Intelligent multi-angle tracking holder system for football auxiliary training robot
By designing an intelligent multi-angle tracking gimbal system, combining the pitch mechanism, gimbal yaw steering mechanism and visual recognition module, the problem that football assisted training robots in the existing technology cannot achieve all-round and high-precision tracking, and achieve higher target recognition accuracy and launch angle adjustment speed.
Patent Information
- Application Number
- CN202510263002.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-06
- Publication Date
- 2025-06-24
AI Technical Summary
Existing football-assisted training robots mostly use a single tracking angle or limited freedom, which cannot achieve all-round and high-precision tracking of the target, and fail to effectively integrate visual recognition modules and machine learning algorithms, resulting in low accuracy of target recognition and limited emission angle adjustment speed.
An intelligent multi-angle tracking gimbal system is designed, and the all-round and high-precision tracking of the target is achieved through the superposition design of the pitch mechanism, the gimbal yaw steering mechanism and the visual recognition module. The system includes a visual recognition module, a controller, a pitch mechanism, a gimbal yaw steering mechanism, a pitch angle detection component and a yaw angle detection component. Through the integration of the visual recognition module and a machine learning algorithm, the target recognition accuracy and emission angle adjustment speed are improved.
It achieves all-round and high-precision tracking of football goals, meets the needs of rapid change in football training, and improves the target recognition accuracy and launch angle adjustment speed of the intelligent multi-angle tracking gimbal system in dynamic scenarios.
Smart Images
Figure CN120189683A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of football assistant training robots, and particularly relates to an intelligent multi-angle tracking pan-tilt system for football assistant training robots. Background Art
[0002] In the field of football training, traditional training methods often rely on the experience and judgment of coaches to adjust the angles and positions of training equipment. This is not only inefficient but also difficult to meet the accuracy requirements. With the progress of technology, various assistant training equipment has emerged. In particular, the development of intelligent tracking systems has provided new ideas for solving the above problems. However, existing football assistant training robots mostly adopt a single tracking angle or limited degrees of freedom, and cannot achieve all-round and high-precision tracking of targets.
[0003] In some existing solutions, the complexity of the mechanical structure is increased to improve the tracking range and accuracy. However, these designs are usually accompanied by problems such as increased weight, rising costs, and difficult maintenance. In addition, many systems fail to effectively integrate visual recognition modules and machine learning algorithms, resulting in low target recognition accuracy in dynamic scenarios, limited adjustment speed of the launch angle, and inability to fully utilize the advantages of intelligence. Summary of the Invention
[0004] The purpose of the present invention is to overcome the defects and deficiencies of the prior art, and provide an intelligent multi-angle tracking pan-tilt system for football assistant training robots. Through the superimposed design of a pitching mechanism, a pan-tilt yaw steering mechanism, and a visual recognition module, all-round and high-precision tracking of targets can be achieved to meet the requirements of rapid direction change in football training.
[0005] The purpose of the present invention can be achieved through the following technical solutions: An intelligent multi-angle tracking pan-tilt system for football assistant training robots, including a visual recognition module, a controller, a pitching mechanism, a pan-tilt yaw steering mechanism, a pitching angle detection component, and a yaw angle detection component. The pitching mechanism is arranged on the top of the pan-tilt yaw steering mechanism. The controller drives the pitching mechanism and the pan-tilt yaw steering mechanism to rotate according to the control instructions provided by the visual recognition module, so that the football assistant training robot can automatically adjust the launch angle according to the actual situation; The visual recognition module and the controller are integrated on the top of the pitching mechanism, and the controller is respectively signal-connected to the visual recognition module, the pitching mechanism, and the pan-tilt yaw steering mechanism; The pitching mechanism includes a pitching mechanism base, a left winch, a right winch, and a rope drive assembly. Both ends of the pitching mechanism base are provided with lateral support frames. The left winch and the right winch are respectively rotationally connected to the lateral support frames, and the winches are driven to rotate on the lateral support frames through the rope drive assembly; The pan-tilt yaw steering mechanism comprises a base plate assembly and a slip ring assembly rotatably mounted on the base plate assembly, the slip ring assembly is connected to the pitch mechanism base, and the base plate assembly is used to connect to the football auxiliary training robot; The pitch angle detection component is arranged on the pitch mechanism and is connected with the controller signal to feed back the pitch angle information to the controller; The yaw angle detection component is arranged on the yaw steering mechanism of the gimbal, and is connected with the controller signal to feed back the yaw angle information to the controller; The football auxiliary training robot comprises a launching mechanism for launching a football. A connecting frame is respectively arranged on a left winch and a right winch. The launching mechanism is installed on a pitching mechanism through the connecting frame.
[0006] As a preferred embodiment, the visual recognition module includes a camera and an image processing unit. The field of view of the camera covers pitch ±45° and yaw ±180°. The image processing unit has a built-in kinematic solution algorithm. The image processing unit can generate control instructions for pitch angular velocity and yaw angular velocity based on target recognition results. After the image information obtained by the camera is processed by the image processing unit, the corresponding pitch angular velocity and yaw angular velocity control instructions are provided to the controller.
[0007] As a preferred embodiment, the lateral support frame includes an outer support plate, an inner support plate and a support plate support column, the outer support plate is connected to the inner support plate through the support plate support column, and a capstan connection end and a capstan mounting end are provided on the lateral support frame; the left capstan and the right capstan both include a capstan inner plate, a capstan outer plate and a capstan support block, the capstan inner plate is connected to the capstan outer plate through a plurality of capstan support blocks to form an annular frame, and the left capstan and the right capstan are rotatably connected to the capstan connection end through a capstan shaft; The rope drive assembly includes a capstan, a capstan drive motor and a static rope. The capstan is drivingly connected to the output shaft of the capstan drive motor at the capstan mounting end. A spiral protrusion is provided on the capstan. The static rope is wound around the spiral protrusion and one end of the static rope is fixed to the inner plate of the capstan and the other end is fixed to the outer plate of the capstan.
[0008] As a preferred embodiment, the capstan shaft passes through the inner support plate, the capstan inner plate, the capstan support block, the capstan outer plate and the outer support plate in sequence at the capstan connection end, and limiting members are provided between the inner support plate and the capstan inner plate, and between the outer support plate and the capstan outer plate.
[0009] As a preference, the capstan shaft of at least one side of the left capstan and the right capstan is a hexagonal shaft, and the capstan shaft of the other capstan on the opposite side is a round shaft, and a pitch angle detection component is provided on the capstan on one side of the hexagonal shaft of the capstan shaft.
[0010] As a preferred embodiment, the pitch angle detection assembly includes a first angle sensor arranged on the lateral support frame and an inductive magnetic column arranged on the capstan shaft. The inductive magnetic column is used to cooperate with the first angle sensor to detect the pitch angle of the capstan in real time. The inductive magnetic column is inserted on the capstan shaft. When the capstan shaft rotates, the inductive magnetic column generates a rotating magnetic field. The first angle sensor obtains the pitch angle information of the capstan shaft during the rotation process by collecting the magnetic field information.
[0011] As a preferred embodiment, a capstan mounting end is provided with a capstan shaft, a first sleeve, a second sleeve, a first bearing and a retaining ring. The capstan sleeve is arranged on the output shaft of the capstan drive motor. The first sleeve, the capstan, the second sleeve and the first bearing are sequentially sleeved on the capstan shaft, and the first bearing is embedded in the inner support plate. A retaining ring groove is provided at the end of the capstan shaft. The retaining ring is arranged on the inner side of the first bearing and cooperates with the retaining ring groove to limit the first bearing.
[0012] As a preferred embodiment, the base plate assembly includes a base plate and an upper limit bearing, a lower limit bearing, a radial limit bearing, a yaw drive gear, and a yaw drive motor arranged on the base plate; the slip ring assembly includes a yaw slip ring and a gear ring arranged on the yaw slip ring; the upper limit bearing is tangent to the upper end surface of the yaw slip ring, the lower limit bearing is tangent to the lower end surface of the yaw slip ring, the radial limit bearing is tangent to the cylindrical surface of the yaw slip ring, and the yaw drive gear is meshed with the gear ring and is drivingly connected to the output shaft of the yaw drive motor.
[0013] As a preferred embodiment, the yaw angle detection component includes a second angle sensor arranged on the base plate and a yaw encoder magnetic column arranged on the yaw slip ring. The yaw encoder magnetic column is used to cooperate with the second angle sensor to detect the yaw angle of the gimbal yaw steering mechanism in real time. The yaw encoder magnetic column is installed at the center of the yaw slip ring through a yaw magnet seat. When the yaw slip ring rotates, the yaw encoder magnetic column generates a rotating magnetic field. The second angle sensor obtains the yaw angle information of the yaw slip ring during the rotation process by collecting the magnetic field information.
[0014] As a preferred embodiment, the intelligent multi-angle tracking gimbal system also includes a machine learning module, which is connected to the controller signal to generate a pitch angular velocity compensation coefficient and a yaw angular velocity compensation coefficient.
[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. The pitch mechanism is combined with the gimbal yaw steering mechanism to achieve the motion coupling of pitch (±45°) and yaw (±180°) dual degrees of freedom.
[0016] 2. By integrating the visual recognition module with the machine learning algorithm, the target recognition accuracy of the intelligent multi-angle tracking gimbal system in dynamic scenes is improved, and the speed of adjusting the launch angle is greatly improved compared to manual control.
[0017] 3. The winch is driven by a rope drive assembly to perform pitching movements on the lateral support frame. The pitching mechanism is wound with a static rope, and the winding direction of the rope segment is guided by the spiral protrusions on the surface of the winch drum. Combining with the driving friction generated by the continuous multi-turn winding of the static rope, the transmission efficiency is better than that of the traditional gear transmission mechanism, and the positioning accuracy of ±0.5° can be achieved within the pitching angle range of ±45°.
[0018] 4. The symmetric double-winch design (left winch, right winch) of the pitching mechanism and the radial limiting bearings of the pan-tilt yaw steering mechanism form a four-point support structure, which can withstand the instantaneous impact load of the launching mechanism.
[0019] 5. An annular frame is formed by the winch support blocks between the inner plate and the outer plate of the winch. While maintaining the structural rigidity, the overall weight is reduced compared with the traditional integral pan-tilt.
[0020] 6. A combination of an angle sensor and an induction magnetic column is set in the pitching mechanism to achieve closed-loop feedback control of the pitching angle; the collaborative design of the angle sensor and the yaw encoder magnetic column in the pan-tilt yaw steering mechanism realizes closed-loop feedback control of the yaw angle.
[0021] 7. The combined design of the upper limit bearing, the lower limit bearing, the radial limit bearing and the yaw drive gear can improve the load capacity of the pan-tilt yaw steering mechanism.
[0022] 8. The pitching mechanism and the pan-tilt yaw steering mechanism are of a superimposed structure, which can shorten the on-site maintenance time.
[0023] 9. Based on the dynamic compensation of the machine learning module, the angular velocity compensation model established through training with historical data can improve the control stability of the intelligent multi-angle tracking pan-tilt system in complex environments. Description of the Drawings
[0025] Figure 1 is the overall structural schematic diagram of the intelligent multi-angle tracking pan-tilt system for the football-assisted training robot of the present invention; Figure 2 is the structural schematic diagram of the intelligent multi-angle tracking pan-tilt system for the football-assisted training robot of the present invention installed on the football-assisted training robot; Figure 3 is the working flow chart of the intelligent multi-angle tracking pan-tilt system for the football-assisted training robot of the present invention; Figure 4 is the structural schematic diagram of the pitching mechanism of the present invention; Figure 5 is the structural schematic diagram of the right winch of the present invention; Figure 6 is the structural schematic diagram of the lateral support frame of the present invention; Figure 7 is a schematic structural view of the capstan drive motor of the present invention; Figure 8 is a sectional view of the rope drive assembly of the present invention; Figure 9 is a schematic structural view of the rope drive assembly of the present invention; Figure 10 is a partial sectional view of the left winch of the present invention; Figure 11 is a partial sectional view of the right winch of the present invention; Figure 12 is a schematic structural view of the pitch angle detection assembly of the present invention; Figure 13 is a schematic structural view of the pan yaw steering mechanism of the present invention; Figure 14 is a schematic structural view of the bottom plate assembly of the present invention; Figure 15 is a schematic structural view of the slip ring assembly of the present invention; Wherein: 1: Visual recognition module, 11: Camera, 12: Image processing unit, 2: Controller, 3: Pitching mechanism, 31: Pitching mechanism base, 32: Left winch, 321: Winch inner plate of the left winch, 322: Winch outer plate of the left winch, 323: Winch support block of the left winch, 324: Flange bearing of the left winch, 325: First circular shaft sleeve, 326: Second circular shaft sleeve, 327: Winch shaft of the left winch, 33: Right winch, 331: Winch inner plate of the right winch, 332: Winch outer plate of the right winch, 333: Winch support block of the right winch, 334: Flange bearing of the right winch, 335: Hexagon socket head cap screw bearing of the right winch, 336: First hexagon socket head cap screw shaft sleeve, 337: Winch shaft of the right winch, 34: Rope drive assembly, 341: Winch wheel, 342: Winch wheel drive motor, 343: Static rope, 344: Winch wheel shaft, 345: First shaft sleeve, 346: Second shaft sleeve, 347: First bearing, 348: Snap ring, 349: Rope end locking screw, 35: Lateral support frame, 351: Outer support plate, 352: Inner support plate, 353: Support column of the support plate, 36: Pitching angle detection assembly, 361: First angle sensor, 362: Inductive magnetic column, 363: Fixed bottom plate of the first angle sensor, 364: Fixed support column of the first angle sensor, 365: Outer fixed shell of the first angle sensor, 37: Connecting frame, 38: Right angle steel angle code, 4: Yaw steering mechanism of the pan-tilt head, 41: Bottom plate assembly, 411: Upper limit bearing, 412: Lower limit bearing, 413: Radial limit bearing, 414: Yaw drive gear, 415: Yaw drive motor, 416: Bottom plate, 417: Upper limit bearing seat, 418: Lower limit bearing seat, 419: Radial limit column, 42: Slip ring assembly, 421: Yaw slip ring, 422: Tooth ring, 43: Yaw angle detection assembly, 431: Second angle sensor, 432: Yaw encoder magnetic column, 433: Yaw magnet seat, 5: Launch mechanism, 6: Machine learning module. Detailed implementation manners
[0026] The present invention will be further described in detail below in conjunction with embodiments and the accompanying drawings, but the implementation manners of the present invention are not limited thereto.
[0027] As Figures 1 to 4 shown, an intelligent multi-angle tracking pan-tilt head system for a football auxiliary training robot includes a visual recognition module, a controller, a pitching mechanism, a yaw steering mechanism of the pan-tilt head, a pitching angle detection assembly, and a yaw angle detection assembly. The pitching mechanism is arranged on the top of the yaw steering mechanism of the pan-tilt head. The controller drives the pitching mechanism and the yaw steering mechanism of the pan-tilt head to rotate according to the control instructions provided by the visual recognition module, so that the football auxiliary training robot can automatically adjust the launch angle according to the actual situation.
[0028] The vision recognition module and the controller are integrated on the top of the pitching mechanism, and the controller is respectively connected to the vision recognition module, the pitching mechanism, and the pan yaw steering mechanism by signals.
[0029] The pitching mechanism includes a pitching mechanism base, a left winch, a right winch, and a rope drive assembly. Lateral support frames are provided at both ends of the pitching mechanism base. The left winch and the right winch are respectively rotationally connected to the lateral support frames, and the winches are driven to rotate on the lateral support frames through the rope drive assembly.
[0030] Three bottom beams are attached to the bottom fixing plate up and down and fixed by hexagon socket head cap screws to form the pitching mechanism base.
[0031] The pan yaw steering mechanism includes a bottom plate assembly and a slip ring assembly rotatably mounted on the bottom plate assembly. The slip ring assembly is connected to the pitching mechanism base, and the bottom plate assembly is used to connect to the football assistant training robot.
[0032] The pitch angle detection component is arranged on the pitching mechanism and feeds back the pitch angle information to the controller by connecting to the controller by signals.
[0033] The yaw angle detection component is arranged on the pan yaw steering mechanism and feeds back the yaw angle information to the controller by connecting to the controller by signals.
[0034] As Figure 5 shown, the football assistant training robot includes a launching mechanism for launching footballs. Connecting frames are respectively arranged on the left winch and the right winch, and the launching mechanism is mounted on the pitching mechanism through the connecting frames.
[0035] The vision recognition module includes a camera and an image processing unit. The field of view angle of the camera covers pitch ±45° and yaw ±180°. The image processing unit has a built-in kinematic solution algorithm. The image processing unit can generate control instructions for pitch angular velocity and yaw angular velocity according to the target recognition result. After the image information obtained by the camera is processed by the image processing unit, corresponding pitch angular velocity and yaw angular velocity control instructions are provided to the controller.
[0036] The camera uses a wide-angle camera (field of view angle 120°) and is connected to the image processing unit through a USB3.0 interface. Based on the recognition of the training football, athletes, and the goal frame, the target coordinates (x, y, z) and the motion speed (vx, vy, vz) are output, and the pitch angular velocity ω and the yaw angular velocity ω are generated through kinematic solution.
[0037] As Figure 6As shown in the figure, the lateral support frame includes an outer support plate, an inner support plate, and support column of the support plate. The outer support plate is connected to the inner support plate through the support column of the support plate. The outer support plate and the inner support plate are vertically welded to the bottom fixing plate, and the connection is strengthened by a right-angle steel angle. Five support columns of the support plate are installed between the outer support plate and the inner support plate, and both ends are fixed by screws.
[0038] A winch connection end and a winch wheel installation end are provided on the lateral support frame. Both the left winch and the right winch include a winch inner plate, a winch outer plate, and a winch support block. The winch inner plate is connected to the winch outer plate through a plurality of winch support blocks to form an annular frame. The left winch and the right winch are rotationally connected to the winch connection end through a winch shaft; The rope drive assembly includes a winch wheel, a winch wheel drive motor, and a static rope. The winch wheel is drivingly connected to the output shaft of the winch wheel drive motor at the winch wheel installation end. The winch wheel is provided with a spiral protrusion. The static rope is wound around the spiral protrusion, and one end is fixed to the winch inner plate, and the other end is fixed to the winch outer plate.
[0039] As Figure 7 and Figure 8 shown, the winch wheel installation end is provided with a winch wheel shaft, a first shaft sleeve, a second shaft sleeve, a first bearing, and a snap ring. The winch wheel shaft is sleeved on the output shaft of the winch wheel drive motor. The first shaft sleeve, the winch wheel, the second shaft sleeve, and the first bearing are sequentially sleeved on the winch wheel shaft. And the first bearing is embedded in the inner support plate. A snap ring groove is provided at the end of the winch wheel shaft. The snap ring is arranged inside the first bearing and cooperates with the snap ring groove to limit the first bearing.
[0040] The winch wheel is an internal hexagonal winch wheel, and the winch wheel shaft is an internal spline hexagonal shaft. The internal hexagonal winch wheel is sleeved on the internal spline hexagonal shaft and fixed by a snap ring. As Figure 9 shown, the static rope is continuously wound around the spiral protrusion on the surface of the internal hexagonal winch wheel for six turns. Rope end locking threaded holes are provided on both the winch inner plate and the winch outer plate. Rope end locking screws are threadedly connected to the rope end locking threaded holes. Both ends of the static rope extend to the rope end locking screws on the winch inner plate and the winch outer plate respectively. The end of the static rope is wound around the threaded part of the rope end locking screw for three turns and then screwed into the rope end locking threaded hole for locking.
[0041] The winch shaft sequentially passes through the inner support plate, the winch inner plate, the winch support block, the winch outer plate, and the outer support plate at the winch connection end. The winch outer plate and the winch inner plate form an annular frame through four winch support blocks. The winch support blocks are spaced apart, and each winch support block is fixed by two screws.
[0042] Limiters are provided between the inner support plate and the winch inner plate, and between the outer support plate and the winch outer plate. At least one of the winch shafts of the left winch and the right winch is a hexagonal shaft, and the winch shaft of the winch on the opposite side is a round shaft. A pitch angle detection component is provided on the winch on the side of the hexagonal winch shaft.
[0043] AsFigure 10 As shown in the figure, the winch shaft of the left winch is a round shaft, which sequentially passes through the outer support plate, the outer winch plate of the left winch, the winch support block, the inner winch plate of the left winch and the inner support plate. Flange bearings are provided on both the outer winch plate and the inner winch plate of the left winch. The limiting members are the first round shaft sleeve and the second round shaft sleeve sleeved on the winch shaft. The first round shaft sleeve is respectively located between the inner support plate and the inner winch plate, and between the outer support plate and the outer winch plate, and is finally locked by washers and screws.
[0044] As Figure 11 shown in the figure, the winch shaft of the right winch is a hexagonal shaft, which sequentially passes through the outer support plate, the outer winch plate of the right winch, the winch support block, the inner winch plate of the right winch and the hexagonal hole of the inner support plate, and is tightly fitted with each other. A flange bearing is provided on the inner winch plate of the right winch, and an internal hexagonal bearing is provided on the outer winch plate of the right winch. The limiting member is the first internal hexagonal shaft sleeve sleeved on the winch shaft. The first internal hexagonal shaft sleeve is located between the outer support plate and the outer winch plate, and is finally locked by washers and screws.
[0045] The pitch angle detection component includes a first angle sensor provided on the lateral support frame and an induction magnetic column provided on the winch shaft. The induction magnetic column is used to cooperate with the first angle sensor to detect the pitch angle of the winch in real time. The induction magnetic column is inserted on the winch shaft. When the winch shaft rotates, the induction magnetic column generates a rotating magnetic field. The first angle sensor obtains the pitch angle information of the winch shaft during the rotation process by collecting the magnetic field information.
[0046] As Figure 12 shown in the figure, the first angle sensor is installed on the outer support plate through the first angle sensor fixing component. The first angle sensor fixing component includes a first angle sensor fixing bottom plate, a first angle sensor fixing support column and a first angle sensor outer fixing shell. The first angle sensor fixing bottom plate is fixedly connected to the outside of the outer support plate on the right side. The first angle sensor outer fixing shell is fixed on the first angle sensor fixing bottom plate through the first angle sensor fixing support column. The first angle sensor is embedded in the first angle sensor outer fixing shell. The induction magnetic column is installed at the right end of the hexagonal shaft and is in interference fit with the hexagonal shaft. The gap between the first angle sensor and the induction magnetic column is adjusted to 0.5mm ± 0.1mm.
[0047] As Figures 13 to 15As shown, the base plate assembly includes a base plate and an upper limit bearing, a lower limit bearing, a radial limit bearing, a yaw drive gear, and a yaw drive motor arranged on the base plate. The slip ring assembly includes a yaw slip ring and a gear ring arranged on the yaw slip ring. The upper limit bearing is tangent to the upper end face of the yaw slip ring, the lower limit bearing is tangent to the lower end face of the yaw slip ring, the radial limit bearing is tangent to the cylindrical surface of the yaw slip ring, and the upper limit bearing, the lower limit bearing, and the radial limit bearing are rotatably mounted on the base plate through the upper limit bearing seat, the lower limit bearing seat, and the radial limit column. The yaw drive gear is meshed with the gear ring and is connected to the output shaft of the yaw drive motor by transmission. The yaw drive motor is installed below the base plate by screws, and the yaw drive gear is fixed to the D-shaped shaft of the yaw drive motor by screws. The gear ring is fixed to the inner side of the yaw slip ring by screws, and the yaw drive gear is a herringbone gear.
[0048] The yaw angle detection component includes a second angle sensor arranged on the base plate and a yaw encoder magnetic column arranged on the yaw slip ring. The yaw encoder magnetic column is used to cooperate with the second angle sensor to detect the yaw angle of the gimbal yaw steering mechanism in real time. The yaw encoder magnetic column is installed at the center of the yaw slip ring through a yaw magnet seat. When the yaw slip ring rotates, the yaw encoder magnetic column generates a rotating magnetic field. The second angle sensor obtains the yaw angle information of the yaw slip ring during the rotation process by collecting the magnetic field information.
[0049] The yaw magnet seat is fixedly installed at the center of the yaw slip ring by screws, and the yaw encoder magnetic column is inserted into the yaw magnet seat and fixed.
[0050] The intelligent multi-angle tracking gimbal system also includes a machine learning module, which is connected to the controller signal to generate pitch angular velocity compensation coefficients and yaw angular velocity compensation coefficients. The machine learning module records the trajectory deviation and compensation coefficients of the shooting in historical training, builds an LSTM neural network, transmits the compensation coefficients to the controller, and adjusts the drive signal.
[0051] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.
Claims
1. An intelligent multi-angle tracking pan-tilt system for a football auxiliary training robot, characterized in that: It includes a visual recognition module, a controller, a pitch mechanism, a pan-tilt yaw steering mechanism, a pitch angle detection component and a yaw angle detection component. The pitch mechanism is arranged on the top of the pan-tilt yaw steering mechanism. The controller drives the pitch mechanism and the pan-tilt yaw steering mechanism to rotate according to the control instructions provided by the visual recognition module, so that the football auxiliary training robot can automatically adjust the launch angle according to the actual situation. The visual recognition module and the controller are integrated on the top of the pitch mechanism, and the controller is respectively connected with the visual recognition module, the pitch mechanism, and the pan / tilt yaw steering mechanism signals; The pitch mechanism includes a pitch mechanism base, a left winch, a right winch and a rope drive assembly. Both ends of the pitch mechanism base are provided with lateral support frames. The left winch and the right winch are respectively rotatably connected to the lateral support frames, and the winches are driven to rotate on the lateral support frames through the rope drive assembly. The pan-tilt yaw steering mechanism comprises a base plate assembly and a slip ring assembly rotatably mounted on the base plate assembly, the slip ring assembly is connected to the pitch mechanism base, and the base plate assembly is used to connect to the football auxiliary training robot; The pitch angle detection component is arranged on the pitch mechanism and is connected with the controller signal to feed back the pitch angle information to the controller; The yaw angle detection component is arranged on the yaw steering mechanism of the gimbal, and is connected with the controller signal to feed back the yaw angle information to the controller; The football auxiliary training robot comprises a launching mechanism for launching a football. A connecting frame is respectively arranged on a left winch and a right winch. The launching mechanism is installed on a pitching mechanism through the connecting frame.
2. The intelligent multi-angle tracking pan-tilt system for a football auxiliary training robot according to claim 1, characterized in that: The visual recognition module includes a camera and an image processing unit. The camera's field of view covers pitch ±45° and yaw ±180°. The image processing unit has a built-in kinematic solution algorithm. The image processing unit can generate control instructions for pitch angular velocity and yaw angular velocity based on the target recognition results. After the image information obtained by the camera is processed by the image processing unit, the corresponding pitch angular velocity and yaw angular velocity control instructions are provided to the controller.
3. The intelligent multi-angle tracking pan-tilt system for a football auxiliary training robot according to claim 1, characterized in that: The lateral support frame includes an outer support plate, an inner support plate and a support plate support column, the outer support plate is connected to the inner support plate through the support plate support column, and a capstan connection end and a capstan installation end are arranged on the lateral support frame; the left capstan and the right capstan both include a capstan inner plate, a capstan outer plate and a capstan support block, the capstan inner plate is connected to the capstan outer plate through a plurality of capstan support blocks to form an annular frame, and the left capstan and the right capstan are both rotatably connected to the capstan connection end through a capstan shaft; The rope drive assembly includes a capstan, a capstan drive motor and a static rope. The capstan is drivingly connected to the output shaft of the capstan drive motor at the capstan mounting end. A spiral protrusion is provided on the capstan. The static rope is wound around the spiral protrusion and one end of the static rope is fixed to the inner plate of the capstan and the other end is fixed to the outer plate of the capstan.
4. The intelligent multi-angle tracking pan-tilt system for a football auxiliary training robot according to claim 3, characterized in that: A capstan shaft, a first sleeve, a second sleeve, a first bearing and a retaining ring are provided at the mounting end of the capstan. The capstan sleeve is provided on the output shaft of the capstan drive motor. The first sleeve, the capstan, the second sleeve and the first bearing are sequentially sleeved on the capstan shaft, and the first bearing is embedded in the inner support plate. A retaining ring groove is provided at the end of the capstan shaft. The retaining ring is provided on the inner side of the first bearing and cooperates with the retaining ring groove to limit the first bearing.
5. The intelligent multi-angle tracking pan-tilt system for a football auxiliary training robot according to claim 3, characterized in that: The capstan shaft passes through the inner support plate, the capstan inner plate, the capstan support block, the capstan outer plate and the outer support plate in sequence at the capstan connection end. Limiting members are arranged between the inner support plate and the capstan inner plate, and between the outer support plate and the capstan outer plate.
6. The intelligent multi-angle tracking pan-tilt system for a football auxiliary training robot according to claim 5, characterized in that: The capstan shaft of at least one of the left capstan and the right capstan is a hexagonal shaft, and the capstan shaft of the other capstan is a round shaft. A pitch angle detection component is arranged on the capstan on one side of the hexagonal shaft of the capstan shaft.
7. The intelligent multi-angle tracking pan-tilt system for a football auxiliary training robot according to claim 6, characterized in that: The pitch angle detection assembly includes a first angle sensor arranged on a lateral support frame and an inductive magnetic column arranged on a capstan shaft. The inductive magnetic column is used to cooperate with the first angle sensor to detect the pitch angle of the capstan in real time. The inductive magnetic column is inserted on the capstan shaft. When the capstan shaft rotates, the inductive magnetic column generates a rotating magnetic field. The first angle sensor obtains the pitch angle information of the capstan shaft during the rotation process by collecting the magnetic field information.
8. The intelligent multi-angle tracking pan-tilt system for a soccer auxiliary training robot according to claim 1, characterized in that: The base plate assembly includes a base plate and an upper limit bearing, a lower limit bearing, a radial limit bearing, a yaw drive gear, and a yaw drive motor arranged on the base plate; the slip ring assembly includes a yaw slip ring and a gear ring arranged on the yaw slip ring; the upper limit bearing is tangent to the upper end surface of the yaw slip ring, the lower limit bearing is tangent to the lower end surface of the yaw slip ring, the radial limit bearing is tangent to the cylindrical surface of the yaw slip ring, and the yaw drive gear is meshed with the gear ring and is drivingly connected to the output shaft of the yaw drive motor.
9. The intelligent multi-angle tracking pan-tilt system for a soccer auxiliary training robot according to claim 8, characterized in that: The yaw angle detection component includes a second angle sensor arranged on the base plate and a yaw encoder magnetic column arranged on the yaw slip ring. The yaw encoder magnetic column is used to cooperate with the second angle sensor to detect the yaw angle of the gimbal yaw steering mechanism in real time. The yaw encoder magnetic column is installed at the center of the yaw slip ring through a yaw magnet seat. When the yaw slip ring rotates, the yaw encoder magnetic column generates a rotating magnetic field. The second angle sensor obtains the yaw angle information of the yaw slip ring during the rotation process by collecting the magnetic field information.
10. The intelligent multi-angle tracking pan-tilt system for a soccer auxiliary training robot according to claim 1, characterized in that: The intelligent multi-angle tracking gimbal system also includes a machine learning module, which is connected to the controller signal to generate a pitch angular velocity compensation coefficient and a yaw angular velocity compensation coefficient.