Full-field basketball self-picking robot

Abstract

The invention discloses a full-field basketball self-picking robot, and relates to the technical field of intelligent robots, the full-field basketball self-picking robot comprises a movement chassis, a ball storage mechanism is fixedly mounted on one side of the upper surface of the movement chassis, a ball serving mechanism is arranged on the side, away from the ball storage mechanism, of the upper surface of the movement chassis, and a cam mechanism is fixedly connected to one side of the ball storage mechanism; a ball picking mechanism is arranged below the cam mechanism, a camera support is fixedly connected to the upper end of the side, close to the ball serving mechanism, of the ball storage mechanism, a rotating camera is installed on the camera support, and an angle adjusting mechanism is hinged to the lower end of the side, away from the ball storage mechanism, of the ball serving mechanism. The positions of basketballs and trainers can be automatically positioned through the camera and the distance measuring sensor in multiple scenes, the integrated device of predicting the basketball landing position, setting the basketball position, picking up, storing, setting the position of the trainers and serving the balls is autonomously completed, the labor intensity of trainers is effectively reduced, and the training efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, specifically to a full-court basketball self-retrieving robot. Background Technology

[0002] Basketball is one of the most popular ball sports, and shooting is a very important skill in basketball. To improve their shooting accuracy, athletes need to do a lot of shooting practice. However, due to the unpredictable landing point of the basketball, after each shot, the athlete needs to move to the landing point to retrieve the ball. When team members train together, professional trainers or teammates will take care of retrieving and passing the ball. But when shooting alone, the frequent retrieval of the ball not only increases the time of each shooting practice session, but also causes the athlete to consume a lot of energy during the process, affecting the training effect.

[0003] Traditional ball-retrieving devices are mostly passive ball-catching structures (such as a net structure under the basket). That is, a net is fixedly installed under the basket, and the basketball, after being shot, flows to the ball-launching machine under the guidance of the net. The ball-launching machine then launches the basketball to the athlete's hands. However, this method requires the net to be installed or removed before and after each training session to avoid affecting subsequent multi-person training or games. Also, since the height of the basket is generally much higher than a person, auxiliary tools such as ladders are required. After training, athletes are physically exhausted and sweat a lot, and there is a certain degree of danger in using ladders to disassemble the net. At the same time, traditional ball-catching structures can only work in a fixed area, and the ball-launching machine has a fixed launching direction, which cannot dynamically adjust the trajectory according to the athlete's position. The training scenario is limited, which affects the improvement of athletes' all-round shooting ability.

[0004] In summary, this invention proposes an integrated device that can automatically locate the positions of the ball and the trainer in multiple scenarios by relying on a camera, and autonomously complete the process of "predicting the landing position of the basketball - determining the ball position - picking up - storing - determining the trainer position - serving the ball". Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a full-court basketball self-retrieving robot.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: This invention discloses a full-court basketball self-retrieving and launching robot, comprising a motion chassis. A ball storage mechanism is fixedly installed on one side of the upper surface of the motion chassis, and a launching mechanism is provided on the other side of the upper surface of the motion chassis away from the ball storage mechanism. A cam mechanism is fixedly connected to the side of the ball storage mechanism away from the launching mechanism, and a ball retrieval mechanism is provided below the cam mechanism. A camera bracket is fixedly connected to the upper end of the side of the ball storage mechanism near the launching mechanism, and an angle adjustment mechanism is hinged to the lower end of the side of the launching mechanism away from the ball storage mechanism.

[0007] As a preferred embodiment of the present invention, the ball storage mechanism is a square aluminum alloy frame composed of multiple aluminum profiles, and a ball storage cavity composed of aluminum profiles is provided above the ball storage mechanism. The surface of the ball storage cavity frame is covered with ACF artificial cartilage material.

[0008] As a preferred embodiment of the present invention, the cam mechanism includes a stepper motor fixedly connected to one side of the ball storage mechanism frame, the output shaft of the stepper motor is sleeved with a cam, a hinge plate is fixedly connected to the side of the ball storage mechanism near the cam, and a hinge baffle is hinged to the other end of the hinge plate.

[0009] As a preferred embodiment of the present invention, the ball-collecting mechanism includes two high-torque servo motors slidably mounted on one side of the ball storage mechanism frame. A connecting rod is fixedly connected to the output end of each of the two high-torque servo motors. A trigger rod is slidably connected to the side of the connecting rod facing the high-torque servo motor. A rotating block is rotatably mounted at the bottom end of the connecting rod. A bevel gear is fixedly connected to the top end of the rotating block. A ball-collecting motor is fixedly connected to the outward-facing side of the bottom end of the connecting rod. A bevel gear is fixedly connected to the output end of the ball-collecting motor. The bevel gear fixedly connected to the rotating block meshes with the bevel gear fixedly connected to the ball-collecting motor. A ball-collecting rod is rotatably connected to the bottom end of the rotating block.

[0010] As a preferred embodiment of the present invention, the ball-launching mechanism includes two shooting poles hinged to the moving chassis at one end near the ball storage mechanism. Each shooting pole has a shooting frame fixedly connected to its upper end face away from the ball storage mechanism. A launching crossbeam is fixedly connected between the upper ends of the two shooting frames by bolts. A hub motor is fixedly installed on the lower end face of the launching crossbeam. The same launching crossbeam and hub motor are symmetrically arranged at the bottom end of the shooting frame. An arc-shaped track is fixedly connected below the side of the shooting frame facing the ball storage mechanism. The side of the arc-shaped track facing the ball storage mechanism is located below the ball storage cavity.

[0011] As a preferred embodiment of the present invention, the angle adjustment mechanism includes an adjustment screw fixedly installed on the upper surface of the moving chassis away from the ball storage mechanism. The adjustment screw is threadedly connected to a support plate. A support plate bracket is fixedly installed on the upper surface of the moving chassis below the support plate, and the support plate is slidably connected to the support plate bracket. A shooting link is hinged to the upper surface of the support plate, and the other end of the shooting link is hinged to the bottom end of the shooting link away from the ball storage mechanism.

[0012] As a preferred embodiment of the present invention, a hub motor is fixedly installed on the lower end face of the launching beam, and a connecting rod is connected through the bottom ends of the two connecting rods. Limiting blocks are fixedly installed at both ends of the connecting rod by bolts.

[0013] As a preferred embodiment of the present invention, a trigger block is provided at the top of the trigger rod, a spring is connected between the trigger block and the connecting rod, and a push plate is fixedly connected to the bottom of the trigger rod.

[0014] As a preferred embodiment of the present invention, a distance sensor is provided on the lower end face of the motion chassis near the ball-collecting mechanism, with the distance sensor facing the direction of the ball-collecting mechanism.

[0015] As a preferred embodiment of the present invention, a front-facing camera is fixedly installed below the ball-collecting mechanism, and a rotating camera is installed on the upper surface of the camera bracket.

[0016] The beneficial effects of this invention are: 1. Compared with traditional ball-collecting structures, this basketball-retrieving robot can adapt to various basketball courts and complete the entire process of "fixing the ball position - picking up - storing - fixing the trainer position - serving the ball"; 2. This basketball retrieval robot can accurately capture the landing point of the basketball through the camera settings, and then move to the landing position of the basketball in the shortest distance, which reduces the time required to retrieve the ball to a certain extent and improves the overall efficiency. 3. The basketball retrieval robot can adjust the launch angle of each serve in advance according to the training situation through the set angle adjustment mechanism, so as to ensure that the basketball can be accurately launched into the training personnel's retrieval range within the set distance, avoiding the training personnel from running twice. 4. During the ball-collecting process, the basketball-retrieving robot rotates its camera to locate the trainee. This allows the robot to immediately align its body with the rotating camera after ball collection, then move to a set distance from the trainee and launch the ball to them via the ball-launching device. The camera and range sensor accurately locate both the basketball and the trainee during this process. Simultaneously, locating the trainee during ball collection reduces the overall time spent on ball collection and launching, thus improving training efficiency. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of a full-court basketball self-retrieving and launching robot according to the present invention; Figure 2 This is a front view of a full-court basketball self-retrieving robot according to the present invention; Figure 3 This is a schematic diagram of the ball-collecting mechanism of a full-court basketball self-collecting and launching robot according to the present invention; Figure 4This is a schematic diagram of the drive mechanism in the ball-collecting part of a full-court basketball self-collecting robot according to the present invention. Figure 5 This is a schematic diagram of the ball-collecting rod in the ball-collecting mechanism of a full-court basketball self-collecting robot according to the present invention; Figure 6 This is a schematic diagram of the trigger rod structure in the ball-collecting mechanism of a full-court basketball self-collecting and launching robot according to the present invention; Figure 7 This is a schematic diagram of the cam mechanism of a full-court basketball self-retrieving robot according to the present invention; Figure 8 This is a schematic diagram of the serving mechanism of a full-court basketball self-retrieving and serving robot according to the present invention; Figure 9 This is a schematic diagram of the angle adjustment mechanism of an all-court basketball self-retrieving robot according to the present invention.

[0018] In the diagram: 1. Motion chassis; 11. Wheel; 2. Ball storage mechanism; 21. Front-facing camera; 22. Ball storage cavity; 3. Cam mechanism; 31. Stepper motor; 32. Cam; 33. Hinge baffle; 331. Hinge plate; 4. Ball pickup mechanism; 41. Connecting rod; 42. High-torque servo motor; 43. Linkage rod; 431. Limit block; 44. Distance sensor; 45. Ball pickup motor; 46. Rotating block; 47. Trigger rod; 48. 1. Trigger block; 472. Spring; 473. Push plate; 48. Ball pick-up stick; 481. Groove; 482. Top plate; 5. Camera bracket; 51. Rotating camera; 6. Ball launching mechanism; 61. Shooting stick; 62. Shooting frame; 63. Launching crossbeam; 64. Curved slide; 7. Angle adjustment mechanism; 71. Shooting linkage; 72. Adjusting screw; 73. Support plate; 74. Support plate bracket; 8. Hub motor; 9. Basketball. Detailed Implementation

[0019] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0020] Example 1, such as Figures 1 to 7 As shown, the present invention discloses a full-court basketball self-retrieving and launching robot, comprising a motion chassis 1, a ball storage mechanism 2 fixedly installed on one side of the upper surface of the motion chassis 1, a launching mechanism 6 provided on the side of the upper surface of the motion chassis 1 away from the ball storage mechanism 2, a cam mechanism 3 fixedly connected to the side of the ball storage mechanism 2 away from the launching mechanism 6, a ball retrieval mechanism 4 provided below the cam mechanism 3, a camera bracket 5 fixedly connected to the upper end of the side of the ball storage mechanism 2 near the launching mechanism 6, and an angle adjustment mechanism 7 hinged to the lower end of the side of the launching mechanism 6 away from the ball storage mechanism 2.

[0021] Specifically, when in use, the basketball is first scooped up by the ball-collecting mechanism 4, then the ball-collecting mechanism 4 flips to lift the basketball upwards, and then the basketball slides along the ball-collecting mechanism 4 into the ball-storage mechanism 2. After the launching angle of the launching mechanism 6 is adjusted by the angle adjustment mechanism, the cam mechanism 3 is controlled to make the basketball fall from the ball-storage mechanism 2, and then the basketball is launched through the launching mechanism 6.

[0022] Example 2, as Figures 1 to 2 As shown, the present invention provides a full-court basketball self-retrieving and launching robot, which includes a ball storage mechanism 2. The ball storage mechanism 2 is a square aluminum alloy frame composed of multiple aluminum profiles, and a ball storage cavity 22 composed of aluminum profiles is provided above the ball storage mechanism 2. The frame surface of the ball storage cavity 22 is covered with ACF artificial cartilage material.

[0023] Specifically, after the ball-collecting mechanism 4 scoops up the basketball, it rolls into the ball storage cavity 22 made of aluminum profiles. The ACF artificial cartilage material covering the frame surface of the ball storage cavity 22 is used to absorb the impact energy of the basketball on the overall frame when it enters the ball storage cavity 22.

[0024] Example 3, as Figure 3 and Figure 5 As shown, the present invention provides a full-court basketball self-retrieving and launching robot including a cam mechanism 3. The cam mechanism 3 includes a stepper motor 31 fixedly connected to the frame of the ball storage mechanism 2. The output shaft of the stepper motor 31 is sleeved with a cam 32. A hinge plate 331 is fixedly connected to one side of the ball storage mechanism 2 near the cam 32. A hinge baffle 33 is hinged to the other end of the hinge plate 331.

[0025] Specifically, when storing the ball, the stepper motor 31 of the cam mechanism drives the cam 32 to rotate, causing the protruding part of the cam 32 to lift the hinge baffle 33. At this time, the hinge baffle 33 will reduce the outlet cross-sectional area of ​​the ball storage cavity 22, and the basketball cannot fall out of the ball storage cavity 22. When the basketball needs to fall, the stepper motor 31 drives the cam 32 to rotate, so that the protruding part of the cam 32 no longer lifts the hinge baffle 33. At this time, the outlet cross-sectional area of ​​the ball storage cavity 22 increases, and the basketball can fall normally.

[0026] Example 4, as Figure 1 and Figure 4As shown, the present invention discloses a full-court basketball self-retrieving robot, which includes a ball-retrieval mechanism 4. The ball-retrieval mechanism 4 includes two high-torque servo motors 42 that are slidably mounted on one side of the ball storage mechanism 2. The output ends of the two high-torque servo motors 42 are fixedly connected to connecting rods 41. A trigger rod 47 is slidably connected to the side of the connecting rods 41 facing the high-torque servo motors 42. A rotating block 46 is rotatably mounted on the bottom end of the connecting rods 41. A bevel gear is fixedly connected to the top end of the rotating block 46. A ball-retrieval motor 45 is fixedly connected to the outward side of the bottom end of the connecting rods 41. A bevel gear is fixedly connected to the output end of the ball-retrieval motor 45. The bevel gear fixedly connected to the rotating block 46 meshes with the bevel gear fixedly connected to the ball-retrieval motor 45. A ball-retrieval rod 48 is rotatably connected to the bottom end of the rotating block 46.

[0027] Specifically, when picking up the ball, the ball-picking motor 45 of the ball-picking mechanism 4 starts. The ball-picking motor 45 drives the rotating block 46 to rotate through the bevel gear. The rotating block 46 drives the ball-picking rod 48 to rotate. When the two ball-picking rods 48 rotate, they clamp the basketball in the middle. Then, the high-torque servo motor 42 is started. The high-torque servo motor 42 drives the connecting rod 41 to rotate. The connecting rod 41 drives the rotating block 46 and the ball-picking rod 48 to rotate. The ball-picking rod 48 lifts the basketball. After reaching the fixed position, the basketball rolls along the connecting rod 41 into the ball storage cavity 22 of the ball storage mechanism 2.

[0028] Example 5, as Figure 1 and Figure 6 As shown, the present invention discloses a full-court basketball self-retrieving and launching robot, which includes a launching mechanism 6. The launching mechanism 6 includes two shooting poles 61 that are hinged to the motion chassis 1 at one end near the ball storage mechanism 2. A shooting frame 62 is fixedly connected to the upper end of the shooting poles 61 on the side away from the ball storage mechanism 2. A launching beam 63 is fixedly connected between the upper ends of the two shooting frames 62 by bolts. A hub motor 8 is fixedly installed on the lower end of the launching beam 63. The same launching beam 63 and hub motor 8 are symmetrically arranged at the bottom end of the shooting frame 62. An arc-shaped track 64 is fixedly connected to the lower side of the shooting frame 62 facing the ball storage mechanism 2. The side of the arc-shaped track 64 facing the ball storage mechanism 2 is located directly below the ball storage cavity 22.

[0029] Specifically, when serving, the serving mechanism is aligned with the trainee by the wheel 11. Then, the cam mechanism 3 removes the restriction on the basketball, and the basketball falls from the storage cavity into the arc track 64. Then, the basketball rolls along the arc track 64 towards the launch port. Hub motors 8 are installed above and below the launch port. When the basketball rolls to the position of the hub motor 8, the basketball will be launched by the hub motor 8 with a high initial velocity. When facing basketballs of different sizes, the position of the upper launch beam 63 can be adjusted in advance to accommodate different sizes of basketballs.

[0030] Example 6, as Figure 7As shown, the present invention discloses a full-court basketball self-retrieving and launching robot, comprising an angle adjustment mechanism 7. The angle adjustment mechanism 7 includes an adjustment screw 72 fixedly installed on the upper end face of the motion chassis 1 away from the ball storage mechanism 2. The adjustment screw 72 is threadedly connected to a support plate 73. A support plate bracket 74 is fixedly installed on the upper end face of the motion chassis 1 below the support plate 73, and the support plate 73 and the support plate bracket 74 are slidably connected. A shooting link 71 is hinged to the upper end face of the support plate 73, and the other end of the shooting link 71 is hinged to the bottom end of the shooting link 61 on the side away from the ball storage mechanism 2.

[0031] Specifically, before use, the basketball launch angle is adjusted as needed. During adjustment, the adjustment screw 72 rotates to drive the support plate 73 to move. The movement of the support plate 73 causes one end of the shooting link 71 to move. The movement of one end of the shooting link 71 causes the shooting link 71 to change the angle of the shooting link 61 through the other end. The change in the angle of the shooting link 61 will synchronously cause the angle of the arc track 64 to change, thereby changing the initial angle of the basketball when it is launched from the arc track 64.

[0032] Example 7, as Figure 1 and Figure 4 As shown, the present invention provides a full-court basketball self-retrieving and launching robot, comprising two connecting rods 41 with connecting rods 43 extending through their bottom ends, and limit blocks 431 being fixedly installed at both ends of the connecting rods 43 by bolts.

[0033] Specifically, for different basketball sizes, the limit block 431 can be disengaged from the connecting rod 43 by rotating the bolt of the limit block 431. Then, the two high-torque servo motors 42 can be controlled to slide, thereby adjusting the distance between the two connecting rods 43. The distance between the connecting rods 43 can be adapted to basketballs of different sizes.

[0034] Example 8, as Figure 6 As shown, the present invention provides a full-court basketball self-retrieving and launching robot, comprising a trigger block 471 at the top of a trigger rod 47, a spring 472 connecting the trigger block 471 and a connecting rod 41, and a push plate 473 fixedly connected to the bottom of the trigger rod 47.

[0035] Specifically, during the process of the ball-collecting mechanism 4 lifting the basketball to the set height, the trigger block 471 at the top of the trigger lever 47 will contact the end face of one side of the ball storage mechanism 2, causing the trigger lever 47 to move relative to itself. The relative movement of the trigger lever 47 will cause the push plate 473 at its bottom to move synchronously. The movement of the push plate 473 will push the top plate 482 at one end of the ball-collecting lever 48, causing the ball-collecting lever 48 to rotate around the rotation axis. The rotation of the ball-collecting lever 48 will push the basketball to roll, giving the basketball an initial velocity, ensuring that the basketball can enter the ball storage cavity 22, while reducing the time the basketball rolls.

[0036] Example 9, as Figure 2 As shown, the present invention provides a full-court basketball self-retrieving robot, which includes a distance sensor 44 disposed on the lower end face of the motion chassis 1 near the ball-retrieval mechanism 4, with the distance sensor 44 facing the ball-retrieval mechanism 4.

[0037] Specifically, when picking up the ball, the distance sensor 44 can detect whether the basketball has entered the picking range of the ball picking mechanism 4. Once the basketball has entered the range, the ball picking mechanism 4 will be activated to pick up the basketball.

[0038] Example 10, as Figure 1 As shown, the present invention provides a full-court basketball self-retrieving and launching robot, which includes a front-facing camera 21 fixedly installed below the ball-retrieval mechanism 4, and a rotating camera 51 installed on the upper surface of the camera bracket 5.

[0039] Specifically, when retrieving the ball, the rotating camera 51 first faces the ball-retrieval mechanism 4. By observing the position of the basketball and the hoop when the ball is thrown, the camera 51 locates the landing position of the basketball. Then, the rim is controlled by the rim 11 to face the basketball and move towards it. During the movement, the rotating camera 51 rotates to locate the trainee. After locating the trainee, the rotating camera 51 always faces the trainee. After the ball-retrieval mechanism 4 picks up the basketball, the rim 11 controls the overall orientation to be the same as the rotating camera 51, and then moves towards the trainee. After moving to the set distance, the ball is launched towards the trainee by the launching mechanism.

[0040] Working principle: Before use, the launching angle of the basketball is adjusted and fixed by the angle adjustment mechanism. The launching angle is adjusted according to the set launching distance. After adjustment, the basketball is put into use. After the trainee completes a shot, the rotating camera 51 is first oriented towards the ball-collecting mechanism 4. The rotating camera 51 observes the position of the basketball and the hoop at the time of the shot, and locates the landing point of the basketball. After locating the landing point, the moving chassis 1 is controlled by the wheel 11 to move towards the basketball and then begins to move towards the basketball. During the movement, the rotating camera 51 starts to rotate to find the trainee. After locating the trainee, the camera 51 rotates to always face the trainee. When the ranging sensor 44 detects that the basketball is within the pickup range of the ball pickup mechanism 4, the two ball pickup motors 45 are activated. The ball pickup motors 45 drive the rotating block 46 to rotate, and the rotating block 46 drives the ball pickup rod 48 to rotate. After the ball pickup rod 48 picks up the basketball, the high-torque servo motor 42 is activated. The high-torque servo motor 42 drives the two connecting rods 41 to rotate. When the connecting rods 41 rotate to the point where the trigger block 471 at the upper end of the trigger rod 47 contacts the frame of the ball storage mechanism 2, continuing to rotate the connecting rods 41 will cause the trigger rod 47 to move relative to the frame. The movement of the connecting rod 47 relative to the connecting rod 41 will cause the push plate 473 at its bottom end to push the top plate 482 at one end of the ball-collecting rod 48, thereby causing the ball-collecting rod 48 to rotate around its rotation axis. At this time, the rotation of the ball-collecting rod 48 will provide a thrust to the basketball, giving the basketball a certain initial velocity, thereby ensuring that the basketball can roll towards the ball storage cavity 22, and at the same time shortening the time the basketball moves on the connecting rod 41. During the process of the ball-collecting mechanism 4 lifting the basketball, the cam mechanism 3 works synchronously. The stepper motor 31 drives the cam 32 to rotate. The rotation of the cam 32 will push up the hinged baffle 33, thereby reducing the outlet area of ​​the ball storage cavity 22. To prevent the basketball from falling directly after entering the ball storage chamber 22, after the basketball enters the ball storage chamber 22, the wheel 11 drives the moving chassis 1 to move so that the launching mechanism is aligned with the rotating camera 51. Then the wheel 11 drives the whole assembly to move towards the trainee. After moving to a set distance, the stepper motor 31 of the cam mechanism 3 starts. The stepper motor 31 drives the cam 32 to rotate so that its protrusion no longer pushes up the hinge baffle 33. Then the basketball falls into one side of the arc-shaped slide 64. Under the guidance of the arc-shaped slide 64, the basketball rolls towards the launching port. After being accelerated by the hub motor 8, the basketball is launched towards the trainee.

[0041] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A full-court basketball self-retrieving and launching robot, characterized in that, The device includes a sports chassis (1), a ball storage mechanism (2) is fixedly installed on one side of the upper surface of the sports chassis (1), a ball serving mechanism (6) is provided on the other side of the upper surface of the sports chassis (1) away from the ball storage mechanism (2), a cam mechanism (3) is fixedly connected to the side of the ball storage mechanism (2) away from the ball serving mechanism (6), a ball picking mechanism (4) is provided below the cam mechanism (3), the ball picking mechanism (4) is slidably installed on one side of the ball storage mechanism (2), a camera bracket (5) is fixedly connected to the upper end of the side of the ball storage mechanism (2) close to the ball serving mechanism (6), and an angle adjustment mechanism (7) is hinged to the lower end of the side of the ball serving mechanism (6) away from the ball storage mechanism (2).

2. The all-court basketball self-retrieving and launching robot according to claim 1, characterized in that, It includes a ball storage mechanism (2), which is a square aluminum alloy frame made of multiple aluminum profiles and a ball storage cavity (22) made of aluminum profiles is provided above the ball storage mechanism (2). The frame surface of the ball storage cavity (22) is covered with ACF artificial cartilage material.

3. The all-court basketball self-retrieving robot according to claim 2, characterized in that, The cam mechanism (3) includes a stepper motor (31) fixedly connected to one side of the ball storage mechanism (2) frame. The output shaft of the stepper motor (31) is fitted with a cam (32). The ball storage mechanism (2) is fixedly connected to a hinge plate (331) on the side near the cam (32). The other end of the hinge plate (331) is hinged to a hinge baffle (33).

4. The all-court basketball self-retrieving and launching robot according to claim 1, characterized in that, The ball-collecting mechanism (4) includes two high-torque servo motors (42) that are slidably mounted on one side of the frame of the ball storage mechanism (2). The output ends of the two high-torque servo motors (42) are fixedly connected to a connecting rod (41). A trigger rod (47) is slidably connected to the side of the connecting rod (41) facing the high-torque servo motor (42). A rotating block (46) is rotatably mounted on the bottom end of the connecting rod (41). A bevel gear is fixedly connected to the top end of the rotating block (46). A ball-collecting motor (45) is fixedly connected to the bottom end of the connecting rod (41) facing outward. A bevel gear is fixedly connected to the output end of the ball-collecting motor (45). The bevel gear fixedly connected to the rotating block (46) meshes with the bevel gear fixedly connected to the ball-collecting motor (45). A ball-collecting rod (48) is rotatably connected to the bottom end of the rotating block (46).

5. The all-court basketball self-retrieving and launching robot according to claim 2, characterized in that, The ball-launching mechanism (6) includes two shooting poles (61) hinged to the motion chassis (1) at one end near the ball storage mechanism (2). Each shooting pole (61) has a shooting frame (62) fixedly connected to its upper end face away from the ball storage mechanism (2). The upper ends of the two shooting frames (62) are fixedly connected to a launching beam (63) by bolts. A hub motor (8) is fixedly installed on the lower end face of the launching beam (63). The same launching beam (63) and hub motor (8) are symmetrically arranged at the bottom end of the shooting frame (62). An arc-shaped track (64) is fixedly connected to the lower side of the shooting frame (62) facing the ball storage mechanism (2). The side of the arc-shaped track (64) facing the ball storage mechanism (2) is located below the ball storage cavity (22).

6. The all-court basketball self-retrieving and launching robot according to claim 5, characterized in that, The angle adjustment mechanism (7) includes an adjusting screw (72) fixedly installed on one side of the upper end face of the motion chassis (1). The adjusting screw (72) is threadedly connected to a support plate (73). A support plate bracket (74) is fixedly installed on the upper end face of the motion chassis (1) below the support plate (73), and the support plate (73) and the support plate bracket (74) are slidably connected. A shooting link (71) is hinged to the upper end face of the support plate (73), and the other end of the shooting link (71) is hinged to the bottom end of the shooting link (61) away from the ball storage mechanism (2).

7. A full-court basketball self-retrieving robot according to claim 5, characterized in that, The bottom ends of the two connecting rods (41) are connected to a connecting rod (43), and both ends of the connecting rod (43) are fixedly installed with limit blocks (431) by bolts.

8. A full-court basketball self-retrieving robot according to claim 1, characterized in that, The trigger rod (47) has a trigger block (471) at its top end, and a spring (472) is connected between the trigger block (471) and the connecting rod (41). The trigger rod (47) has a push plate (473) fixedly connected to its bottom end.

9. A full-court basketball self-retrieving robot according to claim 4, characterized in that, A distance sensor (44) is provided on the lower end face of the motion chassis (1) near the ball-collecting mechanism (4), and the distance sensor (44) faces the ball-collecting mechanism (4).

10. A full-court basketball self-retrieving robot according to claim 4, characterized in that, A front-facing camera (21) is fixedly installed below the ball-collecting mechanism (4), and a rotating camera (51) is installed on the upper surface of the camera bracket (5).

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