Multi-occasion-oriented autonomous decision-making basketball partner training robot

Abstract

The invention discloses an autonomous decision-making basketball partner training robot for multiple occasions, and belongs to the technical field of basketball training auxiliary instruments. The basketball partner training robot comprises a four-steering-wheel chassis module, a projection module, a ball receiving and dribbling module, a visual identification module, a main control module and a power supply module; the visual recognition module recognizes environment scenes and relative positions and body postures of athletes, and the four-steering-wheel chassis module drives the whole robot to move or steer to simulate displacement in actual combat. The projection module can project and transmit a basketball to a trainee or a basket, and the ball passing and self-shooting process in actual combat can be achieved; the ball receiving and dribbling module can receive balls passed by trainees and send the balls back through the projection module at a proper position, so as to simulate the matching of the ball receiving and dribbling in the actual combat; the passing, shooting, positioning and tactical execution capabilities of trainers can be comprehensively improved, and the problems that an existing basketball training robot is generally single in function and insufficient in interactivity, and the diversified requirements of the trainers cannot be met are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of basketball training auxiliary equipment, and in particular relates to a multi-situation autonomous decision-making basketball training robot. Background Art

[0002] With the rapid development of intelligent technology, robotics has become increasingly ubiquitous in all areas of society, playing an increasingly significant role in improving the quality of human life. In the field of sports training, due to its special requirements for movement accuracy and training intensity, the introduction of intelligent training aids has become an inevitable trend.

[0003] Shooting is a way for basketball players to score during offense. It is the primary offensive technique in basketball and a crucial component of tactics. Shooting training is the only way to improve shooting accuracy and consistency. Professional players practice shooting 500-800 times a day, sometimes even up to 1,000 times. Currently, daily shooting training is performed by manual passing by coaches or practice partners. However, as physical strength declines, the quality of passes cannot be guaranteed or sustained. Increased training also increases the workload on coaches or practice partners. Manual passing is no longer suitable for the high-intensity training required by modern basketball games. Therefore, research is needed to develop a basketball serving machine that can replace manual passing and provide high-quality passes.

[0004] Basketball training robots currently on the market generally suffer from limited functionality and insufficient interactivity. Traditional training equipment, exemplified by patent CN104474693A (A Robotic Basketball Training Device), is limited to mechanical, repetitive movements and lacks real-time feedback and data collection for the trainee. Furthermore, existing mobile training equipment often only offers basic serving and retrieval functions and has poor field adaptability, making it difficult to meet the diverse needs of trainees. Therefore, developing a basketball training robot with intelligent, interactive functionality and adaptability to diverse training scenarios remains a pressing technical challenge. Summary of the Invention

[0005] In response to the above problems, the present invention aims to provide an autonomous decision-making basketball training robot for multiple occasions, which solves the problem that existing basketball training robots generally have single functions and insufficient interactivity, and are unable to meet the diverse needs of trainees.

[0006] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is as follows: A multi-situation autonomous decision-making basketball training robot is provided, which includes a four-wheel chassis module, a shooting module, a ball receiving and dribbling module, a visual recognition module, a main control module, and a power supply module. The four-steering wheel chassis module includes a chassis and four sets of steering wheel mechanisms, the four sets of steering wheel mechanisms are arranged on the chassis, and a positioning device is provided on the chassis; the four sets of steering wheel mechanisms drive the entire four-steering wheel chassis module to move; The projection module includes a base frame, a support frame, and a lifting frame mechanism. The base frame is fixedly mounted on the chassis, one side of the support frame is hinged to one side of the base frame, and the other end of the support frame is hinged to the other side of the base frame through the lifting frame mechanism. A spring tensioning and pushing mechanism for projecting a basketball is provided on the support frame. The ball receiving and dribbling module includes a gantry bracket fixedly connected to the chassis, and a gripping mechanism and a ball receiving mechanism are provided on the gantry bracket; the gripping mechanism can move in a vertical direction and is used to grip and release the basketball; the ball receiving mechanism is fixedly provided on the gantry bracket and is used to catch the basketball after it rebounds; The visual recognition module is used to recognize the environment scene and the relative position and body posture of the athletes; The main control module and the power supply module are electrically connected to the four-steering wheel chassis module, the projection module, the ball receiving and dribbling module and the visual recognition module.

[0007] This solution is a multi-situation autonomous decision-making basketball training robot. By setting up a visual recognition module to identify the environmental scene and the relative position and body posture of the athletes, the main control module can control the movement or steering of the four-wheel chassis module to simulate the running position in actual combat; the shooting module can pass the basketball to the trainer or the basket, and simulate the passing and self-shooting process in actual combat; the dribbling module can catch the pass from the trainer and pass the ball back to the appropriate position through the shooting module, simulating the passing and cutting coordination in actual combat; it can comprehensively improve the trainers' passing, shooting, running and tactical execution capabilities, while enhancing their game awareness and teamwork capabilities.

[0008] Furthermore, as a specific setting method of the steering wheel mechanism, each group of the steering wheel mechanism includes a fixed ring fixedly connected to the chassis, an inner ring flange is provided inside the fixed ring, and a steering gear ring is provided on the circumferential inner wall of the fixed ring; a servo fixing bracket is provided on the upper end face of the inner ring flange, a rubber-coated wheel hub is provided for rotation inside the servo fixing bracket, and a first drive motor for driving the rubber-coated wheel hub to rotate is provided on one side of the servo fixing bracket; a steering control motor is provided on the other side of the servo fixing bracket, the output shaft of the steering control motor is vertically arranged and a driving gear meshing with the steering gear ring is provided on it; the first drive motor and the steering control motor are both electrically connected to the main control module and the power supply module.

[0009] The steering wheel mechanism works as follows: When the four-wheel chassis module needs to move or adjust, the main control module controls the first drive motor, which rotates the rubber-coated wheel hub and drives the entire steering wheel mechanism in a certain direction. The main control module also controls the steering control motor, which rotates the driving gear. The driving gear meshes with the steering ring, thereby deflecting the fixed ring and ultimately achieving steering movement of the rubber-coated wheel hub on the fixed ring. The robot's movement drives the four steering wheel mechanisms to be independently controlled to drive the entire robot's movement and steering.

[0010] Furthermore, in order to provide a reaction force, a fixing cover is provided on the top of the servo fixing bracket, and a mounting hole is provided at the top center of the fixing cover, the bottom of the fixing cover is fixedly connected to the upper end face of the fixing ring, and a rotating support is provided between the upper end face of the servo fixing bracket and the fixing cover, and the rotating support includes a vertically arranged support rod, the bottom of the support rod is fixedly connected to the upper end face of the servo fixing bracket, and a rotating sleeve is provided on the circumferential outer wall of the support rod through a bearing sleeve, the upper end face of the rotating sleeve contacts with the inner side face of the top of the fixing cover, the top of the support rod passes through the mounting hole and is threadedly connected with a locking nut, and the lower end face of the locking nut is in tight contact with the outer end face of the top of the fixing cover.

[0011] Furthermore, as a specific setting method of the lifting frame mechanism, the lifting frame mechanism includes a fixed bracket, a movable bracket is vertically slidably arranged on the fixed bracket, the bottom of the fixed bracket is hinged to the base frame, and the top of the movable bracket is hinged to the other end of the support frame; a connecting long plate is provided at the bottom of the movable bracket; a screw drive device is provided on the fixed bracket, and the screw drive device includes a screw motor and a first screw, the output end of the screw motor is vertically arranged and a driving gear is provided thereon; the first screw is vertically arranged and passes through the middle of the connecting long plate, the first screw is threadedly connected to the connecting long plate, and a driven gear meshing with the driving gear is provided at the bottom of the first screw; the screw motor is electrically connected to the main control module and the power supply module.

[0012] The working principle and function of the lifting frame mechanism are as follows: the main control module controls the forward or reverse rotation of the screw motor, thereby driving the first screw to rotate forward or reverse, thereby realizing the vertical movement of the movable bracket relative to the fixed bracket. Its main purpose is to change the vertical height of the entire lifting frame mechanism; and by changing the vertical height of the lifting frame mechanism, the pitch angle of the support frame and the spring stretching and pushing mechanism can be changed, thereby adjusting the pitch angle of the shooting module to adapt to different basketball training modes.

[0013] Furthermore, as a specific setting mode of the spring stretching and pushing mechanism, the spring stretching and pushing mechanism includes two pushing guide rails and a fixed beam, the two pushing guide rails are respectively arranged on both sides of the width direction of the support frame and are arranged along the length direction of the support frame; a basketball tray is slidably arranged between the two pushing guide rails, a pulling shaft is provided at the bottom of the basketball tray, and the two ends of the pulling shaft are respectively located on both sides of the width direction of the basketball tray; a tension spring is respectively provided on both sides of the width direction of the basketball tray; the two ends of each tension spring are respectively fixedly connected to the end of the pulling shaft and the other end of the support frame; The fixed beam is arranged at one end of the support frame and is fixedly connected to the inside of the support frame. A screw drive mechanism is provided on the fixed beam. The screw drive mechanism is provided with a trigger member that can slide along the length direction of the support frame. The trigger member is provided with a trigger for clamping or releasing the pull shaft; the screw drive mechanism and the trigger member are both electrically connected to the main control module and the power supply module.

[0014] The working principle of the spring stretching and pushing mechanism is: first, place the basketball on the basketball tray, the main control module controls the trigger on the trigger part to clamp the clamping shaft on the basketball tray, and then the main control module screw drive mechanism drives the trigger part to the other end of the support frame. During the movement of the trigger part, the tension spring is stretched to accumulate elastic potential energy. Finally, the main control module controls the trigger to release the pulling shaft, and the basketball tray quickly rushes back to one end of the support frame under the action of the tension spring, thereby launching the basketball and completing the basketball launching work.

[0015] Furthermore, as a specific setting method of the screw drive mechanism, the screw drive mechanism includes a second drive motor located inside the support frame and fixed on the fixed beam, a second screw and two guide light shafts, the output shaft of the second drive motor is arranged toward the length direction of the support frame and is provided with a driving gear; the second screw and the two guide light shafts are arranged toward the length direction of the support frame, and the free ends of the second screw and the two guide light shafts are connected to the other end of the support frame; the other end of the second screw is provided with a driven gear meshing with the driving gear; the trigger member includes a mounting plate, the mounting plate is slidably matched with the two guide light shafts, the mounting plate is threadedly connected to the second screw, a trigger seat is provided on the mounting plate, the trigger seat is provided with the trigger, and the trigger is driven by the servo; the second drive motor and the servo are both electrically connected to the main control module and the power supply module.

[0016] The screw drive mechanism operates as follows: the main control module controls the rotation of the second drive motor, which in turn drives the second screw via the driving and driven gears. The rotating second screw propels the mounting plate in reciprocating linear motion along its axis, ultimately driving the trigger member to slide along the length of the support frame. Two guide optical axes guide and limit the rotation of the mounting plate.

[0017] Furthermore, the fixed beam is provided with a laser ranging module electrically connected to the main control module and the power supply module. The laser ranging module can measure the distance between the basketball and the target position.

[0018] Furthermore, as a specific setting mode in which the gripping mechanism can move in the vertical direction on the gantry bracket, the gantry bracket is provided with two drawer slides and a vertical driving device, the two drawer slides are slidably connected to the gantry bracket through a vertical pulley, and the two drawer slides are arranged horizontally at intervals; the vertical driving device is used to drive the two drawer slides to reciprocate in the vertical direction; a driven rack is provided in each of the drawer slides, and two third driving motors are provided on the vertical pulley, and the two third driving motors are in a one-to-one matching relationship with the driven racks; the output end of each third driving motor is provided with a driving gear meshing with the driven rack, and the third driving motor rotates to drive the driven rack to extend or retract relative to the drawer slide; the gripping mechanism is fixedly connected to one side of the two driven racks; the vertical driving device and the third driving motor are both electrically connected to the main control module and the power supply module.

[0019] The working principle of the above technical solution is: the main control module controls the rotation of the third drive motor, drives the driven rack to extend or retract relative to the drawer slide rail, thereby enabling the gripping mechanism to move horizontally; the main control module controls the vertical drive device to drive the two drawer slide rails to reciprocate in the vertical direction, thereby realizing the vertical movement of the gripping mechanism.

[0020] Furthermore, as a specific arrangement of the vertical drive device and the gripping mechanism, the vertical drive device includes two drive members, and the two drive members are in a one-to-one matching relationship with the two drawer slides; each drive member includes a pulley arranged vertically at intervals and fixedly connected to the gantry bracket, the two pulleys are respectively located at the top and bottom of the drawer slide, a transmission belt is provided between the two pulleys, and the transmission belt is fixedly connected to the side wall of the drawer slide; a lifting motor fixedly connected to the gantry bracket is provided on one side of one of the pulleys, and the lifting motor drives the pulley to rotate; The gripper mechanism includes a fixed plate, which is arranged at the protruding ends of the two driven racks. A bidirectional cylinder is arranged on the fixed plate, and a gripper is symmetrically arranged on the two piston rods of the bidirectional cylinder; the lifting motor is electrically connected to the main control module and the power supply module, and the main control module controls the movement of the bidirectional cylinder.

[0021] The working principle of the vertical drive device is: the lifting motor drives the pulley to rotate, thereby causing the transmission belt to move between the two pulleys, and the moving transmission belt can drive the two drawer slides to slide in the vertical direction, ultimately realizing the vertical movement of the driven rack inside the drawer slide and the gripper mechanism connected to the driven rack.

[0022] The working principle of the gripper mechanism is as follows: the main control module controls the extension or retraction of the bidirectional cylinder piston rod, and then controls the opening and clamping of the two grippers to grasp and release the basketball.

[0023] Furthermore, as a specific setting method of the ball receiving mechanism, the ball receiving mechanism includes a mounting frame arranged on one side of the gantry bracket, and a fourth drive motor and a ball receiving frame are provided on the mounting frame; the ball receiving frame is rotatably connected to the mounting frame and is located below the two grippers, and the two grippers are located above the spring stretching and pushing mechanism, and the fourth drive motor drives the ball receiving frame to rotate; the fourth drive motor is electrically connected to the main control module and the power supply module.

[0024] The working principle of the entire ball-catching and dribbling module is as follows: the gripper mechanism releases the basketball at the highest point through a two-way cylinder. After the basketball freely falls and bounces back, the fourth drive motor drives the ball receiving frame to rotate, catches the rebounded basketball, and completes the entire dribbling action.

[0025] The beneficial effects of the present invention are as follows: the present invention provides an autonomous decision-making basketball training robot for multiple occasions, which realizes high-speed omnidirectional movement of the robot in the horizontal direction by setting a four-steering wheel chassis module, thereby improving the flexibility of the basketball training robot and ensuring movement accuracy, and can train running awareness, improve defensive psychological quality, effectively make up for unmanned training or insufficient training, and improve the level of training personnel; by setting a visual recognition module to recognize human gestures, and feeding back human coordinates and receiver height, the shooting module shoots the basketball at a certain angle and force according to the returned information, thereby achieving good human-computer interaction and improving the players' interest in training; the shooting module can simulate shooting scenes in real games, support multiple shooting angles and force settings, provide trainees with diverse tactical practice opportunities, and help improve actual combat performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of a basketball training robot that can make autonomous decisions in multiple situations.

[0027] Figure 2 This is a structural diagram of the four-steering wheel chassis module.

[0028] Figure 3 It is a structural diagram of a single steering wheel mechanism.

[0029] Figure 4 This is a structural diagram of the projection module.

[0030] Figure 5 This is a structural diagram of the spring stretching and ejecting mechanism set on the support frame.

[0031] Figure 6This is a structural diagram of the ball catching and dribbling module.

[0032] Among them: 1. Four-steering wheel chassis module; 11. Chassis; 12. Steering wheel mechanism; 121. Fixing ring; 122. Inner ring flange; 123. Steering ring gear; 124. Steering gear fixing bracket; 125. Rubber-coated wheel hub; 126. Steering control motor; 127. Fixing cover; 128. Rotating support; 129. Locking nut; 13. Positioner; 2. Projection module; 21. Base frame; 22. Support frame; 23. Lifting frame mechanism; 231. Fixed bracket; 232. Mobile bracket; 233. Connecting long board; 234. Screw motor; 235. First screw; 24. Spring tension ejection mechanism; 241. Ejection guide rail; 242. Fixed beam; 243. Basketball tray; 244. Pull shaft; 245. Trigger; 246. Second drive motor; 247. Second screw; 248. Guide light axis; 249. Mounting plate; 250. Trigger base; 25. Laser ranging module; 3. Ball receiving and dribbling module; 31. Gantry bracket; 32. Gripper mechanism; 321. Fixed plate; 322. Bidirectional cylinder; 323. Gripper; 33. Ball receiving mechanism; 331. Mounting frame; 332. Fourth drive motor; 333. Ball receiving frame; 34. Drawer slide; 35. Vertical drive device; 351. Pulley; 352. Transmission belt; 353. Lifting motor; 36. Driven rack; 37. Vertical pulley. DETAILED DESCRIPTION

[0033] The specific embodiments of the present invention are described below to facilitate understanding of the present invention by those skilled in the art. However, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the appended claims, these changes are obvious, and all inventions and creations utilizing the concepts of the present invention are protected.

[0034] like Figure 1 As shown, the present invention provides an autonomous decision-making basketball training robot for multiple occasions, which includes a four-steering wheel chassis module 1, a projection module 2, a ball receiving and dribbling module 3, a visual recognition module, a main control module and a power supply module.

[0035] The four-steering wheel chassis module 1 includes a chassis 11 and four groups of steering wheel mechanisms 12. The four groups of steering wheel mechanisms 12 are arranged on the chassis 11. A positioning device 13 is provided on the chassis 11. The four groups of steering wheel mechanisms 12 drive the entire four-steering wheel chassis module 1 to move.

[0036] The projection module 2 includes a base frame 21, a support frame 22 and a lifting frame mechanism 23. The base frame 21 is fixedly set on the chassis 11. One side of the support frame 22 is hinged to one side of the base frame 21, and the other end of the support frame 22 is hinged to the other side of the base frame 21 through the lifting frame mechanism 23; a spring stretching and pushing mechanism 24 for projecting basketball is provided on the support frame 22.

[0037] The ball receiving and dribbling module 3 includes a gantry bracket 31 fixedly connected to the chassis 11. The gantry bracket 31 is provided with a gripping mechanism 32 and a ball receiving mechanism 33. The gripping mechanism 32 is movable in a vertical direction and is used to grip and release a basketball. The ball receiving mechanism 33 is fixedly provided on the gantry bracket 31 and is used to catch the basketball after it rebounds. The visual recognition module is used to identify the environment and the relative position and posture of the athletes. In this embodiment, the visual recognition module is not shown in the accompanying drawings. It includes an image recognition component and a LiDAR scanning component. The image recognition component includes a camera for collecting data and tracking the trainer's movements. It can be fixedly mounted on the uppermost section of the lifting mechanism as needed, allowing for frontal imagery from most angles. The camera rotates with the projection module 2 to ensure tracking of the trainer, using the YOLO model to identify the trainer's angle and distance. Alternatively, the camera can be fixedly mounted on the side of the projection module 2 to ensure the safety of the camera and trainer during exercise. The LiDAR scanning component is used to identify the environment and the relative position and posture of the athletes. It uses a mid360 radar for data collection and incorporates the PointPillars algorithm to accurately locate and track specific targets (e.g., the human body or the basketball hoop). Mid360 real-time spatial acquisition generates a three-dimensional point cloud, which is then used for real-time positioning and mapping using SLAM technology.

[0038] The main control module and the power supply module are electrically connected to the four-steering wheel chassis module 1, the projection module 2, the ball receiving and dribbling module 3 and the visual recognition module.

[0039] Specifically, the main control module and the power supply module are not drawn in the drawings of the specification. The main control module uses the STM32G474 high-performance core chip as the central control system of the entire robot. It has faster analog-to-digital conversion speed, higher operating frequency, and lower power consumption, which can fully meet the requirements of speed and accuracy. In order to meet the simultaneous operation of multiple tasks, the FreeRTOS real-time operating system is used to avoid the redundancy and lack of direction of bare metal programs.

[0040] This solution provides a multi-situation autonomous decision-making basketball training robot. By setting a visual recognition module to identify the environmental scene and the relative position and body posture of the athletes, the main control module can control the four-wheel chassis module 1 to move or turn, simulating the running position in actual combat; the shooting module 2 can pass the basketball to the trainer or the basket, simulating the passing and self-shooting process in actual combat; the ball-catching and dribbling module 3 can catch the pass from the trainer and pass the ball back to the appropriate position through the shooting module 2, simulating the passing and cutting coordination in actual combat; it can comprehensively improve the trainers' passing, shooting, running and tactical execution capabilities, while enhancing their game awareness and teamwork capabilities.

[0041] Specifically, if Figures 1 to 3 As shown, as a specific arrangement of the steering wheel mechanism 12, each group of the steering wheel mechanism 12 includes a fixing ring 121 fixedly connected to the chassis 11, an inner ring flange 122 is provided inside the fixing ring 121, and a steering gear ring 123 is provided on the circumferential inner wall of the fixing ring 121; a steering gear fixing bracket 124 is provided on the upper end face of the inner ring flange 122, and a rubber-coated wheel hub 125 is rotatably provided inside the steering gear fixing bracket 124, and a first drive motor for driving the rubber-coated wheel hub 125 to rotate is provided on one side of the steering gear fixing bracket 124; a steering control motor 126 is provided on the other side of the steering gear fixing bracket 124, and the output shaft of the steering control motor 126 is vertically arranged and provided with a driving gear meshing with the steering gear ring 123; the first drive motor and the steering control motor 126 are both electrically connected to the main control module and the power supply module.

[0042] The steering wheel mechanism 12 works as follows: When the four-wheel chassis module 1 needs to move or reposition, the main control module controls the first drive motor to rotate, driving the rubber-coated wheel hub 125 to rotate, driving the entire steering wheel mechanism 12 to move in a certain direction; the main control module controls the steering control motor 126 to rotate, driving the driving gear to rotate, and at the same time the driving gear engages with the steering ring gear 123, thereby achieving deflection of the fixed ring 121, and ultimately achieving steering movement of the rubber-coated wheel hub 125 on the fixed ring 121. The robot's movement drives the four sets of steering wheel mechanisms 12 to be independently controlled to drive the entire robot to walk and turn.

[0043] In order to provide a reaction force, a fixing cover 127 is provided on the top of the steering gear fixing bracket 124. A mounting hole is provided at the center of the top of the fixing cover 127. The bottom of the fixing cover 127 is fixedly connected to the upper end surface of the fixing ring 121. A rotating support 128 is provided between the upper end surface of the steering gear fixing bracket 124 and the fixing cover 127. The rotating support 128 includes a vertically arranged support rod. The bottom of the support rod is fixedly connected to the upper end surface of the steering gear fixing bracket 124. A rotating sleeve is provided on the circumferential outer wall of the support rod through a bearing sleeve. The upper end surface of the rotating sleeve contacts the inner surface of the top of the fixing cover 127. The top of the support rod passes through the mounting hole and is threaded with a locking nut 129. The lower end surface of the locking nut 129 is in tight contact with the outer end surface of the top of the fixing cover 127. This ensures that the steering wheel mechanism 12 is stably installed on the chassis 11.

[0044] like Figure 4 As shown, as a specific setting method of the lifting frame mechanism 23, the lifting frame mechanism 23 includes a fixed bracket 231, and a movable bracket 232 is vertically slidably arranged on the fixed bracket 231, the bottom of the fixed bracket 231 is hinged to the base frame 21, and the top of the movable bracket 232 is hinged to the other end of the support frame 22; a connecting long plate 233 is arranged at the bottom of the movable bracket 232; a screw drive device is provided on the fixed bracket 231, and the screw drive device includes a screw motor 234 and a first screw 235, the output end of the screw motor 234 is vertically arranged and a driving gear is arranged thereon; the first screw 235 is vertically arranged and passes through the middle of the connecting long plate 233, the first screw 235 is threadedly connected to the connecting long plate 233, and the bottom of the first screw 235 is provided with a driven gear meshing with the driving gear; the screw motor 234 is electrically connected to the main control module and the power supply module.

[0045] The working principle and function of the lifting frame mechanism 23 are as follows: the main control module controls the forward or reverse rotation of the screw motor 234, thereby driving the first screw 235 to rotate forward or reverse, thereby realizing the vertical movement of the movable bracket 232 relative to the fixed bracket 231. Its main purpose is to change the vertical height of the entire lifting frame mechanism 23; and by changing the vertical height of the lifting frame mechanism 23, the pitch angle of the support frame 22 and the spring stretching and pushing mechanism 24 can be changed, thereby adjusting the pitch angle of the projection module 2 to adapt to different basketball training modes.

[0046] like Figure 4 and Figure 5As shown, as a specific arrangement of the spring stretching and pushing mechanism 24, the spring stretching and pushing mechanism 24 includes two pushing guide rails 241 and a fixed beam 242. The two pushing guide rails 241 are respectively arranged on both sides of the width direction of the support frame 22 and are arranged along the length direction of the support frame 22; a basketball tray 243 is slidably arranged between the two pushing guide rails 241, and a pulling shaft 244 is provided at the bottom of the basketball tray 243, and the two ends of the pulling shaft 244 are respectively located on both sides of the width direction of the basketball tray 243; a tension spring is respectively provided on both sides of the width direction of the basketball tray 243; the two ends of each tension spring are respectively fixedly connected to the end of the pulling shaft 244 and the other end of the support frame 22; The fixed beam 242 is arranged at one end of the support frame 22 and is fixedly connected to the inside of the support frame 22. A screw drive mechanism is provided on the fixed beam 242. The screw drive mechanism is provided with a trigger 245 that can slide along the length direction of the support frame 22. The trigger 245 is provided with a trigger 245 for clamping or releasing the pull shaft 244; the screw drive mechanism and the trigger 245 are both electrically connected to the main control module and the power supply module.

[0047] The working principle of the spring stretching and pushing mechanism 24 is as follows: first, the basketball is placed on the basketball tray 243, and the main control module controls the trigger 245 on the trigger 245 to clamp the clamping shaft on the basketball tray 243, and then the main control module screw drive mechanism drives the trigger 245 to the other end of the support frame 22. During the movement of the trigger 245, the tension spring is stretched to accumulate elastic potential energy, and finally the main control module controls the trigger 245 to release the pulling shaft 244, and the basketball tray 243 quickly rushes back to one end of the support frame 22 under the action of the tension spring, thereby launching the basketball and completing the basketball launching work.

[0048] Furthermore, as a specific setting mode of the screw drive mechanism, the screw drive mechanism includes a second drive motor 246 located inside the support frame 22 and fixed on the fixed beam 242, a second screw 247 and two guide light shafts 248, the output shaft of the second drive motor 246 is arranged in the length direction of the support frame 22 and a driving gear is arranged thereon; the second screw 247 and the two guide light shafts 248 are arranged in the length direction of the support frame 22, and the second screw 247 and the two guide light shafts 248 are freely movable. The other end of the second screw rod 247 is connected to the other end of the support frame 22; the other end of the second screw rod 247 is provided with a driven gear engaged with the driving gear; the trigger 245 includes a mounting plate 249, the mounting plate 249 is slidably matched with the two guide light shafts 248, the mounting plate 249 is threadedly connected to the second screw rod 247, and a trigger seat 250 is provided on the mounting plate 249, and the trigger seat 250 is provided with the trigger 245, and the trigger 245 is driven by a servo; the second drive motor 246 and the servo are electrically connected to the main control module and the power supply module.

[0049] The screw drive mechanism operates as follows: the main control module controls the rotation of the second drive motor 246, which in turn drives the second screw 247 via the driving and driven gears. The rotating second screw 247 pushes the mounting plate 249 in reciprocating linear motion along its axis, ultimately driving the trigger 245 to slide along the length of the support frame 22. Two guide optical shafts 248 guide and limit the rotation of the mounting plate 249.

[0050] Furthermore, a laser distance measuring module 25 electrically connected to the main control module and the power supply module is also provided on the fixed beam 242. The laser distance measuring module 25 can measure the distance between the basketball and the target position.

[0051] like Figure 1 and Figure 6As shown, as a specific arrangement mode in which the gripping mechanism 32 can move in the vertical direction on the gantry bracket 31, the gantry bracket 31 is provided with two drawer slide rails 34 and a vertical driving device 35. The two drawer slide rails 34 are slidably connected to the gantry bracket 31 through a vertical pulley 37, and the two drawer slide rails 34 are arranged horizontally at intervals; the vertical driving device 35 is used to drive the two drawer slide rails 34 to reciprocate in the vertical direction; each of the drawer slide rails 34 is provided with a driven rack 36, Two third drive motors are provided on the vertical pulley 37, and the two third drive motors are in a one-to-one matching relationship with the driven rack 36; the output end of each third drive motor is provided with a driving gear engaged with the driven rack 36, and the third drive motor rotates to drive the driven rack 36 to extend or retract relative to the drawer slide 34; one side of the two driven racks 36 is fixedly connected to the gripping mechanism 32; the vertical drive device 35 and the third drive motor are both electrically connected to the main control module and the power supply module.

[0052] The working principle of the above technical solution is: the main control module controls the rotation of the third drive motor, drives the driven rack 36 to extend or retract relative to the drawer slide 34, thereby enabling the gripping mechanism 32 to move horizontally; the main control module controls the vertical drive device 35 to drive the two drawer slides 34 to reciprocate in the vertical direction, thereby realizing the vertical movement of the gripping mechanism 32.

[0053] As a specific arrangement of the vertical drive device 35 and the gripping mechanism 32, the vertical drive device 35 includes two drive members, and the two drive members are in a one-to-one matching relationship with the two drawer slides 34; each drive member includes a pulley 351 arranged vertically at intervals and fixedly connected to the gantry bracket 31, the two pulleys 351 are respectively located at the top and bottom of the drawer slide 34, and a transmission belt 352 is provided between the two pulleys 351, and the transmission belt 352 is fixedly connected to the side wall of the drawer slide 34; one side of one of the pulleys 351 is provided with a lifting motor 353 fixedly connected to the gantry bracket 31, and the lifting motor 353 drives the pulley 351 to rotate; The gripper mechanism 32 includes a fixed plate 321, which is arranged at the protruding ends of the two driven racks 36. A bidirectional cylinder 322 is provided on the fixed plate 321, and a gripper 323 is symmetrically provided on the two piston rods of the bidirectional cylinder 322; the lifting motor 353 is electrically connected to the main control module and the power supply module, and the main control module controls the movement of the bidirectional cylinder 322.

[0054] The working principle of the vertical drive device 35 is: the lifting motor 353 drives the pulley 351 to rotate, thereby causing the transmission belt 352 to move between the two pulleys 351, and the moving transmission belt 352 can drive the two drawer slides 34 to slide in the vertical direction, ultimately realizing the vertical movement of the driven rack 36 inside the drawer slide 34 and the gripping mechanism 32 connected to the driven rack 36.

[0055] The working principle of the gripper mechanism 32 is as follows: the main control module controls the extension or retraction of the piston rod of the bidirectional cylinder 322, thereby controlling the opening and clamping of the two grippers 323 to grasp and release the basketball.

[0056] As a specific setting method of the ball receiving mechanism 33, the ball receiving mechanism 33 includes a mounting frame 331 arranged on one side of the gantry bracket 31, and a fourth drive motor 332 and a ball receiving frame 333 are provided on the mounting frame 331; the ball receiving frame 333 is rotatably connected to the mounting frame 331 and is located below the two grippers 323, and the two grippers 323 are located above the spring stretching and pushing mechanism 24, and the fourth drive motor 332 drives the ball receiving frame 333 to rotate; the fourth drive motor 332 is electrically connected to the main control module and the power supply module.

[0057] The working principle of the entire ball receiving and dribbling module 3 is as follows: the gripping mechanism 32 releases the basketball at the highest point through the two-way cylinder 322. After the basketball freely falls and bounces, the fourth driving motor 332 drives the ball receiving frame 333 to rotate, catches the rebounded basketball, and completes the entire dribbling action.

[0058] The present invention provides a multi-situation autonomous decision-making basketball training robot that can realize three modes to train basketball trainers' skills. Passing and cutting mode: This mode is designed to train long-distance passing skills and enhance the awareness of cooperation between trainers and teammates. The trainer throws the basketball to the robot's ball receiving and dribbling module 3, and the visual recognition module collects the trainer's status, calculates its angle and distance, and sends the data to the main control module. At the same time, the basketball is caught and passed to the ball receiving mechanism 33 under the joint action of the vertical drive device 35, the third drive motor and the gripping mechanism 32. After receiving the signal of the basketball entering and the trainer's gesture for the ball, the main control module controls the projection module 2 to adjust the pitch angle according to the trainer's shooting habits and transmits the basketball back to the trainer at a certain speed and angle through the spring tensioning and pushing mechanism 24.

[0059] Self-shooting mode: This mode allows the robot to independently shoot based on basket position analysis and recognition. Once the robot holds the ball, the visual recognition module detects the position and height of the opposing basket and transmits this data to the main control module. Based on the basket height and distance, the main control module controls the four-wheel chassis module 1 to move to the appropriate position. After adjusting the spring-loaded ejection mechanism 24 for the desired angle, the robot launches the ball, ensuring it enters the net.

[0060] Positioning and tactical training mode: This mode is designed to train the trainees' positioning awareness and tactical execution capabilities. The robot collects the trainees' positions and movements through the visual recognition module, and combines it with the preset tactical plan to simulate the positioning and coordination scenarios in actual combat. The main control module controls the four-steering wheel chassis module 1 to move according to the tactical route, such as pick-and-roll, open cut or screen, etc. The trainees need to perform corresponding tactics according to the robot's positioning. The robot can also catch the trainee's pass through the vertical drive device 35, the third drive motor and the gripper mechanism 32, and pass the ball back to the appropriate position through the shooting module 2, simulating the passing and cutting coordination in actual combat. Through this mode, trainees can become familiar with the execution details of different tactics, improve their teamwork ability and the level of tactical application in the game. Through these three modes, the auxiliary robot can comprehensively improve the trainees' passing, shooting, positioning and tactical execution capabilities, while enhancing their game awareness and teamwork ability.

[0061] In summary, the multi-purpose, autonomous basketball training robot presented in this invention can provide stable, accurate, and personalized training services. It helps athletes efficiently practice shooting, find the optimal catching height, and conduct coordinated movement and tactical training, significantly enhancing training effectiveness. Through this intelligent training method, athletes can fully tap their potential and rapidly improve their competitive level, providing strong support for cultivating more outstanding basketball talent and promoting the development of basketball at the competitive level.

[0062] In school physical education and amateur training, the training robot can provide personalized training assistance tailored to the needs of individual students. Through differentiated instruction and engaging interactions, it can stimulate the interest of students and basketball enthusiasts, encouraging more people to participate in the sport and gradually improve their skills. This will not only help increase the popularity of basketball education, but also enhance the overall quality of physical education, promoting the widespread dissemination and development of basketball throughout society.

[0063] In physical fitness tests and high-level athlete selection exams, robots, as high-precision serving devices, can eliminate errors caused by human factors and ensure a fair and impartial training and testing environment. Their stable performance prevents fluctuations in passing from affecting athlete scores, ensuring the selection of truly capable athletes and enhancing the credibility and fairness of physical education exams.

Claims

1. A multi-situation autonomous decision-making basketball training robot, characterized by: It includes a four-wheel chassis module, a projection module, a ball receiving and dribbling module, a visual recognition module, a main control module, and a power supply module; The four-steering wheel chassis module includes a chassis and four sets of steering wheel mechanisms, the four sets of steering wheel mechanisms are arranged on the chassis, and a positioning device is provided on the chassis; the four sets of steering wheel mechanisms drive the entire four-steering wheel chassis module to move; The projection module includes a base frame, a support frame, and a lifting frame mechanism. The base frame is fixedly mounted on the chassis, one side of the support frame is hinged to one side of the base frame, and the other end of the support frame is hinged to the other side of the base frame through the lifting frame mechanism. A spring tensioning and pushing mechanism for projecting a basketball is provided on the support frame. The ball receiving and dribbling module includes a gantry bracket fixedly connected to the chassis, and a gripping mechanism and a ball receiving mechanism are provided on the gantry bracket; the gripping mechanism can move in a vertical direction and is used to grip and release the basketball; the ball receiving mechanism is fixedly provided on the gantry bracket and is used to catch the basketball after it rebounds; The visual recognition module is used to recognize the environment scene and the relative position and body posture of the athletes; The main control module and the power supply module are electrically connected to the four-steering wheel chassis module, the projection module, the ball receiving and dribbling module and the visual recognition module.

2. The multi-situation autonomous decision-making basketball training robot according to claim 1, characterized in that: Each group of the steering wheel mechanisms includes a fixed ring fixedly connected to the chassis, an inner ring flange is provided inside the fixed ring, and a steering gear ring is provided on the circumferential inner wall of the fixed ring; a servo fixing bracket is provided on the upper end face of the inner ring flange, a rubber-coated wheel hub is rotatably provided inside the servo fixing bracket, and a first drive motor for driving the rubber-coated wheel hub to rotate is provided on one side of the servo fixing bracket; a steering control motor is provided on the other side of the servo fixing bracket, and the output shaft of the steering control motor is vertically arranged and provided with a driving gear meshing with the steering gear ring; the first drive motor and the steering control motor are both electrically connected to the main control module and the power supply module.

3. The multi-situation autonomous decision-making basketball training robot according to claim 2, characterized in that: The top of the servo fixing bracket is provided with a fixing cover, and a mounting hole is provided at the top center of the fixing cover. The bottom of the fixing cover is fixedly connected to the upper end surface of the fixing ring, and a rotating support is provided between the upper end surface of the servo fixing bracket and the fixing cover. The rotating support includes a vertically arranged support rod, the bottom of the support rod is fixedly connected to the upper end surface of the servo fixing bracket, and a rotating sleeve is provided on the circumferential outer wall of the support rod through a bearing sleeve, the upper end surface of the rotating sleeve contacts the top inner surface of the fixing cover, the top of the support rod passes through the mounting hole and is threadedly connected to a locking nut, and the lower end surface of the locking nut is in tight contact with the outer end surface of the top of the fixing cover.

4. The multi-situation autonomous decision-making basketball training robot according to claim 1, characterized in that: The lifting frame mechanism includes a fixed bracket, a movable bracket is vertically slidably provided on the fixed bracket, the bottom of the fixed bracket is hinged to the base frame, and the top of the movable bracket is hinged to the other end of the support frame; a connecting long plate is provided at the bottom of the movable bracket; a screw drive device is provided on the fixed bracket, and the screw drive device includes a screw motor and a first screw, the output end of the screw motor is vertically arranged and a driving gear is provided thereon; the first screw is vertically arranged and passes through the middle of the connecting long plate, the first screw is threadedly connected to the connecting long plate, and a driven gear meshing with the driving gear is provided at the bottom of the first screw; the screw motor is electrically connected to the main control module and the power supply module.

5. The multi-situation autonomous decision-making basketball training robot according to claim 1, characterized in that: The spring tensioning and ejecting mechanism includes two ejecting guide rails and a fixed beam, the two ejecting guide rails are respectively arranged on both sides of the width direction of the support frame and are arranged along the length direction of the support frame; a basketball tray is slidably arranged between the two ejecting guide rails, a pulling shaft is provided at the bottom of the basketball tray, and the two ends of the pulling shaft are respectively located on both sides of the width direction of the basketball tray; a tension spring is respectively provided on both sides of the width direction of the basketball tray; the two ends of each tension spring are respectively fixedly connected to the end of the pulling shaft and the other end of the support frame; The fixed beam is arranged at one end of the support frame and is fixedly connected to the inside of the support frame. A screw drive mechanism is provided on the fixed beam. The screw drive mechanism is provided with a trigger member that can slide along the length direction of the support frame. The trigger member is provided with a trigger for clamping or releasing the pull shaft; the screw drive mechanism and the trigger member are both electrically connected to the main control module and the power supply module.

6. The multi-situation autonomous decision-making basketball training robot according to claim 5, characterized in that: The screw drive mechanism includes a second drive motor located inside the support frame and fixed on the fixed beam, a second screw and two guide light shafts, the output shaft of the second drive motor is arranged in the longitudinal direction of the support frame and is provided with a driving gear; the second screw and the two guide light shafts are arranged in the longitudinal direction of the support frame, and the free ends of the second screw and the two guide light shafts are connected to the other end of the support frame; the other end of the second screw is provided with a driven gear meshing with the driving gear; The trigger member includes a mounting plate, the mounting plate is slidably matched with the two guide optical shafts, the mounting plate is threadedly connected to the second screw rod, a trigger seat is provided on the mounting plate, the trigger is provided on the trigger seat, and the trigger is driven by the servo; The second drive motor and the steering gear are both electrically connected to the main control module and the power supply module.

7. The multi-situation autonomous decision-making basketball training robot according to claim 5, characterized in that: The fixed beam is also provided with a laser ranging module electrically connected to the main control module and the power supply module.

8. The multi-situation autonomous decision-making basketball training robot according to claim 1, characterized in that: Two drawer slides and a vertical drive device are provided on the gantry bracket, and the two drawer slides are slidably connected to the gantry bracket through a vertical pulley, and the two drawer slides are arranged horizontally at intervals; the vertical drive device is used to drive the two drawer slides to reciprocate in the vertical direction; a driven rack is provided in each of the drawer slides, and two third drive motors are provided on the vertical pulley, and the two third drive motors are in a one-to-one matching relationship with the driven racks; the output end of each third drive motor is provided with a driving gear meshing with the driven rack, and the third drive motor rotates to drive the driven rack to extend or retract relative to the drawer slide; one side of the two driven racks is fixedly connected to the gripper mechanism; the vertical drive device and the third drive motor are both electrically connected to the main control module and the power supply module.

9. The multi-situation autonomous decision-making basketball training robot according to claim 8, characterized in that: The vertical drive device includes two drive members, and the two drive members are in a one-to-one matching relationship with the two drawer slides; each drive member includes a pulley arranged vertically at intervals and fixedly connected to the gantry bracket, the two pulleys are respectively located at the top and bottom of the drawer slide, and a transmission belt is provided between the two pulleys, and the transmission belt is fixedly connected to the side wall of the drawer slide; a lifting motor fixedly connected to the gantry bracket is provided on one side of one of the pulleys, and the lifting motor drives the pulley to rotate; The gripper mechanism includes a fixed plate, which is arranged at the protruding ends of the two driven racks. A bidirectional cylinder is arranged on the fixed plate, and a gripper is symmetrically arranged on the two piston rods of the bidirectional cylinder; the lifting motor is electrically connected to the main control module and the power supply module, and the main control module controls the movement of the bidirectional cylinder.

10. The multi-situation autonomous decision-making basketball training robot according to claim 9, characterized in that: The ball receiving mechanism includes a mounting frame provided on one side of the gantry bracket, and a fourth drive motor and a ball receiving frame are provided on the mounting frame; the ball receiving frame is rotatably connected to the mounting frame and is located below the two grippers, and the two grippers are located above the spring stretching and pushing mechanism, and the fourth drive motor drives the ball receiving frame to rotate; The fourth drive motor is electrically connected to the main control module and the power supply module.

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