WO2022156381A1 - 陪练机器人、控制方法及控制*** - Google Patents

陪练机器人、控制方法及控制*** Download PDF

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Publication number
WO2022156381A1
WO2022156381A1 PCT/CN2021/135049 CN2021135049W WO2022156381A1 WO 2022156381 A1 WO2022156381 A1 WO 2022156381A1 CN 2021135049 W CN2021135049 W CN 2021135049W WO 2022156381 A1 WO2022156381 A1 WO 2022156381A1
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WO
WIPO (PCT)
Prior art keywords
ball
hitting
racket
sparring
cage
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Application number
PCT/CN2021/135049
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English (en)
French (fr)
Inventor
陈贺龄
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陈贺龄
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Publication date
Application filed by 陈贺龄 filed Critical 陈贺龄
Publication of WO2022156381A1 publication Critical patent/WO2022156381A1/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
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/0017—Training appliances or apparatus for special sports for badminton
    • 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
    • A63B69/40—Stationarily-arranged devices for projecting balls or other bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the invention relates to the technical field of robots, in particular to a sparring robot, a control method and a control system.
  • sparring robots for ball sports have appeared on the market, such as badminton sparring robots and table tennis sparring robots.
  • the existing sparring robots work in a single way, and can only simply serve the ball and give simple feedback to the user's hitting.
  • this traditional sparring mode has been unable to meet the different needs of users, and the effect of sparring is not very satisfactory.
  • the purpose of the present invention is to provide a sparring robot, a control method and a control system. Better sparring experience.
  • An embodiment of the present invention provides a sparring robot, including:
  • a ball serving mechanism is arranged above the base, the ball serving mechanism includes a ball cage, a ball clamping device and a ball thrower, and the ball clamping device is used to take out the ball in the ball cage and place it on the ball throwing device
  • the ball thrower is used for throwing the ball
  • the ball striking mechanism comprises a racket, a connecting arm and a racket support rod, and the racket is connected to the racket support rod through the connecting arm;
  • a controller assembly is used to control the ball firing mechanism and the ball striking mechanism.
  • the firing mechanism further includes a ball cage bracket and a ball cage support seat, the ball cage is detachably fixed on the ball cage support seat through the ball cage bracket, and the ball cage support seat on the upper surface of the base.
  • the cage includes a plurality of cylinders mounted on a cage bracket and rotatable relative to the cage bracket so that different The ball outlet of the ball cylinder is aligned with the ball clamping device.
  • the firing mechanism further includes a ball cage support base and a first sensor disposed on the ball cage support base, the ball cage bracket is mounted on the ball cage support base, the first sensor The device is used to detect whether there is a ball in the ball cylinder aligned with the ball clamping device;
  • the controller component is used for acquiring the detection data of the first sensor, and controlling the rotation of the ball cage when it is judged that there is no ball in the ball cylinder aligned with the ball clamping device.
  • the ball thrower includes a platform and a platform support rod
  • the controller assembly is used to control the platform support rod to throw the ball in the platform upward, and to control the ball hitting The racket of the mechanism hits the thrown ball.
  • the teeing mechanism further includes a ball cage support seat
  • the ball clamping device includes a clamp arm and a moving seat
  • the clamp arm is rotatably fixed to the ball cage support through the moving seat seat.
  • the ball serving mechanism is disposed in front of the ball striking mechanism
  • the ball clamping device is disposed in front of the ball cage
  • the ball thrower is disposed in front of the ball clamping device, so The ball cage is inclined forward from its upper end to its lower end, and the ball outlet at the lower end of the ball cage is aligned with the ball clamping device.
  • the connecting arm is a flexible arm
  • the racket is connected to the flexible arm through a racket connecting portion, and the racket and the racket connecting portion are detachably connected;
  • the flexible arm is sequentially fixed on the racket support seat through a flexible arm connecting part and the racket support rod, and the racket support seat is located on the upper surface of the base.
  • the flexible arm is provided with at least two first driving ropes extending along the length direction of the flexible arm, and the flexible arm connecting portion is provided with a one-to-one correspondence with the first driving ropes pulley;
  • the first driving rope is wound on the pulley, one end of the first driving rope is connected above the flexible arm, and the other end of the first driving rope is connected to the racket support rod after passing through the racket support rod.
  • the racket support base a rope drive motor is arranged in the racket support base, and the controller assembly drives the first drive rope to move through the rope drive motor, thereby adjusting the posture of the flexible arm;
  • the flexible arm is provided with a universal joint device, and the universal joint device includes at least one connecting rod and two universal joint bases, and the two universal joint bases are respectively arranged at both ends of the flexible arm, Both ends of the connecting rod are rotatably connected to the two universal joint bases respectively, the first driving rope is connected to the two universal joint bases, and the first driving rope is driven to move to adjust the the relative positional relationship of the two universal joint bases, so that the flexible arm is inclined to one side and/or the flexible arm rotates relative to the flexible arm connecting portion;
  • the universal joint device further includes a second driving rope, a universal bearing and a transmission shaft, two ends of the transmission shaft are respectively connected to the two universal joint bases through the universal bearings, and the transmission shaft is One end of the racket is connected with the racket connecting part, and the transmission shaft is driven to rotate by the second driving rope, so that the racket connecting part drives the racket to rotate relative to the flexible arm.
  • a camera is further disposed above the base, and the camera communicates with the controller assembly to transmit the captured images to the controller assembly;
  • a second sensor is also provided on the side or above of the base, the second sensor is used to detect the position of the ball, and the second sensor communicates with the controller assembly to transmit detection data to the in the controller component.
  • a walking mechanism is provided at the bottom of the base, and the controller assembly is further configured to control the walking mechanism to move, so as to move the sparring robot to a designated position.
  • An embodiment of the present invention also provides a method for controlling a sparring robot, which is used to control the sparring robot, and the method includes the following steps:
  • Strategies include racket hitting stance, racket hitting speed, and control of where the racket executes the ball;
  • control the ball clamping device of the service mechanism to take out the ball in the ball cage and place it on the ball thrower, control the ball thrower to throw the ball upward, and control the hitting ball The mechanism hits the thrown ball.
  • the ball clamping device that controls the ball delivery mechanism takes out the ball in the ball cage and places it on the ball thrower, controls the ball thrower to throw the ball upward, and controls the hitting The ball mechanism hits the thrown ball, including the following steps:
  • the serving strategy includes serving frequency, serving position range, landing point range and serving speed;
  • the ball hitting mechanism is controlled to hit the thrown ball according to the ball firing position range and the ball firing speed.
  • An embodiment of the present invention also provides a control system for a sparring robot, which is applied to the control method for the sparring robot, and the system includes:
  • the central controller is used to obtain the user's motion data and the ball motion track in the hitting mode, and after analyzing and obtaining the hitting strategy of the hitting mechanism, send the hitting instruction including the hitting strategy to the hitting a ball mechanism, and in the service mode, send a service instruction to the ball service mechanism, and send a hitting instruction to the ball hitting mechanism;
  • a hitting controller for controlling the hitting mechanism to complete hitting according to the received hitting instruction
  • a ball service controller used for controlling the ball clamping device of the ball service mechanism to take out the ball in the ball cage and place it on the ball thrower according to the received ball service instruction, and control the ball thrower to throw the ball upwards out.
  • the sparring robot, control method and control system provided by the present invention have the following advantages:
  • the invention provides a sparring robot.
  • the hitting mechanism can hit the ball in different shapes and speeds, so as to achieve a more flexible hitting mode. It can realize fast and continuous variable-speed serving, and through the cooperation of the serving mechanism and the hitting mechanism, the ball is thrown by the ball thrower when serving, and the ball can be hit with different shapes and speeds through the hitting mechanism. In this way, a more flexible serving mode can be realized, which can meet the different needs of users for sparring, and provide users with a better sparring experience.
  • FIG. 1 is a schematic structural diagram of a sparring robot according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a ball serving mechanism according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a sparring robot according to an embodiment of the present invention when hitting a ball;
  • FIG. 4 is a schematic structural diagram of a ball striking mechanism according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of the internal structure of a ball striking mechanism according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a ball hitting mechanism according to an embodiment of the present invention when hitting a ball
  • FIG. 7 is a schematic diagram of a racket replacement according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a sparring robot applied to a training field according to an embodiment of the present invention.
  • FIG. 9 is a flowchart of a control method of a sparring robot according to an embodiment of the present invention.
  • Example embodiments will now be described more fully with reference to the accompanying drawings.
  • Example embodiments can be embodied in various 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, and will fully convey the concept of example embodiments to those skilled in the art.
  • the same reference numerals in the drawings denote the same or similar structures, and thus their repeated descriptions will be omitted.
  • an embodiment of the present invention provides a sparring robot, including: a base 1; A ball device 33 and a ball throwing device 34, the ball clamping device 33 is used to take out the balls in the ball cage 31 and place them in the ball throwing device 34, and the ball throwing device 34 is used for throwing the balls
  • the ball striking mechanism 4 is arranged above the base 1, and the ball striking mechanism 4 includes a racket 41, a connecting arm 43 and a racket support rod 48, and the racket 41 is connected to the racket through the connecting arm 43.
  • the controller assembly 2 is used to control the ball firing mechanism 3 and the ball hitting mechanism 4 .
  • the connecting arm 43 is a flexible arm.
  • the connecting arm 43 may also be a rigid and inflexible connecting arm, which all fall within the protection scope of the present invention.
  • the ball striking mechanism 4 is provided with a flexible arm 43, and under the control of the controller assembly 2, the flexible arm 43 of the ball striking mechanism 4 can drive the racket 41 to hit the ball Execute strikes with different shapes and speeds, allowing for more flexible strike patterns.
  • Fig. 1 and Fig. 3 respectively show the shape of the flexible arm 43 of the hitting mechanism 4 in two different forms, Fig. 1 shows the initial state of the flexible arm 43, and Fig. 3 shows the shuttlecock 92 reaching the shot When the working height of the mechanism 4 is set, the state of the flexible arm 43 when the racket 41 hits is controlled.
  • the serving mechanism 3 can realize the fast and continuous variable speed serving. Specifically, when the ball is served, firstly under the control of the controller assembly 2, the ball clamping device 33 takes out the ball in the ball cage 31 and places it on the ball thrower 34, and the ball throws the ball. The device 34 throws the ball upward, and then the controller assembly 2 controls the racket 41 of the ball striking mechanism 4 to hit the thrown ball. Since the ball striking mechanism 4 has the flexible arm 43, in the service mode, the ball striking mechanism 4 can also strike the thrown ball with different shapes and speeds. Therefore, in the present invention, through the cooperation of the serving mechanism 3 and the hitting mechanism 4, a more flexible serving mode can be realized, so as to meet the different needs of users for sparring.
  • Figures 1 to 8 take the badminton sparring robot as an example for description. It can be understood that the present invention is not limited to this, and in other alternative embodiments, the sparring robot can also be applied to other ball sports, such as table tennis, tennis, volleyball, etc., which all belong to the protection scope of the present invention. Inside.
  • the controller assembly 2 includes a central controller 21 , a ball hitting controller 22 and a ball serving controller 23 .
  • the central controller 21 is arranged in the base 1 , so
  • the batting controller 22 is arranged below the batting mechanism 4,
  • the serving controller 23 is arranged below the batting mechanism 3, and the batting controller 22 and the serving controller 23 are respectively connected with the
  • the central controller 21 is connected to the central controller 21, and the central controller 21 is used to send a hitting command and a serving command to the hitting controller 22 and the serving controller 23, respectively, and the hitting controller 22 is used to
  • the hitting instruction controls the hitting mechanism to perform a hitting action
  • the ball serving controller 23 is used to control the ball serving mechanism to place the ball on the ball thrower 34 and then throw it upwards according to the ball serving instruction.
  • the firing mechanism 3 further includes a ball cage bracket 32 and a ball cage support seat 36 , and the ball cage 31 is detachably fixed on the ball cage support seat 36 through the ball cage bracket 32 ,
  • the ball cage support seat 36 is located on the upper surface of the base 1 , and the ball service controller 23 can be located inside the ball cage support seat 35 to control various components of the ball cage mechanism 3 .
  • the ball cage 31 is detachably fixed on the ball cage support seat 36 through the ball cage bracket 32, which can be detachable connection between the ball cage 31 and the ball cage bracket 32, or the ball cage
  • the cage bracket 32 is detachably connected to the ball cage support base 36 .
  • the ball cage 31 can also be non-detachably fixed on the ball cage support base 36 through the ball cage bracket 32 .
  • the ball cage 31 includes a plurality of ball cylinders, which are mounted on the ball cage bracket 32 and can be rotated relative to the ball cage bracket 32 to make different balls The ball outlet of the barrel is aligned with the ball clamping device 33 .
  • FIG. 2 only the structure in which the shuttlecock 91 is accommodated in one cylinder is exemplarily shown. In practical applications, the shuttlecocks 91 can be placed in each barrel. Also, since the barrels are elongated, a plurality of shuttlecocks 91 can be placed in each barrel.
  • the serving controller 23 controls the ball cage brackets 32 to rotate the ball cages 31, so that other shuttlecocks are The ball cylinder is aligned with the ball clamping device 33, which can further facilitate the rapid and continuous serving.
  • the serving mechanism 3 further includes a first sensor 35 disposed on the ball cage support 36 , and the first sensor 35 is used to detect the connection with the ball clamping device 33 . Whether there is a ball in the barrel of the aligned ball.
  • the first sensor 35 can use sensors such as radar and camera to detect whether the ball cylinder is empty.
  • the controller assembly 2 is used to obtain the detection data of the first sensor 35, and when it is judged that there is no ball in the ball cylinder aligned with the ball clamping device 33, a ball cage rotation instruction is issued to control the ball cage. 31 is rotated by the specified angle so that the other cylinders with balls are turned to align with the ball clamping device 33 .
  • the controller assembly 2 can automatically adjust the rotation of the ball cylinder with the ball to the ball clamping device 33, without manual operation, more convenient to use, and continuous serving The process is more continuous and uninterrupted.
  • the sender of the acquisition of the detection data of the first sensor 35 and the issuer of the ball cage rotation instruction may be the ball serving controller 23 or the central controller 21 .
  • the rotation of the ball cage 31 can be achieved by the ball cage bracket 32, the ball cage bracket 32 can include a central shaft and a ball cage mounting part, and the ball cage rotation motor is used for the ball cage to rotate.
  • the executor of the instruction The ball cage mounting part can rotate around the central axis under the drive of the ball cage rotating motor, each of the ball cylinders is mounted on the ball cage mounting part, and the ball cage rotating motor can be controlled by the controller assembly 2 . controlled.
  • the ball delivery mechanism 3 is disposed in front of the ball striking mechanism 4
  • the ball clamping device 33 is disposed in front of the ball cage 31
  • the ball thrower 34 is disposed in the front of the ball cage 31 .
  • the ball cage 31 is inclined forward from its upper end to its lower end, and the ball outlet at the lower end of the ball cage 31 is aligned with the ball clamping device 33, and the shuttlecock 91 is facing Put it down in the ball cylinder of the ball cage 31, so that the ball clamping device 33 can take it out conveniently.
  • the position and structure of the serving mechanism 3 and the hitting mechanism 4 shown in FIG. 1 can make the structure of the sparring robot more compact, and can facilitate the cooperation of the serving mechanism 3 and the hitting mechanism 4 to complete the serving action.
  • the ball thrower 34 includes a bearing platform 341 and platform support rods 342 disposed on both sides of the bearing platform 341 , and the controller assembly 2 is used to control the platform
  • the support rod 342 throws the ball in the bearing platform 341 upwards at a specific angle, and controls the racket 41 of the ball striking mechanism 4 to hit the thrown ball to complete the teeing action.
  • one end of the platform support rod 342 can be rotatably connected to the racket support base 49, and the other end is connected to the bearing platform 341, and the platform rotating motor receives the
  • a ball throwing instruction is issued by the controller assembly 2
  • one end of the platform support rod 342 is driven to rotate, and the bearing platform 341 is driven to move, so as to throw the ball in the bearing platform 341 upward.
  • the carrying platform 341 is preferably an elastic platform, which can throw the ball more conveniently, but the present invention is not limited thereto.
  • the ball throwing instruction can be issued by the central controller 21 or the ball serving controller 23 .
  • the ball clamping device 33 includes a clamping arm 331 and a moving base 332 , and the clamping arm 331 is rotatably fixed to the ball cage support base 36 through the moving base 332 .
  • one end of the clamping arm 331 is a clamping end, which can clamp the shuttlecock 91, and the other end is connected to the cage support base 36 through a rotating shaft.
  • the controller assembly 2 drives the rotation by controlling the clamping arm to rotate and drive the motor. Rotation of the shaft can cause the clamping arm 331 to rotate relative to the cage support 36 .
  • the clamping and loosening of the shuttlecock 91 by the clamping arms 331 can also be adjusted by setting a clamping drive motor between the two clamping arms 331 to adjust the distance between the clamping ends of the two clamping arms 331 .
  • the distance between the gripping ends of the gripping arms 331 should be reduced to prevent the shuttlecock 91 from being accidentally dropped.
  • the distance between the gripping ends of the gripping arms 331 should be increased. , so as to be separated from the shuttlecock 91 .
  • a camera 51 is further disposed above the base 1 , and the camera 51 communicates with the controller assembly 2 to transmit the collected images to the controller in component 2.
  • the controller component 2 can first obtain the user's motion data and the ball motion trajectory through the camera 51, determine the corresponding hitting strategy, and then control the hitting mechanism to hit.
  • the controller component Before the controller component generates a serving instruction, it can first obtain the user's motion data through the camera 51, determine the serving position range and the serving speed, and then control the serving mechanism and the hitting mechanism to serve the ball.
  • the camera 51 may also be arranged at other positions of the sparring robot, for example, arranged at the side or the like.
  • the sparring robot itself may not be provided with the camera 51, but an external camera may be provided in the training field, and the controller assembly 2 may communicate with the external camera through a communication module to obtain Images captured by the external camera.
  • the communication module may be a wireless communication module (such as WIFI, Bluetooth, 4G, etc.) or a wired communication module.
  • a second sensor 52 is further provided on the side or the top of the base 1 , and the second sensor 52 is used to detect the position where the user hits the ball.
  • the two sensors 52 communicate with the controller assembly 2 to transmit detection data to the controller assembly 2 .
  • the controller assembly 2 can determine when to perform a hitting action based on the position of the ball.
  • the second sensor 52 may be a sensor such as a radar or a camera.
  • a signal light 53 can be set on the base 1 , and the signal light 53 can be used to indicate the working state of the sparring robot, and can also be used to indicate the power state of the sparring robot. , for example, a red light indicates that the battery is too low, and a green light indicates that the battery is sufficient.
  • the signal light 53 can also be arranged at other positions of the sparring robot, such as the side surface of the base 1 , the hitting mechanism or the ball serving mechanism.
  • the sparring robot may be provided with a rechargeable battery in the base to supply power to various mechanisms and components of the sparring robot. In other alternative embodiments, the sparring robot may not have its own power supply, but use an external power supply, which all fall within the protection scope of the present invention.
  • the bottom of the base 1 is further provided with a walking mechanism, and the controller assembly 2 is also used to control the walking mechanism to move, so as to move the sparring robot to a designated position .
  • the traveling mechanism is the roller 6, but the present invention is not limited to this. In other embodiments, the traveling mechanism may also adopt other types of mechanisms such as crawler, which all belong to the protection scope of the present invention. within.
  • the controller assembly 2 can determine the user's motion data through the images captured by the camera 51 or an external camera, thereby controlling the movement of the walking mechanism, so that the sparring robot moves to a position convenient for sparring with the user.
  • the racket 41 is connected to the flexible arm 43 through the racket connecting portion 42 , and the racket 41 can be detachably connected to the racket connecting portion 42 to facilitate the replacement of the racket 41 , thereby realizing the hitting mechanism reuse.
  • the racket 41 includes a racket surface 411 and a racket shaft 412.
  • a buckle 413 is provided below the racket shaft 412. By inserting the racket shaft 412 into the racket connection portion 42, all the The buckle 413 is engaged with the inside of the racket connecting portion 42 .
  • the racket 41 can also be connected with the racket connecting portion 42 through other structures, for example, the racket 41 can also be externally hung on the top of the flexible arm 43, which all belong to the protection of the present invention within the range.
  • the flexible arm 43 is sequentially fixed on the racket support seat 49 through a flexible arm connecting portion 47 and the racket support rod 48 , and the racket support seat 49 is located on the upper surface of the base 1 .
  • the flexible arm 43 is provided with at least two first driving ropes 44 extending along the length direction of the flexible arm 43 , and the first driving ropes 44 are connected to the upper part of the flexible arm 43 and the connecting part of the flexible arm 47.
  • the controller assembly 2 adjusts the posture of the flexible arm 43 by adjusting the length of the first driving rope 44 between the two ends of the flexible arm 43.
  • the first driving ropes 44 can be arranged on both sides of the flexible arm 43 to drive the flexible arm 43 to swing left and right in two dimensions.
  • the first driving rope 44 can also be provided with more than two, which are respectively provided at different positions in the flexible arm 43, so that the flexible arm 43 can be pulled to realize more various angles of inclination.
  • the flexible arm connecting portion 47 is provided with a pulley 451 corresponding to the first driving rope 44 one-to-one, the first driving rope 44 is wound around the pulley 451 , and the first driving rope 44 is One end of the driving rope 44 is connected above the flexible arm 43 , and the other end of the first driving rope 44 passes through the racket support rod 48 and is connected to the racket support seat 49 , which is provided in the racket support seat.
  • There is a rope driving motor 452 and the controller assembly 2 drives the first driving rope 44 to move through the rope driving motor 452, so as to adjust the movement of the first driving rope 44 between the two ends of the flexible arm 43. section length.
  • the rope driving motor 452 may be further connected to the first driving rope 44 through a speed reduction mechanism, the speed reduction mechanism may include at least two gears, and the first drive rope 44 may be adjusted by the rope drive motor 452 and the speed reduction mechanism.
  • the drive rope 44 is tightened or loosened.
  • the flexible arm 43 is further provided with a universal joint device 46 , and the universal joint device 46 includes at least one connecting rod 461 and two bases 463 , the two bases 463 are respectively Installed on both ends of the flexible arm 43 .
  • Both ends of the connecting rod 461 are rotatably connected to the two bases 463 respectively, the first driving rope 44 is connected to the two bases 463 , and the first driving rope is driven by the rope driving motor 452 44 moves to adjust the relative positional relationship of the two bases 463, so that the flexible arm 43 can be tilted to one side to realize two-dimensional tilt swing.
  • the connecting rods 461 form a three-link parallel structure, but the present invention is not limited to this, and the number and arrangement of the connecting rods 461 can be selected and adjusted as required.
  • the universal joint device 46 can realize the inclination of the flexible arm 43 to one side, and the universal joint device 46 can flexibly adjust the inclination angle of the flexible arm 43 by controlling the rope to drive the motor 452 , which drives the movement of different ropes, and can also realize the three-dimensional rotation of the flexible arm 43 relative to the flexible arm connecting portion 47 .
  • the ropes in this embodiment can be steel ropes or other types of ropes with higher strength.
  • the shell of the flexible arm 43 is preferably made of a material with certain flexibility, such as silicone, rubber, plastic with certain flexibility, and the like.
  • the universal joint device 46 further includes a universal bearing 465 , a transmission shaft 462 and a second driving cable 464 , and the second driving cable 464 is used to drive the universal joint device 46
  • Both ends of the transmission shaft 462 are rotatably connected to the base 463 through the universal bearing 465 respectively, and one end of the transmission shaft 462 is connected to the racket connecting portion 42 .
  • the second driving rope 464 is connected to the transmission shaft 462 through a gear mechanism 466 , and the second driving rope 464 is connected to the rope driving motor 452 of the racket support base 49 , and the controller assembly 2 is connected through
  • the rope driving motor 452 controls the movement of the second driving rope 464 , and the movement of the second driving rope 464 is converted into the rotational movement of the transmission shaft 462 through the gear mechanism 466 , that is, the second driving rope 464 can drive the transmission shaft 462 to rotate, thereby driving the racket to rotate through the racket connecting portion 42, and in combination with the first driving rope 44, the three-dimensional attitude adjustment of the racket can be realized.
  • the rope driving motor 452 can be connected to a speed reduction mechanism, and the speed reduction mechanism can include at least two gears, and the second driving rope 464 can be adjusted to be tightened or loosened through the rope drive motor 452 and the speed reduction mechanism.
  • FIG. 8 it is a schematic diagram of setting the sparring robot of the present invention in a badminton training field J100.
  • the sparring robot J400 is set on one side of the field J100, and the user J300 is located on the other side of the field J100.
  • the sparring robot J400 can respond in time.
  • the training robot J400 can also serve according to the position of the user J300.
  • Cameras J200 and radars J600 can also be arranged around the field J100 for collecting the user's movement data and the movement track of the ball.
  • the controller component of the sparring robot J400 can acquire the data collected by the camera J200 and the radar J600, so as to analyze and obtain the serving strategy and the hitting strategy.
  • the sparring robot J400 has a walking mechanism, it can also move freely in the field J100 as required.
  • an embodiment of the present invention also provides a method for controlling a sparring robot, which is used to control the sparring robot, and the method includes the following steps:
  • S200 obtain the user's motion data and the ball motion trajectory, analyze and obtain the hitting strategy of the hitting mechanism, and S300: control the hitting mechanism to complete the hitting action according to the hitting strategy;
  • the user motion data may include the user's motion speed, motion direction, swing height, hitting speed, hitting attitude and other data
  • the ball motion trajectory may include the three-dimensional coordinates of the ball at each moment
  • S400 control the ball clamping device of the service mechanism to take out the ball in the ball cage and place it on the ball thrower
  • S500 control the ball thrower to throw the ball upward
  • S600 Control the hitting mechanism to hit the thrown ball.
  • the steps S400 to S600 control the ball clamping device of the ball service mechanism to take out the ball in the ball cage and place it on the ball thrower, and control the ball thrower to throw the ball upwards and control the hitting mechanism to hit the thrown ball, including the following steps:
  • the serving strategy includes serving frequency, serving position range, drop point range, and serving speed, where the serving position range refers to the time the ball is sent out
  • the range of the position of the ball, the range of the landing point refers to the position range of the landing point after the ball falls on the opponent's court;
  • the ball hitting mechanism is controlled to hit the thrown ball according to the ball firing position range and the ball firing speed.
  • the present invention can determine different serving strategies according to the user's sports data and the user's sparring level, so as to better adapt to the levels of different users.
  • the control of the serving strategy can realize the control of the serving frequency through the control of the ball clipping speed of the ball clipping device; Control to realize the control of the serve position range and serve speed. Therefore, the serving strategy includes not only the control of the speed of the racket when hitting, but also the control of the speed of the ball clamping device. For example, a user with a high sparring level may have a wider range of serving positions and a faster serving speed, while a user with a low sparring level may have a smaller serving position range and a slower serving speed.
  • the present invention can be applied to the continuous serving practice of one user, and can also be applied to the continuous serving training of multiple users. That is, after a user arrives at a designated position, when it is judged that there is a user through the image data of the camera, the sparring level of the user can be obtained (for example, face recognition can be performed on the user, the identity of the user can be determined, and the preset sparring level can be obtained, or Receive the user's voice input sparring level or other users' manual input sparring level), quickly specify the serving strategy according to the user's sparring level, and start serving. After changing users, it can be adjusted according to the newly replaced user's sparring level and sports data Serving strategy, keep serving.
  • the sparring level of the user can be obtained (for example, face recognition can be performed on the user, the identity of the user can be determined, and the preset sparring level can be obtained, or Receive the user's voice input sparring level or other users' manual input sparring level), quickly specify the serving strategy according to the user's sparring level,
  • the user referred to in the present invention refers to the sparring object, that is, the athlete who needs to be trained together with the sparring robot, which can be a professional athlete or a professional athlete.
  • the control method of the sparring robot may be deployed in a controller component of the sparring robot, and the above steps S100 to S600 are performed by the controller component.
  • control method of the sparring robot may also be implemented by a cloud server and a controller component of the sparring robot.
  • step S100 is performed by the controller component of the sparring robot: judging whether the current is in the hitting mode or the serving mode, and determining whether the current is in the hitting mode or the serving mode, may be based on whether the currently set sparring mode is the hitting mode Still in the service mode, the user can also choose the batting mode or the batting mode independently; if it is the batting mode, the controller component performs step S200 to obtain the user's motion data and the ball motion trajectory, and then converts the user's motion data
  • the trajectory of the ball and the current position of the sparring robot are sent to the cloud server, and the cloud server analyzes and obtains the hitting strategy of the hitting mechanism, and sends the hitting strategy to the controller component, which is then controlled by the
  • the device component executes step S300: controlling the hitting mechanism to complete the hitting action according to the hitting strategy.
  • the controller component acquires the user's motion data and the user's sparring level, and sends the user's motion data, the user's sparring level and the current position of the sparring robot to the cloud server, and the cloud server to analyze and obtain the service strategy of the ball striking mechanism, the service strategy includes the service frequency, the range of the service position, the range of the landing point and the speed of the service, and then sent to the controller component.
  • the controller assembly controls the hitting mechanism to hit the thrown ball according to the serving strategy.
  • step S200 when analyzing and obtaining the hitting strategy of the hitting mechanism, it also includes acquiring the user's sparring level, and selecting the hitting according to the user's motion data, the ball motion trajectory and the sparring level. Strategy, by selecting different hitting strategies according to different sparring levels, it can be applied to the sparring needs of different users.
  • the sparring level may be obtained according to user data, for example, the user data includes user identity data and user training data.
  • the user identity data includes, for example, the user's age, the user's gender, the user's height and weight, the user's experience in the ball game, and the like.
  • the user training data may include, for example, data related to the training process, such as the user's response speed, success rate, hitting speed, and single training duration during training.
  • the user data is input into a rating model to obtain a sparring rating.
  • the sparring level may also be a level selected by the user who wants to challenge.
  • the motion data of the user can also be analyzed to judge the degree of the user's action specification, where judging the user's motion specification degree may include judging the user's motion specification. Whether the action is accurate, whether it meets the technical normative requirements, etc.
  • the position of the key point of the user can be determined according to the image captured by the camera or the detection data of the radar, to determine the posture of the user when hitting the ball, and compare it with the standard normative action.
  • corrective information is generated and pushed to the user.
  • the push correction information may be pushed to the mobile terminal used by the user, or a display screen may be further set on the badminton training ground to display the correction information on the display screen for the user's reference.
  • An embodiment of the present invention also provides a control system for a sparring robot, which is applied to the control system for a sparring robot, and the system includes:
  • the central controller is used to obtain the user's motion data and the ball motion track in the hitting mode, and after analyzing and obtaining the hitting strategy of the hitting mechanism, send the hitting instruction including the hitting strategy to the hitting a ball mechanism, and in the service mode, sending a service instruction to the ball mechanism, and sending a hitting instruction to the ball hitting mechanism;
  • a hitting controller for controlling the hitting mechanism to complete hitting according to the received hitting instruction
  • a ball service controller used for controlling the ball clamping device of the ball service mechanism to take out the ball in the ball cage and place it on the ball thrower according to the received ball service instruction, and control the ball thrower to throw the ball upwards out.
  • the functions of the central controller, the hitting controller and the serving controller can be implemented by using the specific steps of the control method of the sparring robot, which will not be repeated here.
  • the sparring robot, control method and control system provided by the present invention have the following advantages:
  • the invention provides a sparring robot.
  • the hitting mechanism is provided with a flexible arm, which can hit the ball in different shapes and speeds, thereby realizing a more flexible hitting mode.
  • the cooperation of the ball device can realize fast and continuous variable-speed service, and through the cooperation of the service mechanism and the hitting mechanism, the ball can be thrown through the ball thrower when the ball is served, and the ball can be thrown through the hitting mechanism.
  • the speed of hitting so as to achieve a more flexible service mode, meet the different needs of users, and provide users with a better sparring experience.

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Abstract

一种陪练机器人、控制方法及控制***，机器人包括：底座（1）；发球机构（3），设置于底座（1）的上方，发球机构（3）包括球笼（31）、夹球装置（33）和抛球器（34），夹球装置（33）用于将球笼（31）中的球取出并放置于抛球器（34），抛球器（34）用于将球抛出；击球机构（4），设置于底座（1）的上方，击球机构（4）包括球拍（41）、柔性臂（43）和球拍支撑杆（48），球拍（41）通过柔性臂（43）连接于球拍支撑杆（48）上；控制器组件（2），用于控制发球机构（3）和击球机构（4）。击球机构（4）可以实现更灵活的击打模式，发球机构（3）可以实现快速连续变速发球，并且通过发球机构（3）和击球机构（4）的配合，可以实现更灵活的发球模式，满足用户不同的陪练需求，给用户提供更好的陪练体验。

Description

陪练机器人、控制方法及控制*** 技术领域
本发明涉及机器人技术领域，具体涉及一种陪练机器人、控制方法及控制***。
背景技术
目前，市面上已经出现了一些球类运动的陪练机器人，例如羽毛球陪练机器人、乒乓球陪练机器人等。然而，现有的陪练机器人的工作方式较为单一，只能简单地发球和对用户的击打进行简单的反馈。然而，这种传统的陪练模式已经无法满足用户的不同需求，陪练效果不是很理想。
发明内容
针对现有技术中的问题，本发明的目的在于提供一种陪练机器人、控制方法及控制***，通过发球机构和击球机构的配合，可以实现多种不同模式的发球和击球，给用户提供更好的陪练体验。
本发明实施例提供一种陪练机器人，包括：
底座；
发球机构，设置于所述底座的上方，所述发球机构包括球笼、夹球装置和抛球器，所述夹球装置用于将所述球笼中的球取出并放置于所述抛球器，所述抛球器用于将所述球抛出；
击球机构，设置于所述底座的上方，所述击球机构包括球拍、连接臂和球拍支撑杆，所述球拍通过所述连接臂连接于所述球拍支撑杆上；
控制器组件，用于控制所述发球机构和所述击球机构。
在一些实施例中，所述发球机构还包括球笼支架和球笼支撑座，所述球笼通过所述球笼支架可拆卸地固定于所述球笼支撑座上，所述球笼支撑座位于所述底座的上表面。
在一些实施例中，所述球笼包括多个球筒，所述多个球筒安装于一球笼支架上且所述多个球筒可相对于所述球笼支架旋转，以使得不同的球筒的出球口对准所述夹球装置。
在一些实施例中，所述发球机构还包括一球笼支撑座和设置于所述球笼支撑座上的第一感应器，所述球笼支架安装于球笼支撑座，所述第一感应器用于检测与所述夹球装置对准的所述球筒中是否有球；
所述控制器组件用于获取所述第一感应器的检测数据，判断与所述夹球装置对准的所述球筒中没有球时，控制所述球笼旋转。
在一些实施例中，所述抛球器包括承载平台和平台支撑杆，所述控制器组件用于控制所述平台支撑杆将所述承载平台中的球向上抛出，并控制所述击球机构的球拍击打抛出的球。
在一些实施例中，所述发球机构还包括球笼支撑座，所述夹球装置包括夹持臂和移动座，所述夹持臂通过所述移动座可旋转地固定于所述球笼支撑座上。
在一些实施例中，所述发球机构设置于所述击球机构的前方，所述夹球装置设置于所述球笼的前方，所述抛球器设置于所述夹球装置的前方，所述球笼从其上端到其下端朝向前方倾斜，且所述球笼的下端的出球口对准所述夹球装置。
在一些实施例中，所述连接臂为柔性臂，所述球拍通过球拍连接部连接于所述柔性臂，所述球拍与所述球拍连接部为可拆卸连接；
所述柔性臂依次通过一柔性臂连接部和所述球拍支撑杆固定于球拍支撑座上，所述球拍支撑座位于所述底座的上表面。
在一些实施例中，所述柔性臂中设置有至少两根沿所述柔性臂的长度方向延伸的第一驱动绳索，所述柔性臂连接部设置有与所述第一驱动绳索一一对应的滑轮；
所述第一驱动绳索绕设于所述滑轮上，所述第一驱动绳索的一端连接于所述柔性臂的上方，所述第一驱动绳索的另一端穿过所述球拍支撑杆后连接于所述球拍支撑座，所述球拍支撑座中设置有绳索驱动电机，所述控制器组件通过所述绳索驱动电机驱动所述第一驱动绳索运动，进而调整所述柔性臂的姿态；
所述柔性臂中设置有万向节装置，所述万向节装置包括至少一连杆和两个万向节底座，所述两个万向节底座分别设置于所述柔性臂的两端，所述连杆的两端分别可旋转地连接所述两个万向节底座，所述第一驱动绳索连接所述两个万向节底座，通过驱动所述第一驱动绳索运动，调节所述两个万向节底座的相对位置关系，使得所述柔性臂向一侧倾斜和/或所述柔性臂相对于所述柔性臂连接部旋转；
所述万向节装置还包括第二驱动绳索、万向轴承和传动轴，所述传动轴的两端分别通过所述万向轴承连接于所述两个万向节底座，且所述传动轴的一端与所述球拍连接部相连接，所述传动轴由第二驱动绳索驱动旋转，以实现所述球拍连接部带动球拍相对于所述柔性臂旋转。
在一些实施例中，所述底座的上方还设置有摄像机，所述摄像机与所述控制器组件进行通信，以将采集到的图像传输到所述控制器组件中；和/或
所述底座的侧面或上面还设置有第二感应器，所述第二感应器用于检测球的位置，所述第二感应器与所述控制器组件进行通信，以将检测数据传输到所述控制器组件中。
在一些实施例中，所述底座的底部设置有行走机构，所述控制器组件还用于控制所述行走机构移动，以将所述陪练机器人移动至指定位置。
本发明实施例还提供一种陪练机器人的控制方法，用于控制所述的陪练机器人，所述方法包括如下步骤：
判断当前为击球模式还是发球模式；
如果是击球模式，获取用户的运动数据和球运动轨迹，分析得到所述击球机构的击打策略，并根据所述击打策略控制所述击球机构完成击打动作，所述击打策略包括球拍击打姿态、球拍击打速度和球拍执行球的落点控制；
如果是发球模式，控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述 抛球器，控制所述抛球器将球向上抛出，并控制所述击球机构对抛出的球进行击打。
在一些实施例中，控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述抛球器，控制所述抛球器将球向上抛出，并控制所述击球机构对抛出的球进行击打，包括如下步骤：
获取用户的运动数据；
获取用户的陪练等级，根据用户的运动数据和陪练等级确定发球策略，所述发球策略包括发球频率、发球位置范围、落点范围和发球速度；
根据所述发球频率控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述抛球器，并控制所述抛球器将球向上抛出；
根据所述发球位置范围和所述发球速度控制所述击球机构对抛出的球进行击打。
本发明实施例还提供一种陪练机器人的控制***，应用于所述的陪练机器人的控制方法，所述***包括：
中央控制器，用于在击球模式时获取用户的运动数据和球运动轨迹，分析得到所述击球机构的击打策略后，将包括所述击打策略的击打指令发送至所述击球机构，并在发球模式下将发球指令发送至所述发球机构，并将击打指令发送至所述击球机构；
击球控制器，用于根据接收到的击打指令控制所述击球机构完成击打；
发球控制器，用于根据接收到的发球指令控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述抛球器，并控制所述抛球器将球向上抛出。
本发明所提供的陪练机器人、控制方法及控制***具有如下优点：
本发明提供了一种陪练机器人，击球机构可以对球执行不同形态、不同速度的击打，从而实现更灵活的击打模式，发球机构通过球笼、夹球装置和抛球器的配合，可以实现快速连续变速发球，并且通过发球机构和击球机构的配合，在发球时通过抛球器将球抛起，通过击球机构可以对抛起的球执行不同形态、不同速度的击打，从而实现更灵活的发球模式，满足用户不同的陪练需求，给用户提供更好的陪练体验。
附图说明
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显。
图1是本发明一实施例的陪练机器人的结构示意图；
图2是本发明一实施例的发球机构的结构示意图；
图3是本发明一实施例的陪练机器人在击球时的结构示意图；
图4是本发明一实施例的击球机构的结构示意图；
图5是本发明一实施例的击球机构的内部结构示意图；
图6是本发明一实施例的击球机构在击球时的结构示意图；
图7是本发明一实施例的更换球拍的示意图；
图8是本发明一实施例的陪练机器人应用于训练场地的示意图；
图9是本发明一实施例的陪练机器人的控制方法的流程图。
附图标记：
1        底座                   42          球拍连接部
2        控制器组件             43          柔性臂
21       中央控制器             44          第一驱动绳索
22       击球控制器             451         滑轮
23       发球控制器             452         绳索驱动电机
3        发球机构               46          万向节装置
31       球笼                   461         连杆
32       球笼支架               462         传动轴
33       夹球装置               463         底座
331      夹持臂                 464         第二驱动绳索
332      移动座                 465         万向轴承
34       抛球器                 466         齿轮机构
341      承载平台               47          柔性臂连接部
342      平台支撑杆             48          球拍支撑杆
35       第一感应器             49          球拍支撑座
36       球笼支撑座             51          摄像机
4        击球机构               52          第二感应器
41       球拍                   53          信号灯
411      拍面                   6           滚轮
412      拍杆                   91、92      羽毛球
413      卡扣
具体实施方式
现在将参考附图更全面地描述示例实施方式。然而，示例实施方式能够以多种形式实施，且不应被理解为限于在此阐述的实施方式；相反，提供这些实施方式使得本发明将全面和完整，并将示例实施方式的构思全面地传达给本领域的技术人员。在图中相同的附图标记表示相同或类似的结构，因而将省略对它们的重复描述。
如图1～图8所示，本发明一实施例提供了一种陪练机器人，包括：底座1；发球机构3，设置于所述底座1的上方，所述发球机构3包括球笼31、夹球装置33和抛球器34，所述夹球装置33用于将所述球笼31中的球取出并放置于所述抛球器34，所述抛球器34用于将所述球抛出；击球机构4，设置于所述底座1的上方，所述击球机构4包括球拍41、连接臂43和球拍支撑杆48，所述球拍41通过所述连接臂43连接于所述球拍支撑杆48上；控制器组件2，用于控制所述发球机构3和所述击球机构4。在该实施例中，所述连接臂43为柔性臂。在其他可替代的实施方式中，所述连接臂43也可以为刚性的不可弯折的连接臂，均属于本发明的保护范围之内。
因此，在该实施例中，所述击球机构4设置有柔性臂43，在所述控制器组件2的控制作用下，所述击球机构4的柔性臂43可以带动所述球拍41对球执行不同形态、不同速度的击打，从而实现更灵活的击打模式。图1和图3分别示出了击球机构4的柔性臂43在两种不同形态下的形态，图1示出的是柔性臂43的初始状态，图3示出的是羽毛球92到达击球机构4的工作高度时，控制球拍41击打时柔性臂43的状态。
所述发球机构3通过球笼31、夹球装置33和抛球器34之间的配合，可以实现快速连续变速发球。具体地，在发球时，首先在所述控制器组件2的控制作用下，所述夹球装置33将所述球笼31中的球取出并放置于所述抛球器34，所述抛球器34将所述球向上方抛出，然后所述控制器组件2控制所述击球机构4的球拍41对抛出的球进行击打。由于所述击球机构4具有所述柔性臂43，在发球模式下，所述击球机构4也可以对抛出的球执行不同形态、不同速度的击打。因此，本发明通过发球机构3和击球机构4的配合，可以实现更灵活的发球模式，从而满足用户不同的陪练需求。
图1～图8中以陪练机器人为羽毛球陪练机器人为例进行说明。可以理解的是，本发明不限于此，在其他可替代的实施方式中，所述陪练机器人也可以应用于其他球类运动，例如乒乓球、网球、排球等，均属于本发明的保护范围之内。
如图1所示，在该实施例中，所述控制器组件2包括中央控制器21、击球控制器22和发球控制器23，所述中央控制器21设置于所述底座1中，所述击球控制器22设置于所述击球机构4的下方，所述发球控制器23设置于所述发球机构3的下方，所述击球控制器22和所述发球控制器23分别与所述中央控制器21相连接，所述中央控制器21用于向所述击球控制器22和所述发球控制器23分别发送击打指令和发球指令，所述击球控制器22用于根据所述击打指令控制所述击球机构执行击打动作，所述发球控制器23用于根据所述发球指令控制所述发球机构将球放在抛球器34上后向上抛出。
如图2所示，所述发球机构3还包括球笼支架32和球笼支撑座36，所述球笼31通过所述球笼支架32可拆卸地固定于所述球笼支撑座36上，所述球笼支撑座36位于所述底座1的上表面，所述发球控制器23可以位于所述球笼支撑座35的内部，以实现对发球机构3各个部件的控制。所述球笼31通过所述球笼支架32可拆卸地固定于所述球笼支撑座36上，可以是所述球笼31与所述球笼支架32可拆卸连接，也可以是所述球笼支架32与所述球笼支撑座36可拆卸连接。在其他可替代的实施方式中，所述球笼31也可以通过所述球笼支架32不可拆卸地固定于所述球笼支撑座36上。在该实施例中，所述球笼31包括多个球筒，所述多个球筒安装于所述球笼支架32上，且可相对于所述球笼支架32旋转，以使得不同的球筒的出球口对准所述夹球装置33。在图2中，仅示例性地示出了一个球筒中装有羽毛球91的结构。在实际应用中，各个球筒中均可以放入羽毛球91。并且，由于球筒是长条形的，每个球筒可以放置多个羽毛球91。在发球模式下，当前的夹球装置33对准的球筒中的羽毛球91被取完时，所述发球控制器23控制所述球笼支架32使得所述球笼31旋转，从而使得其他有羽毛球的球筒对准夹球装置33，从而可以进一步方便快速连续的发球。
如图2所示，进一步地，所述发球机构3还包括设置于所述球笼支撑座36上的第一 感应器35，所述第一感应器35用于检测与所述夹球装置33对准的所述球筒中是否有球。该第一感应器35例如可以采用雷达、摄像头等传感器来检测球筒是否为空。所述控制器组件2用于获取所述第一感应器35的检测数据，判断与所述夹球装置33对准的所述球筒中没有球时，发出球笼旋转指令，控制所述球笼31旋转指定的角度，以使得其他有球的球筒转到对准夹球装置33的位置。由此，通过所述第一感应器35的自动检测，所述控制器组件2可以实现自动调整有球的球筒旋转至夹球装置33处，无需人工手动操作，使用更加方便，且连续发球过程更加连续无间断。此处第一感应器35的检测数据的获取和球笼旋转指令的发出者可以是所述发球控制器23，也可以是所述中央控制器21。
在该实施例中，所述球笼31的旋转可以通过所述球笼支架32实现，所述球笼支架32可以包括一中心轴和球笼安装部，所述球笼旋转电机为球笼旋转指令的执行者。所述球笼安装部在球笼旋转电机的驱动下可以绕所述中心轴旋转，所述球笼安装部上安装各个所述球筒，所述球笼旋转电机可被所述控制器组件2所控制。
如图1和图2所示，所述发球机构3设置于所述击球机构4的前方，所述夹球装置33设置于所述球笼31的前方，所述抛球器34设置于所述夹球装置33的前方，所述球笼31从其上端到其下端朝向前方倾斜，且所述球笼31的下端的出球口对准所述夹球装置33，所述羽毛球91头朝下放在所述球笼31的球筒中，方便所述夹球装置33将其取出。图1中所示出的发球机构3和击球机构4的位置和结构的配合方式可以使得陪练机器人的结构更紧凑，并且可以方便发球机构3和击球机构4的配合来完成发球动作。
如图2所示，在该实施例中，所述抛球器34包括承载平台341和设置于所述承载平台341两侧的平台支撑杆342，所述控制器组件2用于控制所述平台支撑杆342向外向上将所述承载平台341中的球向上以特定角度抛出，并控制所述击球机构4的球拍41击打抛出的球，完成发球动作。所述抛球的实现方式中，所述平台支撑杆342的一端可以可旋转地连接到所述球拍支撑座49上，另一端连接到承载平台341上，所述平台旋转电机在接收到所述控制器组件2发出的抛球指令时，驱动所述平台支撑杆342的一端旋转，带动所述承载平台341运动，以将所述承载平台341中的球向上抛出。所述承载平台341优选为弹性平台，可以更方便将球抛出，但本发明不限于此。所述抛球指令可以由所述中央控制器21或所述发球控制器23发出。
如图2所示，所述夹球装置33包括夹持臂331和移动座332，所述夹持臂331通过所述移动座332可旋转地固定于所述球笼支撑座36上。例如，所述夹持臂331的一端为夹持端，可以夹住羽毛球91，另一端通过旋转轴连接到球笼支撑座36上，控制器组件2通过控制夹持臂旋转驱动电机来驱动旋转轴旋转，可以使得夹持臂331相对于球笼支撑座36旋转。所述夹持臂331对羽毛球91的夹持和松开也可以通过在两个夹持臂331之间设置夹持驱动电机来调整两个夹持臂331的夹持端之间的距离，在需要夹紧羽毛球91时，调小夹持臂331的夹持端之间的距离，避免羽毛球91意外掉落，在需要放下羽毛球91时，调大夹持臂331的夹持端之间的距离，从而与羽毛球91分离。
如图1所示，在该实施例中，所述底座1的上方还设置有摄像机51，所述摄像机51与所述控制器组件2进行通信，以将采集到的图像传输到所述控制器组件2中。所述控制 器组件2在生成击球指令之前，可以首先通过所述摄像机51获取用户的运动数据和球运动轨迹，确定对应的击打策略，然后控制所述击球机构进行击打。所述控制器组件在生成发球指令之前，可以首先通过所述摄像机51获取用户的运动数据，确定发球位置范围和发球速度，然后控制所述发球机构和击球机构进行发球。在另一可替代的实施方式中，所述摄像机51也可以设置于所述陪练机器人的其他位置，例如设置于侧面等。在再一可替代的实施方式中，所述陪练机器人本身也可以不设置摄像机51，而在训练场地中设置外部摄像机，所述控制器组件2可以通过通讯模块与所述外部摄像机进行通信，获取所述外部摄像机采集的图像。所述通讯模块可以是无线通信模块(如WIFI、蓝牙、4G等)或有线通信模块。
如图1所示，在该实施例中，所述底座1的侧面或上面还设置有第二感应器52，所述第二感应器52用于检测用户击打来球的位置，所述第二感应器52与所述控制器组件2进行通信，以将检测数据传输到所述控制器组件2中。所述控制器组件2可以根据所述球的位置来确定何时执行击打动作。所述第二感应器52可以是雷达、摄像头等传感器。
如图1所示，在该实施例中，所述底座1上可以设置信号灯53，所述信号灯53可以用来指示所述陪练机器人的工作状态，也可以用来指示所述陪练机器人的电源状态，例如红灯表示电量过低，绿灯表示电量充足。所述信号灯53也可以设置于所述陪练机器人的其他位置，例如底座1的侧面、击打机构处或发球机构处等。所述陪练机器人可以在底座中设置可充电的蓄电池，以对所述陪练机器人的各个机构和组件进行供电。在其他可替代的实施方式中，所述陪练机器人中也可以不设置自带的电源，而是使用外接电源，均属于本发明的保护范围之内。
如图1所示，在该实施例中，所述底座1的底部还设置有行走机构，所述控制器组件2还用于控制所述行走机构移动，以将所述陪练机器人移动至指定位置。在该实施例中，所述行走机构为滚轮6，但本发明不限于此，在其他的实施方式中，所述行走机构例如也可以采用履带等其他类型的机构，均属于本发明的保护范围之内。所述控制器组件2可以通过所述摄像机51或外部摄像机拍摄的图像来确定用户的运动数据，从而控制行走机构运动，使得陪练机器人运动至方便与用户陪练的位置。
图4～7示出了该实施例的陪练机器人的击球机构的示意图。在该实施例中，所述球拍41通过球拍连接部42连接于所述柔性臂43，所述球拍41可以与所述球拍连接部42为可拆卸连接，方便更换球拍41，从而实现击球机构的重复利用。如图7所示，所述球拍41包括拍面411和拍杆412，所述拍杆412的下方设置有卡扣413，通过将所述拍杆412***所述球拍连接部42中，并且所述卡扣413与所述球拍连接部42的内部卡接。在其他可替代的实施方式中，所述球拍41也可以与所述球拍连接部42通过其他结构连接，例如所述球拍41也可以外挂于所述柔性臂43的顶端，均属于本发明的保护范围之内。
如图4所示，所述柔性臂43依次通过一柔性臂连接部47和所述球拍支撑杆48固定于球拍支撑座49上，所述球拍支撑座49位于所述底座1的上表面。
图5和图6分别示出了所述击球机构在两种不同状态下的内部结构。所述柔性臂43中设置有至少两根沿所述柔性臂43的长度方向延伸的第一驱动绳索44，所述第一驱动绳 索44连接所述柔性臂43的上方和所述柔性臂连接部47，所述控制器组件2通过调整所述第一驱动绳索44在所述柔性臂43的两端之间的部分的长度调整所述柔性臂43的姿态。所述第一驱动绳索44可以设置在所述柔性臂43的两侧，实现驱动所述柔性臂43的两维的左右摆动。所述第一驱动绳索44也可以设置多于两条，分别设置于柔性臂43中不同的位置，可以拉动柔性臂43实现更多种角度的倾斜。
如图5所示，所述柔性臂连接部47设置有与所述第一驱动绳索44一一对应的滑轮451，所述第一驱动绳索44绕设于所述滑轮451上，所述第一驱动绳索44的一端连接于所述柔性臂43的上方，所述第一驱动绳索44的另一端穿过所述球拍支撑杆48后连接于所述球拍支撑座49，所述球拍支撑座中设置有绳索驱动电机452，所述控制器组件2通过所述绳索驱动电机452驱动所述第一驱动绳索44运动，从而调整所述第一驱动绳索44在所述柔性臂43的两端之间的部分的长度。所述绳索驱动电机452可以进一步通过一减速机构与所述第一驱动绳索44连接，所述减速机构可以包括至少两个齿轮，通过所述绳索驱动电机452和所述减速机构调整所述第一驱动绳索44拉紧或松开。
如图5和图6所示，所述柔性臂43中还设置有万向节装置46，所述万向节装置46包括至少一连杆461和两个底座463，所述两个底座463分别安装于所述柔性臂43的两端。所述连杆461的两端分别可旋转地连接至所述两个底座463，所述第一驱动绳索44连接所述两个底座463，通过所述绳索驱动电机452驱动所述第一驱动绳索44运动，调节所述两个底座463的相对位置关系，使得所述柔性臂43可以向一侧倾斜，实现二维的倾斜摆动。在该实施例中，所述连杆461组成三连杆并联结构，但本发明不限于此，连杆461的数量和排布方式可以根据需要选择调整。通过所述万向节装置46可以实现所述柔性臂43的前倾或后仰，并且可以实现所述柔性臂43的左倾或右倾，或者也可以通过改进实现其他方向的倾斜。由此，所述万向节装置46可以实现所述柔性臂43向一侧的倾斜，并且所述万向节装置46可以灵活调整所述柔性臂43的倾斜角度，通过控制所述绳索驱动电机452的驱动方式，驱动不同绳索的运动，也可以实现所述柔性臂43相对于所述柔性臂连接部47的三维旋转。该实施例中的绳索可以采用钢丝绳或其他类型的具有较高强度的绳索。所述柔性臂43的外壳优选采用具有一定柔性的材料制成，例如硅胶、橡胶、具有一定柔性的塑料等。
如图5和图6所示，所述万向节装置46还包括万向轴承465、传动轴462和第二驱动绳索464，所述第二驱动绳索464用于驱动所述万向节装置46的传动轴462。所述传动轴462的两端分别通过所述万向轴承465可旋转地连接于所述底座463，所述传动轴462的一端与所述球拍连接部42相连接。所述第二驱动绳索464通过一齿轮机构466连接于所述传动轴462，且所述第二驱动绳索464通连接于所述球拍支撑座49的绳索驱动电机452，所述控制器组件2通过所述绳索驱动电机452控制所述第二驱动绳索4***，通过所述齿轮机构466将所述第二驱动绳索464的运动转换为所述传动轴462的旋转运动，即所述第二驱动绳索464可带动所述传动轴462旋转，从而通过所述球拍连接部42带动球拍旋转，与第一驱动绳索44组合可以实现球拍的三维姿态调整。所述绳索驱动电机452可以连接于一减速机构，所述减速机构可以包括至少两个齿轮，通过所述绳索驱动电机 452和所述减速机构调整所述第二驱动绳索464拉紧或松开。
如图8所示，为将本发明的陪练机器人设置于一个羽毛球训练场地J100的示意图。陪练机器人J400设置于场地J100的一侧，用户J300位于场地J100的另一侧，用户J300击打羽毛球J500时，陪练机器人J400可以及时作出击打响应。在发球模式时，陪练机器人J400也可以根据用户J300的位置来进行发球。所述场地J100的四周还可以设置摄像头J200和雷达J600，用于采集用户的运动数据和球的运动轨迹。所述陪练机器人J400的控制器组件可以获取所述摄像头J200和雷达J600的采集数据，从而进行分析得到发球策略和击打策略。陪练机器人J400具有行走机构时，也可以在场地J100中根据需要自由移动。
如图9所示，本发明实施例还提供一种陪练机器人的控制方法，用于控制所述的陪练机器人，所述方法包括如下步骤：
S100：判断当前为击球模式还是发球模式；
如果是击球模式，S200：获取用户的运动数据和球运动轨迹，分析得到所述击球机构的击打策略，并S300：根据所述击打策略控制所述击球机构完成击打动作；
其中，用户运动数据可以包括用户的运动速度、运动方向、挥拍高度、击球速度、击球姿态等数据，球运动轨迹可以包括球在各个时刻的三维坐标；
如果是发球模式，S400：控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述抛球器，S500：控制所述抛球器将球向上抛出，并S600：控制所述击球机构对抛出的球进行击打。
在该实施例中，所述步骤S400～S600：控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述抛球器，控制所述抛球器将球向上抛出，并控制所述击球机构对抛出的球进行击打，包括如下步骤：
获取用户的运动数据；
获取用户的陪练等级，根据用户的运动数据和陪练等级确定发球策略，所述发球策略包括发球频率、发球位置范围、落点范围和发球速度，此处发球位置范围指的是球被发出时球的位置范围，落点范围指的是球落到对方场地后的落点的位置范围；
根据所述发球频率控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述抛球器，并控制所述抛球器将球向上抛出；
根据所述发球位置范围和所述发球速度控制所述击球机构对抛出的球进行击打。
因此，本发明可以根据用户的运动数据以及用户的陪练等级来确定不同的发球策略，从而更好地适应不同用户的水平。发球策略的控制一方面可以通过夹球装置的夹球速度的控制来实现发球频率的控制，另一方面可以通过击球机构对抛出的球的击打速度、击打姿态和击打力度的控制来实现发球的发球位置范围和发球速度的控制。因此，所述发球策略中不仅包括击打时的球拍速度的控制，也包括夹球装置的夹球速度的控制。例如，对于陪练等级高的用户，其发球位置范围可能更广，发球速度可能更快，对于陪练等级低的用户，其发球位置范围则可能更小，发球速度可能更慢。
本发明可以应用于一个用户的连续发球练习，也可以应用于多个用户的连续发球训练。即一个用户到达指定位置后，通过所述摄像机的图像数据判断有用户时，获取该用户 的陪练等级(例如可以对用户进行人脸识别，确定用户身份，并获取其预设的陪练等级，或者接收用户的语音输入陪练等级或其他用户的手动输入陪练等级)，根据该用户的陪练等级快速指定发球策略，开始发球，在更换用户后，可以根据新更换的用户的陪练等级和运动数据来调整发球策略，继续发球。
本发明中所称用户，指的是陪练对象，即需要与陪练机器人一起训练的运动者，可以是业务爱好者，也可以是专业运动员等等。所述陪练机器人的控制方法可以部署于所述陪练机器人的控制器组件中，由所述控制器组件来执行上述步骤S100～S600。
在另一种可替代的实施方式中，也可以由云端服务器与所述陪练机器人的控制器组件共同来实现所述陪练机器人的控制方法。例如，由所述陪练机器人的控制器组件执行步骤S100：判断当前为击球模式还是发球模式，此处判断当前为击球模式还是发球模式，可以是根据当前设定的陪练模式是击球模式还是发球模式，也可以由用户自主选择击球模式还是发球模式；如果是击球模式，则所述控制器组件执行步骤S200中的获取用户的运动数据和球运动轨迹，然后将用户的运动数据和球运动轨迹以及陪练机器人的当前位置发送到云端服务器中，由云端服务器来分析得到所述击球机构的击打策略，并将击打策略发送给所述控制器组件，然后由所述控制器组件执行步骤S300：根据所述击打策略控制所述击球机构完成击打动作。如果是发球模式，由所述控制器组件获取用户的运动数据和获取用户的陪练等级，并将用户的运动数据、获取用户的陪练等级和陪练机器人的当前位置发送到云端服务器中，由云端服务器来分析得到所述击球机构的发球策略，所述发球策略包括发球频率、发球位置范围、落点范围和发球速度，然后发送给所述控制器组件。所述控制器组件根据所述发球策略控制所述击球机构对抛出的球进行击打。
进一步地，在所述步骤S200中，分析得到所述击球机构的击打策略时，还包括获取用户的陪练等级，根据所述用户运动数据、球运动轨迹和所述陪练等级，选择击打策略，通过根据不同陪练等级选择不同的击打策略，可以适用不同用户的陪练需求。
所述陪练等级可以是根据用户数据评定得到的，例如，所述用户数据包括用户身份数据和用户训练数据。所述用户身份数据例如包括用户的年龄、用户性别、用户身高和体重、用户在该球类运动中的经验时长等。所述用户训练数据例如可以包括用户在训练时的响应速度、成功率、击打速度、单次训练时长等与训练过程相关的数据。将所述用户数据输入到等级评定模型，得到陪练等级。此外，所述陪练等级也可以是用户自己选择的想要挑战的等级。
进一步地，所述陪练机器人的控制方法中，在采集到用户的运动数据之后，还可以对用户的运动数据进行分析，判断用户的动作规范程度，此处判断用户的动作规范程度可以包括判断用户动作是否准确、是否符合技术规范性要求等。在应用中，例如可以根据摄像机拍摄的图像或雷达的检测数据来判断用户关键点的位置，来判断用户击球时的姿态，与标准的规范性动作进行比较。
对于不符合预设的动作规范要求的用户，生成纠正信息，并推送至用户。此处推送纠正信息可以是推送到用户使用的移动终端，也可以进一步在羽毛球训练场地设置一个显示屏，将纠正信息显示在显示屏中，供用户参考。
本发明实施例还提供一种陪练机器人的控制***，应用于所述的陪练机器人的控制***，所述***包括：
中央控制器，用于在击球模式时获取用户的运动数据和球运动轨迹，分析得到所述击球机构的击打策略后，将包括所述击打策略的击打指令发送至所述击球机构，并在发球模式下将发球指令发送至所述发球机构，并将击打指令发送至所述击球机构；
击球控制器，用于根据接收到的击打指令控制所述击球机构完成击打；
发球控制器，用于根据接收到的发球指令控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述抛球器，并控制所述抛球器将球向上抛出。
所述陪练机器人的控制***中，所述中央控制器、所述击球控制器和所述发球控制器的各个功能可以采用上述陪练机器人的控制方法的具体步骤来实现，此处不予赘述。
本发明所提供的陪练机器人、控制方法及控制***具有如下优点：
本发明提供了一种陪练机器人，击球机构设置有柔性臂，可以对球执行不同形态、不同速度的击打，从而实现更灵活的击打模式，发球机构通过球笼、夹球装置和抛球器的配合，可以实现快速连续变速发球，并且通过发球机构和击球机构的配合，在发球时通过抛球器将球抛起，通过击球机构可以对抛起的球执行不同形态、不同速度的击打，从而实现更灵活的发球模式，满足用户不同的陪练需求，给用户提供更好的陪练体验。
以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。

Claims (14)

  1. 一种陪练机器人，其特征在于，包括：
    底座；
    发球机构，设置于所述底座的上方，所述发球机构包括球笼、夹球装置和抛球器，所述夹球装置用于将所述球笼中的球取出并放置于所述抛球器，所述抛球器用于将所述球抛出；
    击球机构，设置于所述底座的上方，所述击球机构包括球拍、连接臂和球拍支撑杆，所述球拍通过所述连接臂连接于所述球拍支撑杆上；
    控制器组件，用于控制所述发球机构和所述击球机构。
  2. 根据权利要求1所述的陪练机器人，其特征在于，所述发球机构还包括球笼支架和球笼支撑座，所述球笼通过所述球笼支架可拆卸地固定于所述球笼支撑座上，所述球笼支撑座位于所述底座的上表面。
  3. 根据权利要求1所述的陪练机器人，其特征在于，所述球笼包括多个球筒，所述多个球筒安装于一球笼支架上且所述多个球筒可相对于所述球笼支架旋转，以使得不同的球筒的出球口对准所述夹球装置。
  4. 根据权利要求3所述的陪练机器人，其特征在于，所述发球机构还包括一球笼支撑座和设置于所述球笼支撑座上的第一感应器，所述球笼支架安装于球笼支撑座，所述第一感应器用于检测与所述夹球装置对准的所述球筒中是否有球；
    所述控制器组件用于获取所述第一感应器的检测数据，判断与所述夹球装置对准的所述球筒中没有球时，控制所述球笼旋转。
  5. 根据权利要求1所述的陪练机器人，其特征在于，所述抛球器包括承载平台和平台支撑杆，所述控制器组件用于控制所述平台支撑杆将所述承载平台中的球向上抛出，并控制所述击球机构的球拍击打抛出的球。
  6. 根据权利要求1所述的陪练机器人，其特征在于，所述发球机构还包括球笼支撑座，所述夹球装置包括夹持臂和移动座，所述夹持臂通过所述移动座可旋转地固定于所述球笼支撑座上。
  7. 根据权利要求1所述的陪练机器人，其特征在于，所述发球机构设置于所述击球机构的前方，所述夹球装置设置于所述球笼的前方，所述抛球器设置于所述夹球装置的前方，所述球笼从其上端到其下端朝向前方倾斜，且所述球笼的下端的出球口对准所述夹球装置。
  8. 根据权利要求1所述的陪练机器人，其特征在于，所述连接臂为柔性臂，所述球拍通过球拍连接部连接于所述柔性臂，所述球拍与所述球拍连接部为可拆卸连接；
    所述柔性臂依次通过一柔性臂连接部和所述球拍支撑杆固定于球拍支撑座上，所述球拍支撑座位于所述底座的上表面。
  9. 根据权利要求8所述的陪练机器人，其特征在于，所述柔性臂中设置有至少两根沿所述柔性臂的长度方向延伸的第一驱动绳索，所述柔性臂连接部设置有与所述第一驱动绳索一一对应的滑轮；
    所述第一驱动绳索绕设于所述滑轮上，所述第一驱动绳索的一端连接于所述柔性臂的上方，所述第一驱动绳索的另一端穿过所述球拍支撑杆后连接于所述球拍支撑座，所述球拍支撑座中设置有绳索驱动电机，所述控制器组件通过所述绳索驱动电机驱动所述第一驱动绳索运动，进而调整所述柔性臂的姿态；
    所述柔性臂中设置有万向节装置，所述万向节装置包括至少一连杆和两个万向节底座，所述两个万向节底座分别设置于所述柔性臂的两端，所述连杆的两端分别可旋转地连接所述两个万向节底座，所述第一驱动绳索连接所述两个万向节底座，通过驱动所述第一驱动绳索运动，调节所述两个万向节底座的相对位置关系，使得所述柔性臂向一侧倾斜和/或所述柔性臂相对于所述柔性臂连接部旋转；
    所述万向节装置还包括第二驱动绳索、万向轴承和传动轴，所述传动轴的两端分别通过所述万向轴承连接于所述两个万向节底座，且所述传动轴的一端与所述球拍连接部相连接，所述传动轴由第二驱动绳索驱动旋转，以实现所述球拍连接部带动球拍相对于所述柔性臂旋转。
  10. 根据权利要求1所述的陪练机器人，其特征在于，所述底座的上方还设置有摄像机，所述摄像机与所述控制器组件进行通信，以将采集到的图像传输到所述控制器组件中；和/或
    所述底座的侧面或上面还设置有第二感应器，所述第二感应器用于检测球的位置，所述第二感应器与所述控制器组件进行通信，以将检测数据传输到所述控制器组件中。
  11. 根据权利要求1所述的陪练机器人，其特征在于，所述底座的底部设置有行走机构，所述控制器组件还用于控制所述行走机构移动，以将所述陪练机器人移动至指定位置。
  12. 一种陪练机器人的控制方法，其特征在于，用于控制权利要求1至11中任一项所述的陪练机器人，所述方法包括如下步骤：
    判断当前为击球模式还是发球模式；
    如果是击球模式，获取用户的运动数据和球运动轨迹，分析得到所述击球机构的击打策略，并根据所述击打策略控制所述击球机构完成击打动作，所述击打策略包括球拍击打姿态、球拍击打速度和球拍执行球的落点控制；
    如果是发球模式，控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述抛球器，控制所述抛球器将球向上抛出，并控制所述击球机构对抛出的球进行击打。
  13. 根据权利要求12所述的陪练机器人的控制方法，其特征在于，控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述抛球器，控制所述抛球器将球向上抛出，并控制所述击球机构对抛出的球进行击打，包括如下步骤：
    获取用户的运动数据；
    获取用户的陪练等级，根据用户的运动数据和陪练等级确定发球策略，所述发球策略包括发球频率、发球位置范围、落点范围和发球速度；
    根据所述发球频率控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述抛球器，并控制所述抛球器将球向上抛出；
    根据所述发球位置范围和所述发球速度控制所述击球机构对抛出的球进行击打。
  14. 一种陪练机器人的控制***，其特征在于，应用于权利要求12或13所述的陪练机器人的控制方法，所述***包括：
    中央控制器，用于在击球模式时获取用户的运动数据和球运动轨迹，分析得到所述击球机构的击打策略后，将包括所述击打策略的击打指令发送至所述击球机构，并在发球模式下将发球指令发送至所述发球机构，并将击打指令发送至所述击球机构；
    击球控制器，用于根据接收到的击打指令控制所述击球机构完成击打；
    发球控制器，用于根据接收到的发球指令控制所述发球机构的夹球装置将所述球笼中的球取出并放置于所述抛球器，并控制所述抛球器将球向上抛出。
PCT/CN2021/135049 2021-01-19 2021-12-02 陪练机器人、控制方法及控制*** WO2022156381A1 (zh)

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