以及动力组件，所述连接块安装在球门框的横梁上，所述连接杆上端与连接块相连接、下端与模拟人体连接，所述动力组件能够驱动连接杆摆动和/或驱动连接块沿着横梁移动，所述分析控制模块与动力组件控制相连。
进一步地，所述动力组件包括摆动驱动组件和滑动驱动组件，所述连接块可移动地安装在球门框的横梁上，所述滑动驱动组件驱动连接块沿着横梁移动；所述摆动驱动组件安装于连接块上并与连接杆上端相连接，所述摆动驱动组件能够驱动连接杆在球门框左右方向上摆动。
进一步地，所述连接杆下端与模拟人体之间设有转动滑动连接结构，所述连接杆通过转动滑动连接结构能够相对模拟人体转动并上下滑动。
进一步地，所述转动滑动连接结构包括竖向固定在模拟人体上的竖向滑轨、以及安装在 竖向滑轨上的竖向滑块，所述连接杆下端与竖向滑块铰接。
进一步地，所述运动驱动机构还包括转动杆和转动驱动组件，所述转动杆和转动驱动组件都设置在连接块上，所述转动驱动组件与转动杆连接，能够驱动转动杆在水平方向上转动，所述连接杆连接于转动杆上。
进一步地，所述转动杆能够伸缩，或者所述转动驱动组件还能够驱动转动杆沿自身长度方向移动。
进一步地，所述运动驱动机构包括两个分别设置在球门框两侧竖梁上的牵引组件，所述牵引组件包括缠绕电机和拉绳，所述缠绕电机固定于的竖梁上，所述拉绳缠绕在缠绕电机的输出轴上并与模拟人体连接，且两侧的牵引组件的拉绳分别连接在模拟人体的左右两侧；所述分析控制模块与缠绕电机控制相连。
进一步地，所述模拟人体包括躯干部、四个四肢部、以及四个肢体驱动组件，所述四肢部铰接安装在躯干部上，所述肢体驱动组件安装于躯干部并与四肢部连接，用于驱动四肢部转动，且四个肢体驱动组件分别驱动四个四肢部，所述运动驱动机构与躯干部连接；所述分析控制模块与肢体驱动组件控制相连。
进一步地，还包括遥控器，所述遥控器与分析控制模块信号相连。
如上所述，本发明涉及的模拟守门员装置，具有以下有益效果：
通过设置模拟人体、运动驱动机构、感知器件和分析控制模块，使用时，模拟守门员装置在球门框上安装好后，通过感知器件来检测感知来球位置并将数据传输到分析控制模块，分析控制模块内置相应的分析处理程序，计算出最佳的防守位置并控制运动驱动机构动作，驱动模拟人体达到相应位置以进行拦截。本发明的模拟守门员装置，能够根据射门时的来球情况，自动进行拦截动作，模拟守门员的反应，以提升运动员的练习效果。
附图说明
图1为本发明的模拟守门员装置实施例一的正面结构示意图。
图2为本发明的模拟守门员装置实施例一的背面结构示意图。
图3为本发明的模拟守门员装置实施例一中的转动滑动连接结构的结构示意图。
图4为本发明的模拟守门员装置实施例一运动时的正面示意图。
图5为本发明的模拟守门员装置实施例一运动时的背面示意图。
图6为本发明的模拟守门员装置实施例二的结构示意图。
图7为本发明的模拟守门员装置实施例二的正面结构示意图。
图8为本发明的模拟守门员装置实施例二运动时的正面示意图。
图9为本发明的模拟守门员装置实施例三的结构示意图。
图10为本发明的模拟守门员装置实施例三的正面结构示意图。
图11为本发明的模拟守门员装置实施例三的俯视结构示意图。
元件标号说明
1                 球门框
11                横梁
12                竖梁
2                 模拟人体
21                躯干部
22                四肢部
23                肢体驱动电机
3                 感知器件
4                 分析控制模块
5                 运动驱动机构
51                连接块
52                连接杆
53                摆动驱动组件
54                缠绕电机
55                拉绳
56                横向滑轨
57                转动杆
58                转向驱动电机
6                 转动滑动连接结构
61                竖向滑轨
62                竖向滑块
7                 冰球杆
8                 固定块
9                 球杆驱动电机
具体实施方式
以下由特定的具体实施例说明本发明的实施方式，熟悉此技术的人士可由本说明书所揭露的内容轻易地了解本发明的其他优点及功效。
须知，本说明书附图所绘的结构、比例、大小等，均仅用以配合说明书所揭示的内容，以供熟悉此技术的人士了解与阅读，并非用以限定本发明可实施的限定条件，故不具技术上的实质意义，任何结构的修饰、比例关系的改变或大小的调整，在不影响本发明所能产生的功效及所能达成的目的下，均应仍落在本发明所揭示的技术内容能涵盖的范围内。同时，本说明书中所引用的如“上”、“下”、“左”、“右”、“中间”等的用语，亦仅为便于叙述明了，而非用以限定本发明可实施的范围，其相对关系的改变或调整，在无实质变更技术内容下，当亦视为本发明可实施的范畴。
参见图1至图11，本发明提供了一种模拟守门员装置，用于设置在球门框1前进行射门拦截，模拟守门员装置包括模拟人体2、运动驱动机构5、感知器件3和分析控制模块4，模拟人体2设置在球门框1前，运动驱动机构5与模拟人体2连接，能够驱动模拟人体2在球门框1前移动至不同位置处，感知器件3与分析控制模块4相连，感知器件3用于检测感知来球位置并将数据传输到分析控制模块4，分析控制模块4与运动驱动机构5控制相连。其中，运动驱动机构5可安装在球门框1上。
使用时，模拟守门员装置在球门框1上安装好后，通过感知器件3来检测感知来球位置并将数据传输到分析控制模块4，分析控制模块4内置相应的分析处理程序，计算出最佳的防守位置并控制运动驱动机构5动作，驱动模拟人体2达到相应位置以进行拦截，模拟守门员装置能够根据来球情况，自动进行拦截动作，模拟守门员的反应，以提升运动员的练习效果。
参见图1至图11，以下以几个具体实施例对本发明做进一步说明：
实施例一：
参见图1至图5，为实施例一的结构示意。在本实施例中，作为优选设计，模拟人体2包括躯干部21、四个四肢部22、以及四个肢体驱动组件(附图中未示出)，四肢部22铰接安装在躯干部21上，用于模拟人的双手和双脚，肢体驱动组件安装于躯干部21并与四肢部22连接，用于驱动四肢部22转动，以模拟双手和双脚的活动，且四个肢体驱动组件分别驱动四个四肢部22，运动驱动机构5与躯干部21连接；分析控制模块4与肢体驱动组件控制相连。使用时，感知器件3来检测感知来球位置并将数据传输到分析控制模块4，分析控制模块4内置相应的分析处理程序，计算出最佳的防守位置外，还计算防守姿态，并控制对应 的肢体驱动组件，来驱动对应的四肢部22转动，调整模拟人体2的姿态，更好地模型守门员的动作。其中，肢体驱动组件可以采用肢体驱动电机23，参见图3，躯干部21的背面固定安装有四个肢体驱动电机23，分别用于驱动四个四肢部22，肢体驱动电机23的输出轴穿过躯干部21与四肢部22固定连接，四肢部22的转动中心即为肢体驱动电机23的输出轴。当然，肢体驱动组件也可以采用其他现有合适结构，例如可以直接采用气缸电动缸等驱动四肢部22转动绕其铰接点转动，在本申请中，肢体驱动组件不作限制。
在本实施例子，参见图1和图3，模拟守门员装置用于模拟冰球运动的守门员，模拟人体2的躯干部21和四肢部22都为平板结构，其形状根据冰球守门员的大致形状进行制作。当然躯干部21和四肢部22都为平板结构也可以为立体式结构。在模拟人体2上边用于模拟人手的一个四肢部22上安装有冰球杆7，以更好地模拟冰球守门员的动作，并且优选地，可以在四肢部22上设置球棍驱动组件来驱动冰球杆7转动，参见图9，球棍驱动组件采用一个球棍驱动电机9，球棍驱动电机9固定在四肢部22的背面上，其输出轴穿过该四肢部22与冰球杆7固定连接，分析控制模块4与球棍驱动电机9控制相连，更好模拟冰球运动员的动作。
在本实施例中，参见图1、图2和图3，作为优选设计，运动驱动机构5包括连接块51、连接杆52、以及摆动驱动组件53，连接块51固定安装在球门框1的横梁11上，其中连接块51可采用套筒结构，套装在横梁11上，摆动驱动组件53安装在连接块51上并与连接杆52上端连接，连接杆52下端与模拟人体2连接。摆动驱动组件53能够驱动连接杆52左右摆动，从而驱动模拟人体2在球门框1前左右移动外，带动模拟人体2移动到球门框1前不同位置，以便进行拦截。其中摆动驱动组件53可采用电机，其输出轴与连接杆52上端固定连接，摆动驱动组件53也可以采用其他合适驱动结构。
进一步地，连接杆52下端与模拟人体2之间设有转动滑动连接结构6，参见图3，连接杆52通过转动滑动连接结构6能够相对模拟人体2转动并上下滑动，转动滑动连接结构6包括固定在模拟人体2的躯干部21上的竖向滑轨61、以及安装在竖向滑轨61上的竖向滑块62，连接杆52下端与竖向滑块62铰接。在使用时，模拟人体2一般都是位于地面上的，躯干部21为竖向状态，更好地模拟人的动作。当连接杆52摆动时，下端会相对竖向滑块62转动，模拟人体2的躯干部21能够通过竖向滑轨61和竖向滑块62相对连接杆52下端竖向滑动，以此实现模拟人体2的躯干部21与连接杆52下端的相对转动和相对竖向移动，从而使躯干部21能够始终保持竖向状态，同时模拟人体2始终位于地面上。
在本实施例中，参见图1、图2和图3，作为优选设计，分析控制模块4包含处理器、存 储器、控制器、无线网络器件和电池等器件，并且集成在一个整体模块中，存储器用于数据存储，处理器用于分析感知器件3的数据，并计算出守门员物体的最佳防守位置和姿态，控制器与处理器相连，根据计算数据并控制运动驱动机构5和肢体驱动组件等进行相应运动。优选地，还包括遥控器，遥控器能够通过无线网器件与控制器进行通讯，通过遥控器发出指令来控制模拟守门员装置运动，实现人工控制，电池用以提供电能，各个器件之间的数据通讯可以通过无线网络器件进行无线传输。在本实施例中，参见图1、图2和图3，分析控制模块4设置在连接块51上，感知器件3安装在分析控制模块4上，当然感知器件3也可以固定设置在球门框1上。
在本发明中，感知器件3和分析控制模块4所采用的位置信息采集、计算、以及模拟人体2运动控制方法，具体可以采用现有合适的方法，相应的算法程序可设置在储存器、处理器和控制器中，通过捕捉冰球朝球门框1运动时所处的位置信息，判断模拟人体2应往哪个位置运动、以及哪个四肢部22需要转动。并且，可以采用人工智能，分析不同运动员的分析，来形成相应的控制程序，进行针对性防守。此外，通过获取射门时冰球的位置，还可以分析运动员射门时的动作优选点，提供反馈。
实施例二：
参见图6至图8，为实施例二的结构示意。在本实施例中，实施例一相比，采用了与实施例一中不同的运动驱动机构5，感知器件3和分析控制模块4设置在门框的不同位置，具体如下。；
在本实施例中，运动驱动机构5包括两个分别设置在球门框1两侧竖梁12上的牵引组件，牵引组件包括缠绕电机54和拉绳55，缠绕电机54固定于球门框1的竖梁12上，具体地，球门框1的竖梁12上固定有一个固定块8上，缠绕电机54固定在固定块8上，拉绳55缠绕在缠绕电机54的输出轴上并与模拟人体2连接，且两侧的牵引组件的拉绳55分别连接在模拟人体2的躯干部21的左右两侧，分析控制模块4与缠绕电机54控制相连。使用时，分析控制模块4根据计算后的数据，驱动两侧的缠绕电机54反向运动，其中一个进行拉绳55放线，另外一个进行拉绳55收线，共同配合，拉动模拟人体2在左右方向上移动，以控制模拟人体2的位置。
在本实施例中，参见图6，在球门框1两侧竖梁12的固定块8上都安装有感知器件3和分析控制模块4，当然，感知器件3和分析控制模块4也可以固定安装在横梁11上。
实施例三：
参见图6至图8，为实施例二的结构示意。本实施例为在实施例一基础在的改进，其运 动驱动机构5除了包括连接块51、连接杆52和摆动驱动组件53之外，还包括转动杆59和转动驱动组件，同时还包括滑动驱动组件(附图中未示出)，其中转动驱动组件和滑动驱动组件都与分析控制模块4控制相连。
在本实施例中，连接块51安装在球门框1的横梁11上并能够沿着横梁11移动，具体地，在横梁11上固定有横向滑轨56，连接块51可滑动地安装在横向滑轨56上，起到滑块作用。滑动驱动组件与连接块51连接，驱动连接块51横向滑动。其中，滑动驱动组件具体可以采用现有合适结构，例如可以采用气缸、丝杠传动机构等等，能够驱动连接块51沿着横梁11直线移动即可，在此不作限制。
转动杆59和转动驱动组件都设置在连接块51上，转动驱动组件与转动杆59连接，能够驱动转动杆59在水平方向上转动，摆动驱动组件53安装于转动杆59上，具体地，转动驱动组件采用一个转动驱动电机58，竖向地固定在连接块51上，转动杆59固定连接在转动驱动电机58的输出轴上，并保持水平姿态，摆动驱动组件53安装在转动杆59的前端，连接杆52的上端与动驱动组件53连接。进一步地，在本实施例中，转动杆59能够伸缩，以实现对模拟人体2的前后位置的调节。当然，在其他实施例中，也可以是通过合适转动驱动组件来驱动转动杆59沿自身长度方向移动，以此调整转动杆59前端位置。
本实施例中，运动驱动机构5能够从多方面来调节模拟人体2的位置，第一方面，通过滑动驱动组件来驱动连接块51左右滑动，以及通过摆动驱动组件53驱动连接杆52左右摆动，来调节模拟人体2的左右位置；第二方面，通过转动驱动组件驱动转动杆59水平转动，来调整模拟人体2在球门框1前的朝向位置，也即能够根据来球方向，来调节模拟人体2的朝向角度；第三方面，通过转动杆59的伸缩运动来调节模拟人体2的前后位置，也即与球门框1的距离。以此，通过上述方式，能够更好地调节模拟人体2的位置，更好地模拟守门员的扑救动作。
本实施例中，感知器件3和分析控制模块4都为两个，分析控制模块4固定在球门框1的横梁11上并位于作用两侧，感知器件3设置在分析控制模块4中。本实施例的其他部分与上述实施例一基本相同，因此不再赘述。
在另一实施例中，可将实施例一中所采用的驱动连接杆52摆动形式改成驱动连接块51在球门框1的横梁11上滑动的形式。
当然，本发明的模拟守门员装置，也并不限于上述的几个实施例，基于其结构原理，也可以为其他形式。在其他实施例中，运动驱动机构5也可以采用其他合适驱动结构，能够驱动模拟人体2在球门框1前移动即可，且移动速度和灵敏度满足相应要求即可。
本发明的模拟守门员装置，可以作为用于冰球运动，也可以应用于其他需要守门的运动，例如足球等。
由上可知，本发明的模拟守门员装置，具有以下技术优点：
1、能够根据射门时来球的位置，自动模拟守门员动作进行拦截，克服现有静态守门员模拟障碍物存在的问题，提高练习射门精度，提升实战水平；2、能够很好地控制模拟人体2的位置和姿态，更好的地模拟守门员动作；3、可以具有全自动模式和遥控切换模式，在遥控切换模式时由人进行控制。
综上所述，本发明有效克服了现有技术中的种种缺点而具有高度产业利用价值。
上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，举凡所属技术领域中具有通常知识者在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。

Claims (8)

  1. 一种模拟守门员装置，用于设置在球门框(1)前进行射门拦截，其特征在于：包括模拟人体(2)、运动驱动机构(5)、感知器件(3)和分析控制模块(4)，所述模拟人体(2)设置在球门框(1)前，所述运动驱动机构(5)与模拟人体(2)连接，能够驱动模拟人体(2)在球门框(1)前移动至不同位置处，所述感知器件(3)与分析控制模块(4)相连，所述感知器件(3)用于检测感知来球位置并将数据传输到分析控制模块(4)，所述分析控制模块(4)与运动驱动机构(5)控制相连，所述运动驱动机构(5)包括连接块(51)、连接杆(52)、以及动力组件，所述连接块(51)安装在球门框(1)的横梁(11)上，所述连接杆(52)上端与连接块(51)相连接、下端与模拟人体(2)连接，所述动力组件能够驱动连接杆(52)摆动和/或驱动连接块(51)沿着横梁(11)移动，所述分析控制模块(4)与动力组件(53)控制相连，或者，所述运动驱动机构(5)包括两个分别设置在球门框(1)两侧竖梁(12)上的牵引组件，所述牵引组件包括缠绕电机(54)和拉绳(55)，所述缠绕电机(54)固定于的竖梁(12)上，所述拉绳(55)缠绕在缠绕电机(54)的输出轴上并与模拟人体(2)连接，且两侧的牵引组件的拉绳(55)分别连接在模拟人体(2)的左右两侧；所述分析控制模块(4)与缠绕电机(54)控制相连。
  2. 根据权利要求1所述的模拟守门员装置，其特征在于：所述动力组件包括摆动驱动组件(53)和滑动驱动组件，所述连接块(51)可移动地安装在球门框(1)的横梁(11)上，所述滑动驱动组件驱动连接块(51)沿着横梁(11)移动；所述摆动驱动组件(53)安装于连接块(51)上并与连接杆(52)上端相连接，所述摆动驱动组件(53)能够驱动连接杆(52)在球门框(1)左右方向上摆动。
  3. 根据权利要求2所述的模拟守门员装置，其特征在于：所述连接杆(52)下端与模拟人体(2)之间设有转动滑动连接结构(6)，所述连接杆(52)通过转动滑动连接结构(6)能够相对模拟人体(2)转动并上下滑动。
  4. 根据权利要求3所述的模拟守门员装置，其特征在于：所述转动滑动连接结构(6)包括竖向固定在模拟人体(2)上的竖向滑轨(61)、以及安装在竖向滑轨(61)上的竖向滑块(62)，所述连接杆(52)下端与竖向滑块(62)铰接。
  5. 根据权利要求2所述的模拟守门员装置，其特征在于：所述运动驱动机构(5)还包括转动杆(57)和转动驱动组件，所述转动杆(57)和转动驱动组件都设置在连接块(51)上， 所述转动驱动组件与转动杆(57)连接，能够驱动转动杆(57)在水平方向上转动，所述连接杆(52)连接于转动杆(57)上。
  6. 根据权利要求5所述的模拟守门员装置，其特征在于：所述转动杆(57)能够伸缩，或者所述转动驱动组件还能够驱动转动杆(57)沿自身长度方向移动。
  7. 根据权利要求1所述的模拟守门员装置，其特征在于：所述模拟人体(2)包括躯干部(21)、四个四肢部(22)、以及四个肢体驱动组件，所述四肢部(22)铰接安装在躯干部(21)上，所述肢体驱动组件安装于躯干部(21)并与四肢部(22)连接，用于驱动四肢部(22)转动，且四个肢体驱动组件分别驱动四个四肢部(22)，所述运动驱动机构(5)与躯干部(21)连接；所述分析控制模块(4)与肢体驱动组件控制相连。
  8. 根据权利要求1所述的模拟守门员装置，其特征在于：还包括遥控器，所述遥控器与分析控制模块(4)信号相连。
PCT/CN2023/111527 2022-08-09 2023-08-07 一种模拟守门员装置 WO2024032563A1 (zh)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA1303644C (en) * 1987-08-05 1992-06-16 Catherine L. Kroeker Practice goaltender figure
CN205796434U (zh) * 2016-06-08 2016-12-14 南京景曜智能科技有限公司 一种足球守门员机器人系统
CN210495120U (zh) * 2019-09-04 2020-05-12 西昌学院 一种练习用足球门
CN211302041U (zh) * 2019-08-21 2020-08-21 徐鹏程 足球射门防守拦截游乐设备

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA1303644C (en) * 1987-08-05 1992-06-16 Catherine L. Kroeker Practice goaltender figure
CN205796434U (zh) * 2016-06-08 2016-12-14 南京景曜智能科技有限公司 一种足球守门员机器人系统
CN211302041U (zh) * 2019-08-21 2020-08-21 徐鹏程 足球射门防守拦截游乐设备
CN210495120U (zh) * 2019-09-04 2020-05-12 西昌学院 一种练习用足球门

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