Frisbee Automatic Launching System and Control Method

Abstract

The present invention discloses an automatic frisbee launching system and a control method, which are applied to the technical field of frisbee launching, and can accurately control the frisbee motion trajectory parameters and improve the frisbee training effect. The system includes: a special frisbee, which is provided with a first frisbee motion control axis and a motion data acquisition module, and the first frisbee motion control axis is provided with a magnet; the frisbee ejection module includes a frisbee ejection track, a second frisbee motion control axis and a braking stopper; the second frisbee motion control axis is arranged on the frisbee ejection track and is provided with an electromagnet; the braking stopper is arranged at the end of the frisbee ejection track; the frisbee storage and transportation module includes a frisbee storage device, a frisbee boosting device and a frisbee sending mechanism; the frisbee boosting device and the frisbee sending mechanism are respectively below and above the frisbee storage device; the robotic arm module is used for frisbee launching at a preset point; the data monitoring, analysis and control module is used to obtain control instructions and analyze according to the motion data to obtain an analysis result, and control the preset module to work.

Description

Technical Field

[0001] The present invention relates to the technical field of frisbee launching, and in particular, to an automatic frisbee launching system and a control method thereof. Background Art

[0002] A frisbee is a popular outdoor sports equipment. Frisbee sports can carry out various different activities and competitions. And this seemingly simple sports method actually includes the requirements of many basic physical qualities. Due to the simple, interesting and portable characteristics of frisbee activities, frisbee sports have been widely popularized and promoted. This sport usually requires at least two people, one of whom throws the frisbee into the air, and the other is responsible for catching the frisbee. However, since beginners often cannot control the speed, direction and angle of the frisbee well, the practice effect is not good when practicing catching the frisbee. And in some frisbee training courses, it is difficult for the teaching staff to take care of each student, and it is also difficult to provide good training for each student, and it is difficult to accurately evaluate the learning situation of each student, which seriously affects the learning effect. Therefore, how to effectively improve the training effect of frisbee training has become an urgent problem to be solved. Summary of the Invention

[0003] In order to solve at least one of the above technical problems, the present invention proposes an automatic frisbee launching system and a control method thereof, which can accurately control the frisbee movement trajectory parameters and effectively improve the frisbee training effect.

[0004] On the one hand, an embodiment of the present invention provides an automatic frisbee launching system, including:

[0005] A special frisbee, a first frisbee movement control shaft is arranged below the center of the special frisbee, and a magnet is arranged below the first frisbee movement control shaft; a movement data acquisition module is arranged inside the special frisbee, and the movement data acquisition module is used to acquire the movement data of the special frisbee;

[0006] A frisbee ejection module, the frisbee ejection module includes a frisbee ejection track, a second frisbee movement control shaft and a braking block; the frisbee ejection track is used for frisbee ejection; the second frisbee movement control shaft is arranged on the frisbee ejection track, an electromagnet is arranged on the upper part of the second frisbee movement control shaft, and the special frisbee movement is controlled by the electromagnet; the braking block is arranged at the end of the frisbee ejection track;

[0007] Frisbee storage and transportation module, the Frisbee storage and transportation module includes a Frisbee storage device, a Frisbee boosting device, and a Frisbee launching mechanism; the Frisbee storage device is used to store the special Frisbee; the Frisbee boosting device is arranged below the Frisbee storage device, and the Frisbee boosting device is used to boost the special Frisbee to the Frisbee launching mechanism; the Frisbee launching mechanism is arranged above the Frisbee storage device, and the Frisbee launching mechanism is used to move the special Frisbee to the Frisbee ejection track;

[0008] Robotic arm module, the robotic arm module is used to simulate the hand to launch the Frisbee at preset positions;

[0009] Data monitoring, analysis and control module, the data monitoring, analysis and control module is respectively connected to the motion data acquisition module, the Frisbee ejection module, the Frisbee storage and transportation module, and the robotic arm module. The data monitoring, analysis and control module is used to obtain control instructions, control the corresponding preset modules to work according to the control instructions; perform data analysis on the motion data collected by the motion data acquisition module to obtain an analysis result, and control the corresponding preset modules to work according to the analysis result; wherein, the preset modules include at least one of the Frisbee ejection module, the Frisbee storage and transportation module, and the robotic arm module.

[0010] An automatic frisbee launching system according to an embodiment of the present invention has at least the following beneficial effects: In this embodiment, a first frisbee motion control shaft and a motion data acquisition module are provided on the special frisbee. The motion data of the special frisbee is obtained through the motion data acquisition module and sent to the data monitoring, analysis and control module, so that data analysis can be performed based on the motion data collected by the motion data acquisition module to obtain an analysis result, and the corresponding preset module can be controlled to work according to the analysis result, so that a corresponding training plan can be formulated and frisbee launching control can be performed. In addition, in this embodiment, the frisbee ejection module includes a frisbee ejection track, a second frisbee motion control shaft and a braking stopper. The frisbee is ejected through the frisbee ejection track. In this embodiment, the second frisbee motion control shaft is arranged on the frisbee ejection track, and the special frisbee is controlled to move by the electromagnet arranged on the upper part of the second frisbee motion control shaft, so as to effectively reduce the friction force, reduce the wear of the special frisbee, and facilitate the special frisbee to accelerate to the desired speed. Correspondingly, in this embodiment, the second frisbee motion control shaft is braked by the braking stopper arranged at the end of the frisbee ejection track. Further, in this embodiment, the frisbee storage and transportation module includes a frisbee storage device, a frisbee boosting device and a frisbee sending mechanism. The special frisbee is stored in the frisbee storage device, and the special frisbee is boosted to the frisbee sending mechanism by the frisbee boosting device arranged below the frisbee storage device. In addition, in this embodiment, the special frisbee is moved to the frisbee ejection track by the frisbee sending mechanism arranged above the frisbee storage device, so that the special frisbee is controlled to move by controlling the electromagnet on the second frisbee motion control shaft, and the launch of the special frisbee is realized. At the same time, this embodiment is also provided with a robotic arm module, which simulates the hand to launch the frisbee at preset positions. Thus, by combining the robotic arm module with the frisbee ejection module, the diversity of the frisbee launch trajectory is effectively improved, and the problem that the frisbee launch speed of the robotic arm module is slow is alleviated. In addition, in this embodiment, the data monitoring, analysis and control module obtains a control instruction, and controls at least one of the preset modules including the frisbee ejection module, the frisbee storage and transportation module and the robotic arm module to work according to the control instruction, so as to realize the precise control of the frisbee motion trajectory parameters and effectively improve the frisbee training effect.

[0011] According to some embodiments of the present invention, the system further includes:

[0012] A system housing, which is arranged outside the system. The system housing is provided with a frisbee input port and a window. The frisbee input port is used for inputting the special frisbee. The window is arranged at a position corresponding to the frisbee storage device on the side of the system housing, and the window is used to determine the number of the special frisbees stored in the frisbee storage device.

[0013] According to some embodiments of the present invention, the frisbee ejection track is liftable. The frisbee ejection track includes a first ejection track, a second ejection track, and a third ejection track, and the ejection directions of the first ejection track, the second ejection track, and the third ejection track are different.

[0014] According to some embodiments of the present invention, the robotic arm module includes a robotic arm. The robotic arm is disposed below the top of the system housing. The robotic arm controls the motion parameters of the special frisbee through a proportional-integral-derivative algorithm and performs fixed-point launching according to the analysis result.

[0015] According to some embodiments of the present invention, the data monitoring, analysis, and control module includes:

[0016] An information acquisition module, which is used to acquire the member information of frisbee training members and construct a member information database;

[0017] A data analysis module, which is used to perform big data calculation and analysis on the motion data collected by the motion data acquisition module to obtain the training success rate of the corresponding frisbee training member; perform data analysis based on the training success rate to obtain a preset training plan;

[0018] An evaluation module, which is used to obtain the training evaluation data of each frisbee training member by combining the training data analyzed by the data analysis module and the member information obtained by the information acquisition module with the current training status data analysis.

[0019] On the other hand, an embodiment of the present invention also provides a control method for a frisbee automatic launching system, including:

[0020] Obtain a control instruction;

[0021] Control the corresponding preset module to work according to the control instruction;

[0022] Obtain the motion data of the special frisbee;

[0023] Perform data analysis on the motion data to obtain an analysis result;

[0024] Control the corresponding preset module to work according to the analysis result; wherein, the preset module includes at least one of a frisbee ejection module, a frisbee storage and transportation module, and a robotic arm module.

[0025] According to some embodiments of the present invention, the control instruction includes a first training mode and a second training mode; wherein, the first training mode includes several training gears, and the distances of the frisbees launched in different training gears are different; the second training mode is to control the frisbee launching according to the training data.

[0026] Controlling the corresponding preset module to work according to the control instruction includes:

[0027] When the control instruction is the first training mode, determining the training gear according to the first training mode;

[0028] Adjusting the electromagnetic current on the second frisbee motion control axis according to the training gear for frisbee ejection; wherein, the second frisbee motion control axis is arranged on the frisbee ejection track, and an electromagnetic iron is arranged on the upper part of the second frisbee motion control axis, and the special frisbee motion is controlled by the electromagnetic iron;

[0029] Or,

[0030] When the control instruction is the second training mode, determining the target training item of the frisbee training member according to the training data;

[0031] Controlling the frisbee ejection module and the robotic arm module to perform frisbee launch control according to the target training item.

[0032] According to some embodiments of the present invention, the method further includes:

[0033] Obtaining the storage data of the frisbee storage device;

[0034] When it is determined according to the storage data that the number of frisbees is less than the preset number, initiating a frisbee replenishment warning.

[0035] According to some embodiments of the present invention, the method further includes:

[0036] Analyzing the training state according to the motion data to generate a training report; wherein, the training report includes the training state data of the frisbee training member, the training result data of each azimuth, and the comprehensive scoring data.

[0037] According to some embodiments of the present invention, the analysis result includes a preset point and preset frisbee motion parameters; wherein, the preset point is the point where the training success rate of the frisbee training member is lower than the preset success rate during training; the preset frisbee motion parameters include the ejection direction, ejection angle, and ejection height of the special frisbee;

[0038] Controlling the corresponding preset module to work according to the analysis result includes:

[0039] When it is determined that the frisbee ejection module meets the preset ejection requirements, controlling the frisbee ejection module to launch the special frisbee according to the preset frisbee motion parameters and the preset point;

[0040] Or,

[0041] When it is determined that the frisbee ejection module does not meet the preset emission requirements, the robotic arm module is controlled to launch the special frisbee according to the preset frisbee motion parameters and the preset positions; wherein, the preset emission requirements are determined by the preset frisbee motion parameters and the preset positions. Description of the Drawings

[0042] Figure 1 is a schematic structural diagram of the frisbee automatic launch system provided by an embodiment of the present invention;

[0043] Figure 2 is a front view of the frisbee automatic launch system provided by an embodiment of the present invention;

[0044] Figure 3 is a top view of the frisbee automatic launch system provided by an embodiment of the present invention;

[0045] Figure 4 is a schematic structural diagram of the frisbee ejection module provided by an embodiment of the present invention;

[0046] Figure 5 is a schematic structural diagram of the special frisbee provided by an embodiment of the present invention;

[0047] Figure 6 is a schematic cross-sectional view of the special frisbee provided by an embodiment of the present invention;

[0048] Figure 7 is a flowchart of the control method of the frisbee automatic launch system provided by an embodiment of the present invention. Detailed Embodiments

[0049] The embodiments described in the embodiments of this application should not be regarded as limitations to this application. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

[0050] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0052] A frisbee is a popular outdoor sports equipment. Frisbee sports can carry out various different activities and competitions. This seemingly simple sports method actually involves many requirements for basic physical fitness. Due to the simple, interesting and portable characteristics of frisbee activities, frisbee sports have been widely popularized and promoted. This sport usually requires at least two people. One person throws the frisbee into the air, and the other person is responsible for catching the frisbee. However, since beginners often cannot control the speed, direction and angle of the frisbee well, they cannot achieve good practice effects when practicing catching the frisbee. And in some frisbee training courses, it is difficult for teaching staff to take care of each student, and it is also difficult to provide good training for each student and accurately evaluate the learning situation of each student, which seriously affects the learning effect. Therefore, how to effectively improve the training effect of frisbee training has become an urgent problem to be solved.

[0053] Based on this, an embodiment of the present invention provides a frisbee automatic launching system, which can accurately control the frisbee motion trajectory parameters and effectively improve the frisbee training effect. Referring to Figure 1 , Figure 2 and Figure 3 , the frisbee automatic launching system of the embodiment of the present invention includes a special frisbee 110, a frisbee ejection module, a frisbee storage and transportation module, a robotic arm module, and a data monitoring, analysis and control module. Specifically, referring to Figure 5 and Figure 6 , in this embodiment, a first frisbee motion control shaft 310 is arranged below the center of the special frisbee 110, and a magnet 320 is arranged below the first frisbee motion control shaft 310. In addition, a motion data acquisition module is also arranged inside the special frisbee 110 in this embodiment. In this embodiment, the motion data acquisition module acquires the motion data of the special frisbee 110, such as flight speed, angular velocity, flight trajectory, etc. It should be noted that in this embodiment, the lowest end of the frisbee is used as the horizontal line, and the lowest end of the magnet 320 is located on this horizontal line, that is, the lowest end of the magnet 320 is contained in the frisbee, so as to prevent the first frisbee motion control shaft 310 from being damaged when the frisbee is not caught and falls to the ground, or when the high-speed moving special frisbee 110 drives the first frisbee motion control shaft 310 to move, it may cause accidental injury to the student who fails to catch the special frisbee 110. Further, in this embodiment, the frisbee ejection module includes a frisbee ejection track 150, a second frisbee motion control shaft 160, and a braking stopper 170. Referring to Figure 1 , Figure 3 and Figure 4, in this embodiment, the frisbee ejection track 150 is used for frisbee ejection, that is, by controlling the special frisbee 110 to be launched along the frisbee ejection track 150, so as to achieve frisbee ejection. Further, in this embodiment, the second frisbee motion control shaft 160 is arranged on the frisbee ejection track 150. Among them, an electromagnet is arranged on the upper part of the second frisbee motion control shaft 160. In this embodiment, the special frisbee 110 is controlled to move by the electromagnet, that is, the special frisbee 110 is driven to move. It is easy to understand that a magnet 320 is arranged below the first frisbee motion control shaft 310 on the special frisbee 110 in this embodiment. In this embodiment, the electromagnet is controlled to be energized to generate magnetism, attracting the magnet 320 on the special frisbee 110, so as to drive the special frisbee 110 to move. Among them, in this embodiment, the current magnitude of the electromagnet on the second frisbee motion control shaft 160 can be controlled to change the magnetic field magnitude. Correspondingly, the larger the magnetic field, the easier it is for the special frisbee 110 to accelerate to a predetermined speed, and the special frisbee 110 also requires a greater initial speed to break free from the bondage of the magnetic field, so as to control the speed of the special frisbee 110 when it is ejected.

[0054] Furthermore, in this embodiment, the frisbee storage and transportation module includes a frisbee storage device 120, a frisbee boosting device 130, and a frisbee launching mechanism 140. Specifically, in this embodiment, the special frisbee 110 is stored in the frisbee storage device 120. Among them, the frisbee storage device 120 is cylindrical, and the surface of the cylindrical wall is hollowed out. By corresponding the shape of the frisbee storage device 120 with the shape of the special frisbee 110, the space occupancy can be effectively reduced, making the system layout compact. Correspondingly, in this embodiment, the frisbee boosting device 130 is arranged below the inside of the frisbee storage device 120, and the special frisbee 110 stored in the frisbee storage device 120 is boosted to the frisbee launching mechanism 140 by the frisbee boosting device 130. In addition, in this embodiment, the frisbee launching mechanism 140 is arranged above the frisbee storage device 120. In this embodiment, the special frisbee 110 is pushed from bottom to top to the frisbee launching mechanism 140 by the frisbee boosting device 130, and then the special frisbee 110 is pushed to the frisbee ejection track 150 by the frisbee launching mechanism 140 for launching. At the same time, a robotic arm module is also provided in this embodiment. In this embodiment, the robotic arm module simulates the hand to perform frisbee launching at preset points. It is easy to understand that when the special frisbee 110 is launched by the frisbee ejection module in this embodiment, only some fixed flight trajectories can be ejected, and it is difficult to simulate the hand movement to launch the frisbee. Therefore, by combining the robotic arm module for fixed-point launching of the frisbee in this embodiment, the problem of the single frisbee launching trajectory of the frisbee ejection module can be effectively alleviated, and the diversity of the frisbee launching trajectory can be effectively improved. Furthermore, a data monitoring, analysis and control module is also provided in this embodiment. Specifically, in this embodiment, the data monitoring, analysis and control module is respectively connected to the motion data acquisition module, the frisbee ejection module, the frisbee storage and transportation module, and the robotic arm module. Among them, in this embodiment, a control instruction is obtained through the data monitoring, analysis and control module, and the corresponding preset module is controlled to work according to the control instruction, such as at least one of the frisbee ejection module, the frisbee storage and transportation module, and the robotic arm module, so as to realize automatic frisbee launching. At the same time, the data monitoring, analysis and control module in this embodiment can also perform data analysis on the motion data collected by the motion data acquisition module to obtain an analysis result, and control the corresponding preset module to work according to the analysis result. Exemplarily, a teaching staff or a trainee can input a corresponding control instruction, such as a frisbee launching mode, to the data monitoring, analysis and control module, and then the data monitoring, analysis and control module controls the frisbee boosting device 130 to push the special frisbee 110 in the frisbee storage device 120 to the frisbee launching mechanism 140 according to the obtained control instruction, and then the special frisbee 110 is moved to the frisbee ejection track 150 by the frisbee launching mechanism 140 for frisbee launching.In addition, in this embodiment, the data monitoring, analysis, and control module also acquires in real time the motion data collected by the motion data acquisition module on the special frisbee 110, and then performs big data analysis based on this motion data to obtain the training situation results of the corresponding trainees, such as the training success rates at different points. Then, this embodiment controls the operation of the corresponding preset modules according to the analysis results, including at least one of the frisbee ejection module, the frisbee storage and transportation module, and the robotic arm module, so as to be able to achieve targeted training and effectively improve the frisbee training effect.

[0055] Referring to Figure 1 、 Figure 2 and Figure 3 , in some embodiments of the present invention, the frisbee automatic launch system provided in this embodiment further includes a system housing 180. Specifically, in this embodiment, the system housing 180 is arranged outside the system to protect the system through the system housing 180. At the same time, a frisbee input port and a window are provided on the system housing 180 in this embodiment. Among them, the frisbee input port in this embodiment is used to input the special frisbee 110, and the window is arranged at a position on the side of the system housing 180 corresponding to the frisbee storage device 120. In this embodiment, relevant personnel can determine the number of special frisbees 110 stored in the frisbee storage device 120 through the window, so as to facilitate the timely replenishment of the special frisbees 110.

[0056] In some embodiments of the present invention, the frisbee ejection track 150 can be lifted. Specifically, in this embodiment, the lifting of the frisbee ejection track 150 is controlled to adjust the ejection height of the special frisbee 110, so as to launch special frisbees 110 with different height trajectories. At the same time, the frisbee ejection track 150 in this embodiment includes a first ejection track, a second ejection track, and a third ejection track. Among them, the ejection directions of the first ejection track, the second ejection track, and the third ejection track are different, and can respectively launch special frisbees 110 in different directions, thereby effectively improving the frisbee launch efficiency. Exemplarily, referring to Figure 4 , in this embodiment, the first ejection track, the second ejection track, and the third ejection track are distributed in a "T" shape, and can respectively launch frisbees from three different directions. At the same time, combined with the lifting of the frisbee ejection track 150, different height and direction frisbee launches can be realized, effectively improving the frisbee launch efficiency and enriching the frisbee launch trajectories.

[0057] Referring to Figure 2, in some embodiments of the present invention, the robotic arm module includes a robotic arm 220. Specifically, in this embodiment, the robotic arm 220 is disposed below the top of the system housing 180. In this embodiment, the robotic arm 220 controls the motion parameters of the special frisbee 110 through a proportional integral derivative algorithm, i.e., the PID algorithm, and performs fixed-point launching according to the analysis results. In this embodiment, the robotic arm 220 simulates the hand to launch the frisbee, and controls the emission direction, emission height, emission angle, etc. of the special frisbee through the PID algorithm, so as to be able to launch the special frisbee 110 with different motion trajectories. At the same time, this embodiment can also perform fixed-point launching on the points where the trainees' training is poor feedback through big data analysis and the motion trajectories that the frisbee ejection module cannot eject, thereby effectively improving the frisbee training effect.

[0058] In some embodiments of the present invention, the data monitoring, analysis and control module includes an information acquisition module, a data analysis module and an evaluation module. Specifically, in this embodiment, the information acquisition module is used to acquire the member information of the frisbee training members, and a member information library is constructed, so that the training situation of each frisbee training member can be recorded and analyzed according to the member information library. Exemplarily, taking a school physical education teaching scenario as an example, before the frisbee training course is offered, the relevant school management personnel will enter the relevant information of the students who have selected the frisbee training course into the information acquisition module to construct a corresponding in-school information library, that is, a member information library, which is convenient for formulating corresponding frisbee training plans for the corresponding students and evaluating the training situation of each student. Next, in this embodiment, the data analysis module performs big data calculation and analysis on the motion data collected by the motion data acquisition module to obtain the training success rate of the corresponding frisbee training members, and performs data analysis based on the corresponding training success rate to obtain a preset training plan. Specifically, in this embodiment, the data analysis module determines whether the frisbee training member catches the frisbee and the height data when catching the frisbee through the collected motion data, such as frisbee motion speed and trajectory information. At the same time, in this embodiment, big data analysis is performed on the collected relevant data to calculate the training success rate of the frisbee training members when catching frisbees with different speeds and directions. It should be noted that in this embodiment, the collected relevant data can be sent to the background server for big data analysis to effectively improve the efficiency and accuracy of data analysis. Then, according to the calculated training success rate of each frisbee launching method, corresponding data analysis is performed in this embodiment to identify the frisbee launching methods with relatively low training success rates, such as those with a training success rate lower than the preset success rate, and a preset training plan for the frisbee launching methods with relatively low training success rates is formulated to effectively improve the frisbee training effect. Further, in this embodiment, the evaluation module obtains the training evaluation data of each frisbee training member according to the training data analyzed by the data analysis module and the member information obtained by the information acquisition module, and combines the current training status data system. Specifically, in this embodiment, the relevant data information of each frisbee training member for each training is stored to facilitate the subsequent evaluation of the training effect of the frisbee training members. In this embodiment, a mathematical model is established based on the recorded training data of each frisbee training member, and combined with the current training plan and implementation situation of the corresponding frisbee training member, such as the current training plan and the implementation progress of the plan, to evaluate the progress speed or training status of each member, so as to obtain the corresponding training evaluation data. Exemplarily, taking a school frisbee training course application scenario as an example, in this embodiment, the evaluation module will record the relevant data information of each student's previous training, establish a mathematical model, and at the same time combine the current training plan and implementation situation to evaluate the progress speed of each student to obtain training evaluation data, which is used as reference data for the final assessment.

[0059] Refer toFigure 7 , an embodiment of the present invention provides a control method for a frisbee automatic launching system, which can effectively improve the control operation of an amphibious boat and the stability and reliability of power output. The method of the embodiment of the present invention includes but is not limited to step S410, step S420, step S430, step S440, and step S450.

[0060] Specifically, the present embodiment is applied to a process of a frisbee automatic launching control system as Figure 1 shown, and the process includes the following steps:

[0061] S410: Obtain a control instruction.

[0062] S420: Control the corresponding preset module to work according to the control instruction.

[0063] S430: Obtain the motion data of a special frisbee.

[0064] S440: Perform data analysis based on the motion data to obtain an analysis result.

[0065] S450: Control the corresponding preset module to work according to the analysis result. Among them, the preset module includes at least one of a frisbee ejection module, a frisbee storage and transportation module, and a robotic arm module.

[0066] In this specific embodiment, the present embodiment first obtains a control instruction and controls the corresponding preset module to work according to the control instruction. Specifically, in this embodiment, the control instruction can be input through voice input, a display interaction platform, a control button, etc. Correspondingly, the control instruction in this embodiment can be the mode of frisbee training or the emission data of the frisbee, etc. Then, the present embodiment controls the corresponding preset module to work according to the obtained control instruction. Among them, the preset module in this embodiment includes at least one of a frisbee ejection module, a frisbee storage and transportation module, and a robotic arm module. Exemplarily, when the obtained control instruction is to perform fixed-point frisbee training through the frisbee ejection module, the present embodiment controls the frisbee storage and transportation module to transport a special frisbee to the frisbee ejection module according to the control instruction, and then controls the frisbee ejection module to perform fixed-point launching of the special frisbee, so as to realize automatic frisbee launching. Further, the present embodiment obtains the motion data of the special frisbee, analyzes the motion data to obtain an analysis result, and thus controls the corresponding preset module to work according to the analysis result. Specifically, after launching the frisbee by controlling the corresponding preset module according to the obtained control instruction, the present embodiment obtains the motion data of the special frisbee launched in the air in real time through the motion data acquisition module on the special frisbee. Among them, the motion data of the special frisbee can include the frisbee motion speed, the frisbee flight trajectory data, etc. Then, the present embodiment performs big data analysis on the motion data of the special frisbee to obtain an analysis result. For example, according to the frisbee motion data, it is analyzed whether the relevant frisbee is caught, or the height data when the frisbee is caught, etc., and then further analysis and calculation are performed according to the relevant data, so as to obtain the training success rate of the corresponding frisbee training member in catching frisbees with different speeds or directions. Further, the present embodiment controls the corresponding preset module to work according to the analysis result. Exemplarily, when it is obtained according to the analysis result that the training success rate of a certain frisbee training member for the frisbee launched at a certain speed and direction is relatively low, the present embodiment controls the frisbee storage and transportation module to transport the special frisbee to the robotic arm module, and then launches the special frisbee at the corresponding speed and direction through the robotic arm module, so as to perform targeted training on the point with a relatively low training success rate, and thus can realize precise control of the frisbee motion trajectory parameters and effectively improve the frisbee training effect.

[0067] In some embodiments of the present invention, the control instruction includes a first training mode and a second training mode. Among them, the first training mode includes several training gears, and the frisbees launched at different training gears have different distances. The second training mode is to control frisbee launching according to training data. Correspondingly, in this embodiment, controlling the corresponding preset module to work according to the control instruction includes, but is not limited to:

[0068] When the control instruction is the first training mode, determine the training gear according to the first training mode.

[0069] Adjust the current of the electromagnet on the second frisbee motion control axis according to the training gear to eject the frisbee. Among them, the second frisbee motion control axis is arranged on the frisbee ejection track, and an electromagnet is arranged on the upper part of the second frisbee motion control axis to control the movement of the special frisbee through the electromagnet.

[0070] Or,

[0071] When the control instruction is the second training mode, determine the target training item of the frisbee training member according to the training data.

[0072] Control the frisbee ejection module and the robotic arm module according to the target training item to perform frisbee launch control.

[0073] In this specific embodiment, the control instructions obtained in this embodiment include the first training mode and the second training mode. Specifically, the first training mode in this embodiment includes several training gears. By setting different training gears, special frisbees with different flight distances are launched. When the obtained control instruction is the first training mode, this embodiment first determines the training gear according to the first training mode, and then adjusts the current of the electromagnet on the second frisbee motion control axis according to the training gear to eject the frisbee. Among them, the second frisbee motion control axis in this embodiment is arranged on the frisbee ejection track, and an electromagnet corresponding to the magnet of the special frisbee is arranged on the second frisbee motion control axis. By controlling the magnitude of the current on the electromagnet, the special frisbee is attracted. At the same time, a motor is connected below the second frisbee motion control axis, and the special frisbee above the rotating belt is rotated, and the rotation speed of the special frisbee is controlled by controlling the motor. Correspondingly, the second frisbee motion control axis can move at high speed along the frisbee ejection track. When it moves to the end of the frisbee ejection track and collides with the braking block, the second frisbee motion control axis stops moving, while the special frisbee moving at high speed continues to move due to inertia, realizing the launch of the special frisbee. It is easy to understand that the electromagnet on the second frisbee motion control axis in this embodiment can change the magnitude of the magnetic field by controlling the magnitude of the current. The larger the magnetic field, the easier it is for the special frisbee to accelerate to the target speed. Correspondingly, the special frisbee also requires a greater initial speed to get rid of the bondage of the magnetic field, so as to control the speed of the frisbee when it exits. This embodiment adjusts the magnitude of the current passing through the electromagnet according to different training gears, so as to launch special frisbees with different flight distances. Exemplarily, in a frisbee training application scenario, for the convenience of the operator, the training gears are set to five. The frisbee ejection distance of the first gear is about 10-30 meters, the frisbee ejection distance of the second gear is about 30-50 meters; the frisbee ejection distance of the third gear is about 50-65 meters, the frisbee ejection distance of the fourth gear is about 65-80 meters, and the frisbee ejection distance of the fifth gear is more than 80 meters. It should be noted that the frisbee ejection track in this embodiment can be lifted up and down, and the height of the special frisbee ejection is controlled by controlling the height of the frisbee ejection track.

[0074] Further, in this embodiment, the frisbee training member can also set relevant parameters according to their own training needs or set it to the second training mode to assist training through big data analysis. Specifically, when the control instruction is the second training mode, this embodiment determines the target training item of the frisbee training member according to the training data, and controls the frisbee ejection module and the robotic arm module to perform frisbee launch control according to the target training item. In this embodiment, through big data analysis and in combination with the frisbee ejection module and the robotic arm module, targeted training for weak training items is achieved. Exemplarily, when the frisbee training member sets the training mode of the system to the second training mode, this embodiment first obtains the training data of the corresponding frisbee training member, that is, the stored historical training data. Then, big data analysis is performed according to the corresponding training data to determine the weak training items of the corresponding frisbee training member, so as to determine the target training item of the frisbee training member. Further, this embodiment controls the frisbee ejection module or the robotic arm module to perform frisbee launch control according to the determined target training item. For example, since the frisbee ejection module is difficult to meet the frisbee ejection requirements in various directions or angles, when it is necessary to train frisbees in some special flight directions and angles, this embodiment controls the frisbee launch through the robotic arm module, thus effectively making up for the problem that the frisbee ejection angle and angle of the frisbee ejection module are relatively single, making the frisbee training more complete and effectively improving the frisbee training effect.

[0075] In some embodiments of the present invention, the control method of the frisbee automatic launch system provided in this embodiment further includes, but is not limited to:

[0076] Obtain the storage data of the frisbee storage device.

[0077] When it is determined according to the storage data that the number of frisbees is less than the preset number, initiate a frisbee replenishment warning.

[0078] In this specific embodiment, relevant personnel can not only observe the quantity of the special frisbees in the frisbee storage device through the window, but also know that special frisbees need to be replenished through the frisbee replenishment warning automatically issued by the system. Specifically, in this embodiment, the storage data of the frisbee storage device is first obtained. Among them, the storage data in this embodiment is the data of the special frisbees stored in the frisbee storage device, such as relevant data such as the quantity and quality of the special frisbees, so as to be able to judge whether the frisbee storage device needs to be replenished with frisbees. Then, when it is determined according to the obtained storage data that the number of frisbees in the frisbee storage device is less than the preset number, this embodiment initiates a frisbee replenishment warning to prompt relevant personnel to put in special frisbees. It should be noted that in some embodiments of the present invention, the storage data of the frisbee storage device can be obtained through sensors provided on the frisbee storage device, such as infrared sensors, mass sensors, and ultrasonic sensors.

[0079] In some embodiments of the present invention, the control method of the frisbee automatic launching system provided in this embodiment further includes, but is not limited to:

[0080] Analyze the training status based on the motion data to generate a training report. The training report includes the training status data of the frisbee training members, the training result data of each azimuth, and the comprehensive scoring data.

[0081] In this specific embodiment, this embodiment analyzes the training status based on the motion data of the special frisbee obtained, and obtains the corresponding training report. Specifically, the training report in this embodiment includes the training status data of the frisbee training members, the training result data of each azimuth, and the comprehensive scoring data. Among them, the training status data in this embodiment can be obtained by analyzing the motion data of the frisbee training members' historical training to obtain the training progress speed, current training situation, etc. of the frisbee training members. In addition, the training result data of each azimuth is obtained by analyzing the motion data of the special frisbees launched in various directions and speeds during the training process to determine whether the frisbee training members catch the special frisbees with corresponding emission angles and speeds, so as to construct the training result data of each azimuth. Further, the generated training report in this embodiment also includes comprehensive scoring data. Among them, the comprehensive scoring data in this embodiment combines the training status data of the frisbee training members and the training result data of each azimuth, conducts multi-dimensional training analysis on the corresponding frisbee training members, and obtains the corresponding comprehensive score to assist the relevant frisbee training members to carry out other related sports. For example, when it is determined through the comprehensive score that the success rate of a certain frisbee training member for frisbees launched at a high angle is relatively low, and after comprehensive analysis, it is found that the jumping ability of this member is relatively weak, so it is recommended that this member conduct lower limb training in combination with the comprehensive scoring data, thereby effectively improving the effect of frisbee training.

[0082] In some embodiments of the present invention, the analysis results include preset points and preset frisbee motion parameters. The preset points are the points where the training success rate of the frisbee training members is lower than the preset success rate during training. The preset frisbee motion parameters include the emission direction, emission angle, and emission height of the special frisbee. Correspondingly, in this embodiment, the corresponding preset module is controlled to work according to the analysis results, including but not limited to:

[0083] When it is determined that the frisbee ejection module meets the preset emission requirements, control the frisbee ejection module to launch the special frisbee according to the preset frisbee motion parameters and preset points.

[0084] Or,

[0085] When it is determined that the frisbee ejection module does not meet the preset emission requirements, control the robotic arm module to launch the special frisbee through the proportional integral derivative algorithm according to the preset frisbee motion parameters and preset points. The preset emission requirements are determined by the preset frisbee motion parameters and preset points.

[0086] In this specific embodiment, the analysis results obtained by analyzing the motion data include preset points and preset frisbee motion parameters. Specifically, in this embodiment, the preset points are the points where the success rate of the frisbee training members is lower than the preset success rate during training, that is, the points where the success rate of the frisbee training members successfully catching the frisbee at a certain point is lower than the preset success rate during the training process. Correspondingly, the preset frisbee motion parameters include the emission direction, emission angle, and emission height of the special frisbee, that is, the emission direction, emission angle, and emission height of the frisbee corresponding to the points where the success rate of the training members is lower than the preset success rate during the training process. It is easy to understand that since the frisbee ejection module can only perform up and down adjustments, that is, it can only adjust the emission height of the frisbee, it is difficult to achieve some special angles or directions. At this time, the robotic arm module needs to be used to launch the frisbee to alleviate the problem of the single emission angle and direction of the frisbee ejection module. Specifically, in this embodiment, it is first determined whether the frisbee ejection module meets the preset emission requirements, that is, whether the frisbee reflection module can launch a frisbee that meets the preset frisbee motion parameters. When it is determined that the frisbee ejection module meets the preset emission requirements, in this embodiment, according to the preset frisbee motion parameters and the preset points, the frisbee ejection module is controlled to launch the special frisbee, thereby realizing the automatic frisbee launch. Correspondingly, when it is determined that the frisbee ejection module cannot meet the preset emission requirements, that is, the frisbee ejection module cannot launch the frisbee with the corresponding trajectory of the preset frisbee motion parameters. At this time, in this embodiment, the robotic arm module is used to launch the frisbee. In this embodiment, the robotic arm module is controlled to send the special frisbee through the proportional integral derivative algorithm (PID algorithm) according to the preset frisbee motion parameters and the preset points, thereby making up for the problem of the single frisbee launch trajectory of the frisbee ejection module, effectively enriching the frisbee training scenarios, and improving the frisbee training effect.

[0087] The above is a specific description of the preferred embodiment of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. An automatic frisbee launching system, characterized in that, it includes: A special frisbee, with a first frisbee motion control shaft arranged below the center of the special frisbee, and a magnet arranged below the first frisbee motion control shaft; a motion data acquisition module is arranged inside the special frisbee, and the motion data acquisition module is used to obtain the motion data of the special frisbee; A frisbee ejection module, the frisbee ejection module includes a frisbee ejection track, a second frisbee motion control shaft and a braking stopper; the frisbee ejection track is used for frisbee ejection; the second frisbee motion control shaft is arranged on the frisbee ejection track, and an electromagnet is arranged on the upper part of the second frisbee motion control shaft, and the special frisbee is controlled to move through the electromagnet; the braking stopper is arranged at the end of the frisbee ejection track; A frisbee storage and transportation module, the frisbee storage and transportation module includes a frisbee storage device, a frisbee boosting device and a frisbee sending mechanism; the frisbee storage device is used to store the special frisbee; the frisbee boosting device is arranged below the frisbee storage device, and the frisbee boosting device is used to boost the special frisbee to the frisbee sending mechanism; The frisbee sending mechanism is arranged above the frisbee storage device, and the frisbee sending mechanism is used to move the special frisbee to the frisbee ejection track; A robotic arm module, the robotic arm module is used to simulate the hand to launch the frisbee at preset positions; A data monitoring, analysis and control module, the data monitoring, analysis and control module is respectively connected to the motion data acquisition module, the frisbee ejection module, the frisbee storage and transportation module and the robotic arm module, and the data monitoring, analysis and control module is used to control the corresponding preset modules to work according to the control instructions and the motion data collected by the motion data acquisition module; wherein, the preset modules include at least one of the frisbee ejection module, the frisbee storage and transportation module and the robotic arm module.

2. The automatic frisbee launching system according to claim 1, characterized in that, The system further includes: A system housing, the system housing is arranged outside the system, the system housing is provided with a frisbee input port and a window, the frisbee input port is used to input the special frisbee, and the window is arranged at a position corresponding to the frisbee storage device on the side of the system housing, and the window is used to determine the number of the special frisbees stored in the frisbee storage device.

3. The automatic frisbee launching system according to claim 1, characterized in that, The frisbee ejection track is liftable, and the frisbee ejection track includes a first ejection track, a second ejection track and a third ejection track, and the ejection directions of the first ejection track, the second ejection track and the third ejection track are different.

4. The automatic frisbee launching system according to claim 2, characterized in that, The robotic arm module includes a robotic arm, the robotic arm is arranged below the top of the system housing, and the robotic arm controls the motion parameters of the special frisbee through a proportional-integral-derivative algorithm and performs fixed-point launching according to the analysis result.

5. The automatic frisbee launching system according to claim 1, It is characterized in that the data monitoring, analysis and control module includes: an information acquisition module, which is used to acquire the member information of the frisbee training members and construct a member information database; a data analysis module, which is used to perform big data calculation and analysis on the motion data collected by the motion data acquisition module to obtain the training success rate of the corresponding frisbee training members; and perform data analysis based on the training success rate to obtain a preset training plan; an evaluation module, which is used to obtain the training evaluation data of each frisbee training member by combining the training data analyzed by the data analysis module and the member information obtained by the information acquisition module with the current training status data analysis.

6. A control method for a frisbee automatic launching system It is characterized in that applied to the system according to claim 1, including the following steps: Obtain a control instruction; Control the corresponding preset module to work according to the control instruction; Obtain the motion data of the special frisbee; Perform data analysis based on the motion data to obtain an analysis result; Control the corresponding preset module to work according to the analysis result.

7. The control method for a frisbee automatic launching system according to claim 6 It is characterized in that the control instruction includes a first training mode and a second training mode; wherein, the first training mode includes several training gears, and the frisbees launched at different training gears have different distances; the second training mode is to control the frisbee launching according to the training data; The controlling the corresponding preset module to work according to the control instruction includes: When the control instruction is the first training mode, determine the training gear according to the first training mode; Adjust the electromagnetic current on the second frisbee motion control axis for frisbee ejection according to the training gear; wherein, the second frisbee motion control axis is arranged on the frisbee ejection track, and an electromagnet is arranged on the upper part of the second frisbee motion control axis, and the special frisbee motion is controlled by the electromagnet; Or When the control instruction is the second training mode, determine the target training item of the frisbee training member according to the training data; Control the frisbee ejection module and the robotic arm module to perform frisbee launching control according to the target training item.

8. The control method for a frisbee automatic launching system according to claim 6 It is characterized in that the method further includes: Obtain the storage data of the frisbee storage device; When it is determined according to the storage data that the number of frisbees is less than the preset number, initiate a frisbee replenishment warning.

9. The control method for a frisbee automatic launching system according to claim 6 It is characterized in that the method further includes: Perform training status analysis based on the motion data to generate a training report; wherein, the training report includes the training status data of the frisbee training members, the training result data in each direction and the comprehensive score data.

10. The control method for a frisbee automatic launching system according to claim 6 It is characterized in that The analysis results include preset points and preset frisbee motion parameters; wherein, the preset points are the points where the training success rate of the frisbee training members is lower than the preset success rate during training; the preset frisbee motion parameters include the emission direction, emission angle, and emission height of the special frisbee. Controlling the corresponding preset module to work according to the analysis results includes: When it is determined that the frisbee ejection module meets the preset emission requirements, controlling the frisbee ejection module to launch the special frisbee according to the preset frisbee motion parameters and the preset points. Or, When it is determined that the frisbee ejection module does not meet the preset emission requirements, controlling the robotic arm module to launch the special frisbee according to the preset frisbee motion parameters and the preset points through a proportional-integral-derivative algorithm; wherein, the preset emission requirements are determined by the preset frisbee motion parameters and the preset points.

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