Robot for assisting shooting training

Abstract

The invention relates to a shooting training assisting robot which comprises a chassis mechanism, a ball picking mechanism, an inclined sliding rail mechanism, a propelling mechanism, a switching mechanism and a launching mechanism, and four Mecanum wheels are installed at the bottom of the chassis mechanism; one end of the ball picking mechanism is rotationally connected to the ball picking mechanism support, and the other end of the ball picking mechanism is provided with a ball picking arm for grabbing basketballs; the inclined sliding rail mechanism comprises an inclined sliding rail and is used for assisting the basketball picked up by the basketball picking mechanism to move along a preset path; the pushing mechanism comprises a ball pushing plate and a power device of the ball pushing plate, and the ball pushing plate is matched with the inclined sliding rail mechanism and used for pushing basketballs to the area of the launching mechanism; the switching mechanism is connected with the launching mechanisms and used for adjusting the distance between the two launching mechanisms. The launching mechanism comprises two friction wheels which are arranged on the two sides of the basketball to be cast respectively, and the basketball is cast based on reverse rotation of the two friction wheels. According to the controllable basketball shooting device, adaptation of multiple ball types can be achieved, and controllable shooting of basketballs is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of assistive robots, and in particular to a robot for assisting basketball shooting training. Background Art

[0002] Existing basketball assistive devices include intelligent basketball serving machines, adjustable basketball stands, and skill correction aids. Intelligent basketball serving machines, among others, are devices that automatically launch basketballs and are primarily used for basketball training and practice. They typically feature manual adjustment of vertical angle, 180-degree horizontal swing, and adjustable ball release rate, and operate stably and reliably. However, existing intelligent serving machines, such as the Dr. Dish All-Star, have the following drawbacks: they utilize pneumatic grippers or straight-arm pickup mechanisms, requiring high-torque motors and imprecise ground clearance control. Their firing channels are fixed and non-adjustable, or they utilize manual mechanical adjustments, resulting in poor adaptability to multiple ball shapes. Their chassis utilizes dual-wheel differential steering or tracks, resulting in a large turning radius and limited mobility. Summary of the Invention

[0003] In response to the above-mentioned technical problems, a robot for assisting in basketball shooting training is provided.

[0004] The technical means adopted in the present invention are as follows: A robot for assisting shooting training includes a chassis mechanism, a ball picking mechanism, an inclined slide mechanism, a propulsion mechanism, a switching mechanism, and a launching mechanism. Four Mecanum wheels are installed at the bottom of the chassis mechanism; One end of the ball picking mechanism is rotatably connected to the ball picking mechanism bracket, and the other end is provided with a ball picking arm for grabbing the basketball; The inclined slide rail mechanism includes an inclined slide rail for assisting the basketball picked up by the ball picking mechanism to move along a preset path; The propulsion mechanism includes a ball pushing plate and a power device for the ball pushing plate. The ball pushing plate is arranged in conjunction with the inclined slide rail mechanism to push the basketball to the launch mechanism area; The switching mechanism is connected to the launching mechanism and is used to adjust the distance between the two launching mechanisms; The launching mechanism includes two friction wheels, which are respectively arranged on both sides of the basketball to be projected. The projectile of the basketball is achieved based on the counter-rotation of the two friction wheels.

[0005] Furthermore, the chassis structure includes a square aluminum profile frame structure, and the frames are connected by right-angle connecting plates, straight connecting plates and corner brackets. The Mecanum wheels are respectively arranged at the four corners of the aluminum profile frame structure. Each wheel is connected to the aluminum profile bracket through a bearing. The motor is fixed under the chassis to drive the Mecanum wheels.

[0006] Furthermore, the ball picking mechanism includes a first vertical support bracket and an adapter bracket, the first vertical support bracket is fixedly mounted on the chassis mechanism, the first vertical support bracket is used to support the rotating motor and the rotating shaft, the rotating motor is mounted on the first vertical support bracket on one side through the motor support plate, the end of the rotating shaft is connected to the bearing mounting plate through a bearing, the bearing mounting plate is mounted on the first vertical support bracket on the other side, and the adapter bracket is mounted on the rotating shaft.

[0007] Furthermore, the robotic arm includes a ball picking fork arm, a straight arm section and a ball grabbing section. One end of the ball picking fork arm is connected to the two straight arm sections respectively, and the other end is connected to the adapter bracket of the ball picking mechanism. The two straight arm sections are symmetrically arranged along the center line of the adapter and have the same specifications. The ball grabbing section is installed at the end of the corresponding straight arm section. The ends of the two ball grabbing sections are provided with corner portions with preset angles facing the other side, and the inner walls of the two ball grabbing sections form an area for grabbing the basketball.

[0008] Furthermore, there are two slide rails, which are respectively arranged in the area corresponding to the end ball-grabbing section of the robotic arm. There is a certain gap between the two slide rails, the length of which is smaller than the diameter of the basketball, and the bottom of each slide rail is installed on the chassis mechanism.

[0009] Furthermore, the ball pushing plate of the propulsion mechanism has a preset curvature and specifications that are adapted to the basketball to be projected. The power device of the ball pushing plate is a propulsion motor, which is installed at the bottom of the slide rail. The propulsion motor drives the ball pushing plate along the slide rail to push the basketball upward to the entrance of the launch device through a screw rod or a gear rack transmission or a synchronous belt.

[0010] Furthermore, the chassis mechanism is also connected to a second vertical support bracket, and the bottom of the switching mechanism is mounted on the second vertical support bracket via a height adjustment bracket.

[0011] Furthermore, the two friction wheels are driven by corresponding friction wheel motors respectively.

[0012] Compared with existing technologies, the present invention has the following advantages: The present invention achieves omnidirectional robot movement through the combination of Mecanum wheels and an aluminum chassis frame. The ball pickup mechanism, located on the first vertical support bracket and the adapter bracket, enables low-torque ball pickup. The combination of an inclined slide rail and a propulsion mechanism's ball pusher plate enables unobstructed ball delivery. Furthermore, the switching mechanism and its associated launch mechanism enable adaptation to multiple ball types and controllable basketball launch. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 for Figure 1 A magnified view of the details.

[0016] Figure 3 It is the front view of the present invention.

[0017] Figure 4 It is a rear view of the present invention.

[0018] Figure 5 It is a side view of the present invention.

[0019] Figure 6 It is a top view of the present invention.

[0020] Figure 7 This is a structural schematic diagram of the friction wheel variable spacing linear slide of the present invention.

[0021] Figure: 3, DC brushless reduction motor; 4, 90° angle code; 5, wheel guard; 25, control system board; 26, odometer; 30, ball picking fork arm; 31, straight arm section; 32, rotating shaft; 34, horizontal bearing support; 35, bearing mounting plate; 37, column; 38, coupling; 43, Mecanum wheel; 53, camera; 54, ball picking section; 56, camera mounting base; 58, 60° angle code; 5 9. 120° angle code; 60. Slide rail; 61. Slide rail bracket; 62. Fixed friction wheel column; 67. Friction wheel variable pitch linear slide; 68. Synchronous belt mounting bracket; 75. Push ball plate; 78. Friction wheel; 80. Side mounting plate; 81. Middle mounting plate; 82. Moving wheel base; 84. Moving friction wheel column; 87. Connecting plate; 89. Slide bracket column 80mm; 90. Inclined column bracket; 91. Fixed wheel base. DETAILED DESCRIPTION

[0022] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0025] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0026] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0027] For ease of description, spatially relative terms such as "above," "above," "on the upper surface of," and "above" may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "on top of" another device or structure would then be positioned as "below" or "below" the other device or structure. Thus, the exemplary term "above" may include both the orientations of "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used herein should be interpreted accordingly.

[0028] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0029] like Figures 1 to 7 As shown, the embodiment of the present invention discloses a robot for assisting shooting training, including a chassis mechanism, a ball picking mechanism, an inclined slide mechanism, a propulsion mechanism, a switching mechanism and a launching mechanism. Four Mecanum wheels 43 are mounted on the bottom of the chassis; each wheel is fitted with a wheel guard 5. The four-wheel drive combined with the Mecanum wheels enables omnidirectional movement. The aluminum frame provides high-strength support, and the center is reinforced with cross-aluminum profiles, avoiding the lack of support found in traditional two-plate chassis. The installation position of the ball pickup and launcher can be flexibly adjusted.

[0030] One end of the ball picking mechanism is rotatably connected to the ball picking mechanism bracket, and the other end is provided with a ball picking arm for grabbing the basketball; The inclined slide rail mechanism includes an inclined slide rail 60 for assisting the basketball picked up by the ball picking mechanism to move along a preset path; The propulsion mechanism includes a ball pushing plate 75 and a power device for the ball pushing plate. The ball pushing plate is arranged in conjunction with the inclined slide mechanism to push the basketball to the launch mechanism area; The switching mechanism is connected to the launching mechanism and is used to adjust the distance between the two launching mechanisms; The launching mechanism includes two friction wheels 78, which are respectively arranged on both sides of the basketball to be launched. The basketball is launched based on the counter-rotation of the two friction wheels.

[0031] Furthermore, the chassis structure includes a square aluminum profile frame structure, with each frame connected by right-angle connecting plates, straight connecting plates, and angle brackets. Specifically, the right-angle connecting plates and the straight connecting plates are connected by 90° angle brackets 4 for fastening. A central mounting plate 81 and a side mounting plate 80 are provided on the profile frame to enable the installation of electronic components such as the control system board 25. The Mecanum wheels are respectively arranged at the four corners of the aluminum profile frame structure. Each wheel is connected to the aluminum profile bracket via a bearing. The motor is fixed under the chassis to drive the Mecanum wheels. In this embodiment, the motor driving the Mecanum wheels is a brushless DC reduction motor 3. In this embodiment, the installed electronic components also include an odometer 26, which estimates the position and direction of the robot at any time by measuring the rotational speed of the two wheels.

[0032] Furthermore, the ball picking mechanism includes a first vertical support bracket and an adapter bracket. The first vertical support bracket is fixedly mounted on the chassis mechanism and specifically includes a plurality of columns 37. The first vertical support bracket is used to support the rotating motor and the rotating shaft 32. The rotating motor is mounted on one side of the first vertical support bracket via a motor support plate. The output end of the rotating motor is connected to the rotating shaft via a coupling 38. The end of the rotating shaft is connected to the horizontal bearing support 34 via a bearing. The horizontal bearing support is mounted on a bearing mounting plate 35. The bearing mounting plate is mounted on the first vertical support bracket on the other side. The adapter bracket is mounted on the rotating shaft. The adapter bracket is composed of a plurality of slide bracket columns 89.

[0033] In this embodiment, a camera mounting base 56 is further mounted on the rotating shaft, on which a camera 53 is mounted.

[0034] Furthermore, the robotic arm includes a ball picking fork arm 30, a straight arm section 31, and a ball grabbing section. One end of the ball picking fork arm is connected to each of the two straight arm sections, and the other end is connected to the adapter bracket of the ball picking mechanism. The two straight arm sections are symmetrically arranged along the centerline of the adapter and have the same specifications. The ball grabbing section is installed at the end of the corresponding straight arm section. The ends of the two ball grabbing sections are each provided with a corner portion with a preset angle facing toward the other side. The inner walls of the two ball grabbing sections form an area for grabbing the basketball. The ball picking fork arm has a certain outward expansion angle, causing the two straight arm sections to expand outward, with the distance between the ends of the two sections being the farthest, and the ball grabbing section is provided at this end. The principle of catching the ball is that the ball grabbing section is used to fork up the ball from the bottom and then lift it up. The end of the ball grabbing section is wider than the connecting part, and different widths can meet the requirements of picking up different types of balls. The ball grabbing section is a carbon fiber tube connected by welding or bolts.

[0035] Furthermore, there are two slide rails, each located in the area corresponding to the end of the robotic arm's ball-grabbing section. A gap exists between the two rails, the length of which is less than the diameter of a basketball. The bottom of each rail is mounted on the chassis. Specifically, an inclined column is mounted on the chassis via 60° and 120° angle brackets 58 and 59. This column supports the timing belt mounting bracket described below and the slide rails. The angle of the slide rails is the same as the column, and the two are connected by a slide rail bracket 61. The surface of the slide rails is provided with horizontal grooves to ensure the stability of the ball on the rails.

[0036] Furthermore, the ball pushing plate of the propulsion mechanism has a preset curvature and specifications adapted to the basketball to be projected. The power device of the ball pushing plate is a propulsion motor, which is installed at the bottom of the slide rail. The propulsion motor drives the ball pushing plate to push the basketball upward along the slide rail to the entrance of the launch device through a screw rod or a gear rack transmission or a synchronous belt. The chassis mechanism is also connected to the above-mentioned inclined column, and an inclined bracket adapted to the inclination of the slide rail is installed on the inclined column as a synchronous belt mounting bracket 68. The motor is connected to the ball pushing plate through a synchronous belt. In this embodiment, the movement of the ball pushing plate is achieved by controlling the synchronous belt through gears.

[0037] The inclined column is also connected to the second vertical support bracket described below through an inclined column bracket.

[0038] Furthermore, the chassis mechanism is further connected to a second vertical support bracket, and the bottom of the switching mechanism is mounted on the second vertical support bracket via a height adjustment bracket. The second vertical support bracket is connected to the first vertical support bracket via a plurality of connecting plates 87.

[0039] Furthermore, the two friction wheels are driven by corresponding friction wheel motors respectively.

[0040] In this embodiment, to enable the launch of basketballs of different sizes, the distance between the friction wheels varies due to their different radii. To this end, the friction wheels include a fixed wheel and a movable wheel. The movable wheel changes distance by moving. Using one fixed wheel and one movable wheel simplifies the structure and improves stability and reliability. Specifically, the fixed friction wheel mechanism includes a fixed friction wheel and a fixed wheel base 91. The fixed wheel base is mounted on the second vertical support bracket via a fixed friction wheel column 62. The movable friction wheel mechanism includes a movable friction wheel and a movable wheel base 82, which is used to connect the movable friction wheel to the friction wheel variable-pitch linear slide 67. The bottom of the friction wheel variable-pitch linear slide is mounted on the second vertical support bracket via a movable friction wheel column 84.

[0041] During use, the distance between the movable friction wheel and the fixed friction wheel can be adjusted only through the friction wheel variable distance linear slide 67. Of course, the friction wheel variable distance linear slide 67 has a motor drive component.

[0042] Of course, as an expandable implementation method, volleyball can also use this device for simulation training.

[0043] In summary, the present invention leverages the omnidirectional mobility of the Mecanum wheels, combined with an odometer (encoder) and camera vision system on the chassis, to enable the robot to freely move to any designated position on the court or track the position of a basketball. A camera mounted on the rotating shaft of the ball pickup arm identifies the position and posture of the basketball on the ground. Based on this visual information, the control system precisely controls the movement of the chassis and the rotation of the ball pickup arm, ensuring that the ball-grabbing section accurately reaches the bottom of the basketball. The ball-grabbing section (a fork-shaped structure with a corner) at the end of the ball pickup arm inserts from the bottom of the basketball and reliably picks up the basketball by leveraging its expansion angle and variable width at the end. After being lifted, the basketball rolls onto the inclined slide rails, either under gravity or with a slight assist. The inclined slide rails guide the basketball steadily down to the designated area at the bottom. A propulsion motor drives a curved pusher plate via a synchronous belt (or screw / rack and pinion), pushing the basketball smoothly and accurately upward along the slide rails to the launch port between two friction wheels. A variable-pitch friction wheel linear slide automatically drives the moving friction wheel according to the preset basketball type or training instructions, precisely adjusting the distance between the moving and fixed wheels to ensure a close fit to the basketball's surface. Two friction wheels, driven by separate motors, rotate in opposite directions at high speed. When a basketball is pushed between the wheels, the tangential friction forces exerted by the wheels propel the ball at high speed. By precisely controlling the rotational speeds (both magnitude and ratio) of the two friction wheels and the launch angle (achieved by the tilt of the entire launch mechanism), different shooting arcs, speeds, and spins can be simulated.

[0044] The Mecanum wheels of this invention enable arbitrary translation and rotation, allowing for flexible maneuverability in crowded courts and rapid access to ball pickup and launch points. A fork-arm pickup mechanism, combined with visual guidance, enables rapid and stable pickup of basketballs of varying sizes from the ground with a high success rate. This fully automated process, from ball search and positioning, pickup, transport, adjustment, to launch, significantly reduces manual intervention. Furthermore, the friction wheel launch mechanism, with its automatically adjustable pitch, accommodates basketballs (or volleyballs) of varying sizes, eliminating the need for manual component replacement. Programmable control of launch position, angle, speed, rotation, and frequency allows for simulation of various real-world shooting scenarios.

[0045] The control system primarily controls chassis drive, the ball pickup arm, propulsion, spacing switching, and friction wheel launch. The motor driver precisely controls the speed and direction of the four Mecanum wheels, enabling omnidirectional movement along the planned path. The rotational motor precisely controls the angle of the ball pickup arm, coordinating with chassis movement to ensure the ball-grabbing segment accurately lands beneath the target ball. The propulsion motor, via a timing belt, precisely controls the stroke of the pusher plate, ensuring a stable delivery of the basketball to the launch position. The slide motor precisely controls the position of the dynamic friction wheels, ensuring the spacing matches the current ball. The two friction wheel motors are independently controlled to precisely achieve the set rotational speed, generating the desired ball release velocity, rotational direction, and rotational speed. By controlling the slight difference in rotational speed between the two wheels, the ball's flight direction can be fine-tuned.

[0046] In this embodiment, the chassis is equipped with an IMU, a lidar, and an ultrasonic sensor for positioning and obstacle avoidance. The upper computer (Jetson Orin Nano) and the lower computer (STM32F427IIH6) are connected via CAN communication to control the motor speed and motion trajectory, and the PID algorithm is used to achieve closed-loop control of the motor.

[0047] During specific use, the camera collects images, uses the YOLOv8 model to identify the position of the basketball, and generates a navigation path.

[0048] The robot moves to the basketball position, the Z-shaped ball picking device picks up the basketball, and pushes it to the launch device through the inclined slide rail.

[0049] Specifically, a camera identifies the basketball's position, a host computer plans a path, and the chassis' Mecanum wheels move omnidirectionally to the pickup point. A motor-driven Z-shaped robotic arm flips, hooking the basketball onto a carbon fiber tube. The arm then lifts, and the ball rolls onto a push plate. The push plate's propulsion motor drives the ball along a slide rail to the launch area. After adjusting the angle, the ball enters the corresponding launch channel, and the dual friction wheels rotate at high speed to launch it. The obstacle avoidance path is calculated in real time using a binary heap-optimized Dijkstra algorithm. This, combined with a heuristic function (taking into account distance and obstacle distribution) to adjust priorities, ensures the robot's rapid response to dynamic environments. Based on training needs, the platform is switched to adjust launch parameters, and the friction wheels rotate at high speed to launch the ball, simulating shooting training at various distances and angles.

[0050] The overall design process of the present invention is as follows: Through sketch design, the size, weight, space allocation, etc. of the basketball car are planned to determine the structure of the chassis, ball pickup and launch device; SW is used for modeling to model the competition venue, chassis, ball pickup device, launch device and the entire vehicle. During the modeling process, continuous iterative optimization is carried out, considering factors such as strength, support, space and winding; after completing the modeling, the physical assembly is carried out in the order of chassis first, then upper launch frame and friction wheel, and finally installing the ball pickup device.

[0051] An RTOS is used for basic task scheduling and management, breaking down the program into multiple tasks and scheduling them according to priority and time requirements to ensure system real-time performance. The CAN communication protocol is used to control the M3508 motor, achieving closed-loop control and adjusting the control strategy based on motor feedback. A PID algorithm is used for closed-loop motor control, adjusting the control signal based on the proportional, integral, and differential error to ensure the motor reaches a stable, predetermined state. The EXTI external interrupt and TIM timer interrupt respond to external events and timed tasks, improving system response speed and control accuracy. UART communication enables data exchange between modules and communication with external devices, with the baud rate set as required to ensure stable data transmission. The real-time operating system (RTOS) breaks down the program into multiple tasks and schedules them according to priority and time requirements, ensuring parallel execution of each control module, avoiding task conflicts or delays, improving system real-time performance and stability, and enhancing the accuracy and autonomy of the robot's motion control. The CAN communication protocol is used to control the M3508 motor, overcoming the limitations of PWM control and enabling real-time motor feedback, enabling closed-loop control, improving control accuracy and system stability, and adapting to complex motion and real-time feedback requirements. The PID algorithm adjusts the control signal based on real-time feedback from the motor. Using proportional, integral, and differential functions, it addresses different types of errors, enabling fine motor control, eliminating static errors, and improving control smoothness and stability, ensuring stable and precise motor movement even in complex situations. The EXTI external interrupt responds to changes in external device signals, while the TIM timer interrupt executes timed tasks. Together, they enhance system real-time performance and control accuracy, ensuring efficient operation of the electronic control system and enabling the robot to perform tasks stably in complex environments. UART communication is used for data transmission between system modules and with external devices. It boasts a simple structure, low cost, and moderate transmission speeds. It uses a specific frame format to ensure data integrity and accuracy, making it widely used in scenarios such as sensor communication, debugging and monitoring, and positioning system communications.

[0052] The YOLOv8 model is used for target recognition. The collected image dataset containing basketballs and volleyballs is labeled and divided. The labeled data is used to train the model. After training, the trained model is used for inference and basketball recognition. Based on the characteristics of the basketball robot project, the traditional Dijkstra algorithm is improved in path planning. A binary heap-optimized priority queue is introduced to reduce the time complexity of node insertion and deletion. Heuristic information is integrated to design heuristic functions. Factors such as distance, obstacle distribution, and target orientation are comprehensively considered to improve the efficiency of the algorithm in dynamic environments.

[0053] The YOLOv8 model was selected for basketball and volleyball recognition. This model combines multiple advantages, including an optimized network structure, a lightweight design, multi-scale feature fusion, and an innovative detection head. It performs exceptionally well in image classification, object detection, and instance segmentation tasks, offering high efficiency, real-time performance, and adaptability to complex scenarios. Specifically tailored to the specific characteristics of the basketball robot project, the traditional Dijkstra algorithm was modified by introducing a binary heap-based priority queue to reduce the time complexity of node insertion and deletion. Heuristic information was also incorporated into the design of a heuristic function, which comprehensively considers various factors to adjust node priorities. This improves the algorithm's efficiency in dynamic environments, reducing runtime and the number of nodes required for expansion.

[0054] The shooting training robot of this invention achieves a high degree of automation through its sophisticated mechanical structure and advanced sensor system. The core of its "intelligent assistance" lies in its powerful control system software, which uses sensory information for decision-making and planning. Through closed-loop feedback and adaptive algorithms, it dynamically adjusts training content and difficulty based on a player's actual performance, providing personalized, data-driven training programs. This goes beyond a simple automated serving machine and becomes a truly intelligent product that improves a player's shooting skills.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot for assisting shooting training, characterized in that: It includes chassis mechanism, ball picking mechanism, inclined slide mechanism, propulsion mechanism, switching mechanism and launching mechanism. Four Mecanum wheels are installed at the bottom of the chassis mechanism; One end of the ball picking mechanism is rotatably connected to the ball picking mechanism bracket, and the other end is provided with a ball picking arm for grabbing the basketball; The inclined slide rail mechanism includes an inclined slide rail for assisting the basketball picked up by the ball picking mechanism to move along a preset path; The propulsion mechanism includes a ball pushing plate and a power device for the ball pushing plate. The ball pushing plate is arranged in conjunction with the inclined slide rail mechanism to push the basketball to the launch mechanism area; The switching mechanism is connected to the launching mechanism and is used to adjust the distance between the two launching mechanisms; The launching mechanism includes two friction wheels, which are respectively arranged on both sides of the basketball to be projected. The projectile of the basketball is achieved based on the counter-rotation of the two friction wheels.

2. The robot according to claim 1, characterized in that The chassis structure includes a square aluminum profile frame structure, and the frames are connected by right-angle connecting plates, straight connecting plates and corner brackets. The Mecanum wheels are respectively arranged at the four corners of the aluminum profile frame structure. Each wheel is connected to the aluminum profile bracket through a bearing. The motor is fixed under the chassis to drive the Mecanum wheels.

3. The robot according to claim 1, characterized in that The ball picking mechanism includes a first vertical support bracket and an adapter bracket. The first vertical support bracket is fixedly mounted on the chassis mechanism. The first vertical support bracket is used to support the rotating motor and the rotating shaft. The rotating motor is mounted on the first vertical support bracket on one side through the motor support plate. The end of the rotating shaft is connected to the bearing mounting plate through a bearing. The bearing mounting plate is mounted on the first vertical support bracket on the other side. The adapter bracket is mounted on the rotating shaft.

4. The robot according to claim 1, characterized in that The robotic arm includes a ball picking fork arm, a straight arm section and a ball grabbing section. One end of the ball picking fork arm is connected to the two straight arm sections respectively, and the other end is connected to the adapter bracket of the ball picking mechanism. The two straight arm sections are symmetrically arranged along the center line of the adapter and have the same specifications. The ball grabbing section is installed at the end of the corresponding straight arm section. The ends of the two ball grabbing sections are each provided with a corner portion with a preset angle facing the other side, and the inner walls of the two ball grabbing sections form an area for grabbing the basketball.

5. The robot according to claim 1, characterized in that There are two slide rails, which are respectively arranged in the area corresponding to the end ball-grabbing section of the robotic arm. There is a certain gap between the two slide rails, the length of which is smaller than the diameter of the basketball. The bottom of each slide rail is installed on the chassis mechanism.

6. The robot according to claim 1, characterized in that The ball pushing plate of the propulsion mechanism has a preset curvature and its specifications are adapted to the basketball to be projected. The power device of the ball pushing plate is a propulsion motor, which is installed at the bottom of the slide rail. The propulsion motor drives the ball pushing plate along the slide rail to push the basketball upward to the entrance of the launch device through a screw rod or a gear rack transmission or a synchronous belt.

7. The robot according to claim 1, characterized in that The chassis mechanism is further connected to a second vertical support bracket, and the bottom of the switching mechanism is mounted on the second vertical support bracket via a height adjustment bracket.

8. The robot according to claim 1, wherein: The two friction wheels are driven by corresponding friction wheel motors respectively.

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