Portable football training auxiliary pitching machine

Abstract

The invention relates to the technical field of football training equipment, and discloses a portable football training auxiliary pitching machine which comprises a base, a ball feeding assembly is arranged at the top of the base, a fixing seat is fixedly connected to the top of the base, a protection box is fixedly connected to the top of the fixing seat, and a pitching assembly is arranged in the protection box. An obstacle removing assembly is arranged on the outer side of the fixing base, an intercepting assembly is arranged on the outer side of the fixing base, a trajectory simulation launching system is arranged in the football training auxiliary pitching machine and used for simulating a flight trajectory of a football, a height assembly is arranged at the bottom of the base, and a rotating assembly is arranged at the bottom of the base. Through cooperative work of the obstacle removing assembly composed of the brush rolling wheels driven by the first motor and the intercepting assembly composed of the baffles controlled by the electromagnets, a football can be forcibly cleaned before being launched, and the problem that the football is clamped or a launch trajectory deviates due to the fact that dirt is attached to the surface of the football is effectively solved; and the continuity and accuracy of training are ensured.

Description

Technical Field

[0001] This invention relates to the field of football training equipment technology, specifically a portable football training auxiliary ball-serving machine. Background Technology

[0002] As an important piece of equipment in modern football training, the ball-launching machine plays a significant role in improving players' specific skills such as receiving and saving the ball. However, existing football-launching machines still have several shortcomings in practical applications, limiting their training effectiveness and ease of use.

[0003] First, in the preparation stage before training, most existing ball-launching machines require tedious manual deployment. Operators need to manually move the equipment to the designated location and set the launch height and horizontal direction through mechanical adjustments. This process is not only time-consuming and labor-intensive, but also makes it difficult to ensure the consistency of deployment parameters each time, directly affecting the efficiency and standardization of the training process.

[0004] Secondly, in actual outdoor training environments, the surface of the soccer ball inevitably accumulates mud, grass clippings, or moisture. When these contaminated soccer balls enter the launching mechanism, the dirt affects the coefficient of friction between the launching wheel and the ball, causing unpredictable deviations in the ball's trajectory. In severe cases, it can even cause mechanical jamming, interrupting the training process. Existing equipment generally lacks an effective mechanism to address this common problem, thus affecting the stability of the launch and the continuity of training.

[0005] More importantly, in terms of core ball trajectory simulation, traditional ball machines typically employ simple open-loop control or rely on manual speed adjustment based on operator experience, resulting in very limited ability to simulate complex trajectories. They struggle to accurately reproduce the highly spinny curveballs commonly seen in professional matches (such as banana kicks or knuckleballs), and they cannot effectively compensate for the wheel speed when the ball enters the launching wheel and causes a load impact, leading to unstable ball speed and spin rate. This limitation in control methods results in a limited range of training programs, failing to meet the demands of high-level, realistic professional training. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a portable soccer training auxiliary ball-launching machine, which solves the problems of existing soccer training auxiliary ball-launching machines, such as ball jamming due to dirt on the soccer ball surface, reduced launching accuracy, limited ballistic simulation capabilities, and complex deployment and storage processes.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a portable football training auxiliary ball-launching machine, comprising a base, a ball-feeding component on the top of the base, a fixed seat fixedly connected to the top of the base, a protective box fixedly connected to the top of the fixed seat, a ball-launching component inside the protective box, a clearing component outside the fixed seat, an interception component outside the fixed seat, a ball trajectory simulation launching system inside the football training auxiliary ball-launching machine for simulating the flight trajectory of a football, a height component at the bottom of the base, and a rotation component at the bottom of the base.

[0008] The obstacle removal assembly includes two connecting rods 2. A brush roller is fixedly connected to the outer side of the connecting rod 2. A pulley 3 is fixedly connected to the outer side of the connecting rod 2. A belt 2 is arranged between the two pulleys 3. A motor 1 is fixedly connected inside the fixed base. Two springs are fixedly connected to both sides of the fixed base. A mounting box is fixedly connected between the two springs on the same side. Multiple ball bearings are rotatably connected to the outer side of the mounting box.

[0009] Preferably, the serving assembly includes two serving motors, which are fixedly connected inside the protective box. A bevel gear II is fixedly connected to the output end of each serving motor. Two pulleys II are rotatably connected to the top of the protective box. A bevel gear I is fixedly connected to the top of each pulley II, and the bevel gear I and bevel gear II mesh. Two connecting rods I are rotatably connected to the top of the protective box. A pulley I is fixedly connected to the outer side of each connecting rod I. A belt I is provided between pulleys II and I. A sensor is provided on the outer side of each connecting rod I. A launching wheel is fixedly connected to the outer side of each connecting rod I. Mounting slots are provided on both sides of the mounting base, and the connecting rod I is rotatably connected to the outer side of each mounting slot.

[0010] Preferably, the height component includes two fixed plates, with two support plates two and two support plates one rotatably connected between the two fixed plates. A rotating rod one is rotatably connected between the support plates one and two. A rotating rod three is rotatably connected to the outside of the support plate one. A cylinder is fixedly connected to the outside of the rotating rod three. The output end of the cylinder is fixedly connected to the outside of the rotating rod one. A rotating rod two is rotatably connected to the outside of the support plate two. Sliding grooves are provided on both sides of the fixed plates. The rotating rod three is slidably connected to the outside of two of the sliding grooves, and the rotating rod two is slidably connected to the outside of the other two sliding grooves.

[0011] Preferably, the rotating assembly includes a second motor, which is fixedly connected to the bottom of one of the fixed plates. A gear is fixedly connected to the output end of the second motor. A limit plate is rotatably connected to the top of one of the fixed plates. A limit plate is fixedly connected to the top of the second limit plate. The limit plate is rotatably connected inside one of the fixed plates. A support rod is fixedly connected to the top of the limit plate. A gear is fixedly connected to the outside of the support rod. The gear and the gear mesh. The support rod is fixedly connected to the bottom of the base.

[0012] Preferably, the ball delivery assembly includes a column, which is fixedly connected to the top of the base. A ball track is provided on the outside of the column, and the top of the ball track is fixedly connected to the outside of the fixed base. Multiple wheels are fixedly connected to the outside of one of the fixed plates.

[0013] Preferably, the interception assembly includes a fixed rod, a baffle rotatably connected to the outside of the fixed rod, a torsion spring disposed on the outside of the fixed rod, an electromagnet disposed on the outside of the fixed base, and the control panel and the electromagnet electrically connected; a second connecting rod is rotatably connected to the outside of the fixed base, an output end of a motor is fixedly connected to the outside of one of the second connecting rods, the fixed rod is fixedly connected to the outside of the fixed base, one end of the torsion spring is fixedly connected to the top of the baffle, and the other end of the torsion spring is fixedly connected to the outside of the fixed base.

[0014] Preferably, the ballistic simulation launch system includes: a control module, which receives real-time rotational speed data of the launch wheels from the sensor and sends independent control commands to the ball-launching motor; a data processing module, which operates within the control module and calculates the target rotational speeds of the two launch wheels using a reverse solver based on preset or user-input ballistic parameters, compares the target rotational speeds with the real-time rotational speed data based on a proportional-integral-derivative control algorithm, and generates a control signal for correcting the rotational speed of the ball-launching motor; and a control panel, which receives user-input ballistic parameters and sends them to the data processing module.

[0015] Preferably, the control panel provides an expert mode and a professional custom mode operation interface.

[0016] Preferably, the proportional-integral-derivative (PI-DE) control algorithm is used to enable the control module to perform dynamic power compensation based on the real-time speed data when the launching wheel experiences speed fluctuations due to the impact of a soccer ball load, thereby maintaining the stability of the launching wheel's speed. The control output of the PI-DE control algorithm in the discrete-time domain is determined by the following formula: ; in, Indicates the current discrete time. The calculated control output is used to adjust the power applied to the ball-serving motor; This is a proportional term used to respond to the current speed error; This represents the scaling factor, which is a preset constant gain. Represents the current discrete time. The rotational speed error is the difference between the target rotational speed and the real-time rotational speed fed back by the sensor. This is the integral term, used to eliminate the steady-state error of the system; This represents the integral coefficient, which is a preset constant gain; Indicates from the initial time up to the current discrete time The cumulative sum of rotational speed errors; This is a differential term used to predict error trends and suppress system oscillations; The differential coefficient is a preset constant gain; Represents the previous discrete time. The rotational speed error; This indicates the rate of change of the rotational speed error; The time interval representing the control cycle, i.e. the sampling period, is a fixed time constant.

[0017] Preferably, the independent control commands sent by the control module are used to cause the two ball-launching motors to operate at different speeds, creating a speed difference that applies spin to the football, generating an arcing trajectory through the Magnus effect. The Magnus force acting on the spinning football is described by the following formula: ; in, This represents the Magnus force vector acting on the soccer ball. The direction of this vector is perpendicular to both the translational velocity vector and the angular velocity vector of the soccer ball, and its effect is to deflect the soccer ball's flight trajectory. The aerodynamic coefficient is a scalar whose value depends on the air density, the cross-sectional area of ​​the soccer ball, and the lift coefficient. This represents the angular velocity vector of the soccer ball's spin caused by the difference in rotational speed between the two launching wheels. The direction of this vector is the direction of the soccer ball's axis of rotation, and its magnitude is proportional to the difference in rotational speed. This represents the translational velocity vector of the football after it is launched. This vector characterizes the speed and direction of the football's center of motion in the air. This represents the vector cross product operator.

[0018] Preferably, the inverse solver is used to solve the nonlinear ballistic parameters input by the user into specific target rotational speeds of the two launch wheels, where there is a speed difference. The nonlinear ballistic parameters include at least one of the highest flight point, the point of impact, and the maximum curvature. The inverse solver performs calculations based on the following fundamental ballistic physics model: ; ; in, Indicates the football's flight time The subsequent horizontal displacement; Indicates the football's flight time The subsequent vertical displacement; The initial linear velocity of the soccer ball after it is subjected to the action of the launching wheel is represented by a scalar. This represents the angle at which the football is launched, that is, the angle between the initial velocity vector and the horizontal direction; This represents gravitational acceleration, which is a physical constant. This indicates that, without considering air resistance, the football's flight time... The horizontal displacement generated within; This indicates that, without considering gravity, the time it takes for the soccer ball to travel along its initial vertical velocity direction during flight... The vertical displacement generated within; This represents the time it takes for an object to travel in flight under the influence of gravity. Vertical displacement during free fall. In the entire formula, this term represents the reduction in the vertical position of the soccer ball due to gravity compared to a weightless state.

[0019] The inverse solver, by combining the above model with the Magnus force model, calculates the initial velocity required by the launch system based on user-defined parameters such as the target landing point. and initial angular velocity This is ultimately converted into the specific target rotational speed of the two launch wheels.

[0020] This invention provides a portable soccer training auxiliary ball-launching machine. It has the following beneficial effects: 1. This invention, by setting up a clearing component consisting of a brush roller driven by a motor and an interception component consisting of a baffle controlled by an electromagnet to work together, can forcibly clean the soccer ball before it is launched, effectively avoiding problems such as the ball getting stuck or the launch trajectory deviating due to dirt adhering to the surface of the soccer ball, thus ensuring the continuity and accuracy of training.

[0021] 2. This invention sets up a ballistic simulation launch system, which uses its built-in inverse solver to convert the nonlinear ballistic parameters input by the user into the precise target rotation speed of the two launch wheels. It also uses a proportional-integral-derivative control algorithm based on real-time feedback from sensors for closed-loop control, thereby achieving high-precision simulation and reproduction of any complex curved ball trajectory. This enriches the training subjects and enhances the professionalism and practical value of the training.

[0022] 3. By setting up a height component driven by a cylinder and a rotation component driven by a motor, the present invention achieves full automation of the ball-launching machine deployment process, improves the ease of use of the equipment and reduces the time required for manual deployment. Attached Figure Description

[0023] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the launching wheel of the present invention; Figure 3 This is a cross-sectional schematic diagram of the protective box of the present invention; Figure 4 This is a schematic diagram of the connecting rod of the present invention; Figure 5 for Figure 3 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram of the baffle of the present invention; Figure 7 This is a schematic diagram of the base of the present invention; Figure 8 for Figure 7 Enlarged view of point B in the middle; Figure 9 This is a schematic diagram of the brush roller of the present invention; Figure 10 This is a schematic diagram of the gear of the present invention; Figure 11 This is a schematic diagram of the rotating rod of the present invention; Figure 12 This is a block diagram of the hardware structure and information flow of a ballistic simulation launch system according to an embodiment of the present invention.

[0024] The components include: 1. Base; 2. Column; 3. Ballway; 4. Protective box; 5. Fixing base; 6. Launching wheel; 7. Connecting rod one; 8. Pulley one; 9. Sensor; 10. Belt one; 11. Pulley two; 12. Bevel gear one; 13. Bevel gear two; 14. Launching motor; 15. Mounting box; 16. Ball bearing; 17. Spring; 18. Electromagnet; 19. Torsion spring; 20. Fixing rod; 21. Baffle; 22. Brush roller; 23. Connecting rod two; 24. Leather... 25. Belt 2; 26. Walking wheel; 27. Motor 1; 28. Mounting slot; 29. ​​Fixing plate; 30. Motor 2; 31. Gear 1; 32. Gear 2; 33. Support rod; 34. Limiting plate 1; 35. Limiting plate 2; 36. Support plate 1; 37. Support plate 2; 38. Rotating rod 1; 39. Rotating rod 2; 40. Rotating rod 3; 41. Cylinder; 42. Control panel; 43. Slide groove; 44. Control module; 45. Data processing module. Detailed Implementation

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Reference Appendix Figure 1 - Appendix Figure 12 This invention provides a portable football training auxiliary ball-launching machine, including a base 1, a ball-feeding component on the top of the base 1, a fixed seat 5 fixedly connected to the top of the base 1, a protective box 4 fixedly connected to the top of the fixed seat 5, a ball-launching component inside the protective box 4, a clearing component and an interception component on the outside of the fixed seat 5, a ball trajectory simulation launching system inside the football training auxiliary ball-launching machine for simulating the flight trajectory of a football, a height component and a rotation component at the bottom of the base 1; the clearing component includes two connecting rods 23, a brush roller 22 fixedly connected to the outside of the connecting rods 23, a pulley 24 fixedly connected to the outside of the connecting rods 23, a belt 25 between the two pulleys 24, a motor 27 fixedly connected inside the fixed seat 5, two springs 17 fixedly connected to both sides of the fixed seat 5, a mounting box 15 fixedly connected between the two springs 17 on the same side, and multiple ball bearings 16 rotatably connected to the outside of the mounting box 15.

[0027] Specifically, the base 1 serves as the core load-bearing structure of the equipment, providing a stable installation foundation for multiple upper-level components and ensuring that each component maintains a fixed relative position during operation. The ball delivery component is used to achieve automatic and precise transmission of the soccer ball, reducing manual intervention. The fixed base 5 provides an installation carrier for the obstacle clearing component and the interception component, enabling the orderly integration of various functional components. The protective box 4 encloses the core components of the ball delivery component, effectively isolating them from external dust, rainwater, debris, etc., preventing components from rusting or jamming, and extending the service life of the ball delivery component.

[0028] The ball-launching assembly efficiently transmits power to drive the launch wheel 6 to rotate. The rotation speed can be independently adjusted to simulate an arc trajectory, while protecting core components and ensuring stable operation. The obstacle-clearing assembly cleans debris from the surface of the ball to prevent it from affecting the trajectory and causing wear on components. It also flexibly centers and guides the ball to ensure it accurately enters the launch wheel 6. The interception assembly automatically controls the interception and release of the ball, ensuring that the ball completes the cleaning action. The ballistic simulation launch system supports personalized ballistic settings to meet different training needs. The height assembly can flexibly adjust the height of the equipment to suit the needs of different trainees, and the wheels enhance the portability of the equipment, adapting to different training positions. The rotation assembly precisely adjusts the launch direction to enrich the training scenarios.

[0029] Connecting rod 23 connects brush roller 22 and pulley 3 24, transmitting power from pulley 3 24 to brush roller 22, causing brush roller 22 to rotate. When brush roller 22 rotates at high speed, it can clean the surface of the soccer ball, removing dirt, grass clippings and other debris, preventing debris from affecting the surface roughness of the soccer ball, ensuring the stability of the ball's trajectory, and reducing wear on the launching wheel 6. 24 works with belt 2 to transmit power from motor 1 to connecting rod 23. 25 connects two pulleys 3, realizing the transmission of power from one connecting rod 23 to the other. 27 provides rotational power for brush roller 22, serving as the power source for the obstacle clearing component.

[0030] Spring 17 provides elastic support for mounting box 15. When the football hits mounting box 15 or ball bearing 16, spring 17 can buffer the impact force to prevent the football from bouncing or deviating due to the impact. At the same time, mounting box 15 can make slight adaptive adjustments according to the size of the football to improve the centering effect. Mounting box 15 provides installation space for ball bearing 16 and forms a flexible guide structure with spring 17. By limiting the movement range of ball bearing 16 through its own structure, it ensures that ball bearing 16 can stably center and guide the football, preventing ball bearing 16 from falling off or deviating and affecting the football delivery. When the football passes through mounting box 15, ball bearing 16 contacts the surface of the football, allowing the football to fall smoothly. At the same time, multiple ball bearings 16 can work together to adaptively center the football, ensuring that the football enters the area of ​​launching wheel 6 along the central path.

[0031] Reference Appendix Figure 4 and attached Figure 5The ball-serving assembly includes two ball-serving motors 14, which are fixedly connected inside the protective box 4. A bevel gear 13 is fixedly connected to the output end of the ball-serving motor 14. Two pulleys 11 are rotatably connected to the top of the protective box 4. A bevel gear 12 is fixedly connected to the top of the pulleys 11. The bevel gear 12 and the bevel gear 13 mesh. Two connecting rods 7 are rotatably connected to the top of the protective box 4. A pulley 8 is fixedly connected to the outside of the connecting rods 7. A belt 10 is provided between the pulleys 11 and 8. A sensor 9 is provided on the outside of the connecting rods 7. A launching wheel 6 is fixedly connected to the outside of the connecting rods 7. Mounting slots 28 are provided on both sides of the mounting base 5. The connecting rods 7 are rotatably connected to the outside of the mounting slots 28.

[0032] Specifically, the ball-serving motor 14 provides rotational power to the serving wheel 6 and is the power source for the ball-serving assembly. The ball-serving motor 14 operates stably through the protective housing 4. Bevel gear 13 is connected to the output end of the ball-serving motor 14, transmitting the motor power to bevel gear 12. Pulley 11 connects bevel gear 12 and belt 10, receiving the power transmitted by bevel gear 12 and transmitting it to pulley 8 via belt 10. Bevel gear 12 meshes with bevel gear 13, achieving a vertical reversal of the power transmission direction. 2. Motion is achieved through bevel gear 13. Connecting rod 7 ensures that the launching wheel 6 can rotate synchronously with it. Pulley 8 and belt 10 cooperate to transmit power from pulley 11 to connecting rod 7. Belt 10 connects pulley 8 and pulley 11, stably transmitting power from pulley 11 to pulley 8. Sensor 9 monitors the rotational speed data of launching wheel 6 in real time and feeds the data back to control module 44 to provide a basis for subsequent speed correction and ensure that the rotational speed of launching wheel 6 always meets the target value.

[0033] The high-speed rotation of the launching wheel 6 applies driving force to the football, thus launching the football. The two launching wheels 6 can generate a speed difference through different speeds, applying rotational force to the football, thereby simulating an arc flight trajectory to meet diverse training needs. 28 provides rotational installation space for the connecting rod 7, restricting the radial displacement of the connecting rod 7, so that the connecting rod 7 can rotate stably around the mounting groove, avoiding shaking or deviation of the connecting rod 7 during rotation, ensuring stable operation of the launching wheel 6, and improving the accuracy of the ball launch.

[0034] Reference Appendix Figure 10 and attached Figure 11The height component includes two fixed plates 29, with two support plates 37 and two support plates 36 rotatably connected between the two fixed plates 29. A rotating rod 38 is rotatably connected between the support plates 36 and the support plates 37. A rotating rod 40 is rotatably connected to the outside of the support plates 36. A cylinder 41 is fixedly connected to the outside of the rotating rod 40. The output end of the cylinder 41 is fixedly connected to the outside of the rotating rod 38. A rotating rod 39 is rotatably connected to the outside of the support plates 37. Slide grooves 43 are provided on both sides of the fixed plates 29. The rotating rod 340 is slidably connected to the outside of two of the slide grooves 43, and the rotating rod 39 is slidably connected to the outside of the other two slide grooves 43.

[0035] Specifically, the fixed plate 29 serves as the mounting base for the height and rotation components, providing a stable mounting carrier for each part. Support plate 36, support plate 37, and rotating rod 38 cooperate to form a scissor-like linkage structure, providing stable support for the lifting and lowering of the upper structure of the equipment. Rotating rod 38 connects support plate 36 and support plate 37, serving as the rotation axis of the scissor-like linkage structure, allowing support plate 36 and support plate 37 to rotate flexibly around it. Rotating rod 40 receives the thrust from the cylinder to drive support plate 36 to rotate, and also moves along the slide groove... 43 slides to provide motion guidance for support plate 36, enabling precise lifting and lowering of the equipment. 41 serves as the power source for the height component, pushing the rotating rod 38 to move via extension and retraction, thereby driving the scissor linkage structure to extend and retract, achieving equipment height adjustment. Rotating rod 39 connects support plate 37 and slide groove 43, sliding along slide groove 43 during equipment lifting and lowering. Slide groove 43 provides a sliding track for rotating rod 39 and rotating rod 40, limiting their direction of movement and ensuring that rotating rod 39 and rotating rod 40 slide along a fixed trajectory during equipment lifting and lowering.

[0036] Reference Appendix Figure 10 and attached Figure 11 The rotating assembly includes a second motor 30, which is fixedly connected to the bottom of one of the fixed plates 29. A gear 31 is fixedly connected to the output end of the second motor 30. A limit plate 35 is rotatably connected to the top of one of the fixed plates 29. A limit plate 34 is fixedly connected to the top of the limit plate 35. The limit plate 34 is rotatably connected inside one of the fixed plates 29. A support rod 33 is fixedly connected to the top of the limit plate 34. A gear 32 is fixedly connected to the outside of the support rod 33. The gear 32 meshes with the gear 31. The support rod 33 is fixedly connected to the bottom of the base 1.

[0037] Specifically, motor 2 30 provides power to the rotating component. Motor 2 30 achieves stable operation through fixed plate 29. Gear 1 31 is connected to the output end of motor 2 30, transmitting the power of motor 2 30 to gear 2 32. Limiting plate 1 34 and limiting plate 2 35 cooperate to limit the axial displacement of support rod 33, preventing support rod 33 from moving up and down during rotation, ensuring that support rod 33 can stably drive base 1 to rotate. Support rod 33 transmits the rotational power of gear 2 32 to base 1, driving base 1 to rotate and realizing the angle adjustment of base 1. Gear 2 32 receives the power transmitted by gear 1 31 and drives support rod 33 to rotate, thereby realizing the rotation of base 1. Gear 2 32 achieves movement through gear 1 31.

[0038] Reference Appendix Figure 1 Appendix Figure 2 Appendix Figure 6 and attached Figure 10 The ball delivery assembly includes a column 2, which is fixedly connected to the top of the base 1. A ball track 3 is provided on the outside of the column 2. The top of the ball track 3 is fixedly connected to the outside of the fixed seat 5. Multiple traveling wheels 26 are fixedly connected to the outside of one of the fixed plates 29.

[0039] Specifically, the column 2 provides stable support for the ball track 3 through the base 1, enabling the ball track 3 to stably receive the football and guide it to fall accurately to the launching area. The ball track 3 is used to construct a football transport channel, realizing the orderly transfer of the football from the storage position to the launching wheel 6. There is no need for manual repeated placement of the football, reducing human intervention and improving the continuity of training. The end of the ball track 3 is directly connected to the fixed seat 5 to avoid external interference to the football during the transmission process. 26 enables the equipment to be mobile, and the operator can easily push the equipment to move within the training field without the need for external carrying tools, improving the portability of the equipment and meeting the usage needs of different training positions.

[0040] Reference Appendix Figure 6 - Appendix Figure 9 The interception assembly includes a fixed rod 20, a baffle 21 rotatably connected to the outside of the fixed rod 20, a torsion spring 19 disposed on the outside of the fixed rod 20, an electromagnet 18 disposed on the outside of the fixed seat 5, and a control panel 42 electrically connected to the electromagnet 18; a second connecting rod 23 rotatably connected to the outside of the fixed seat 5, a motor 27 output end fixedly connected to the outside of one of the second connecting rods 23, a fixed rod 20 fixedly connected to the outside of the fixed seat 5, one end of the torsion spring 19 fixedly connected to the top of the baffle 21, and the other end of the torsion spring 19 fixedly connected to the outside of the fixed seat 5.

[0041] Specifically, the fixing rod 20 provides mounting support for the baffle 21 and the torsion spring 19. In the default state, the baffle 21 intercepts the football, keeping it in the waiting area. The football is released after the obstacle is cleared and the launch preparation is completed, preventing the football from entering the launch wheel 6 in advance and causing launch failure. At the same time, it achieves continuous interception through rapid reset, ensuring that multiple footballs are launched in an orderly manner. The torsion spring 19 provides reset power to the baffle 21 after the electromagnet 18 is de-energized, so that the baffle 21 can quickly return to the interception position, ensuring that the next football can be intercepted in time. The electromagnet 18 is electrically connected to the control panel 42 and receives instructions from the control panel 42. When energized, it generates magnetic force to push the baffle 21 to open. When de-energized, the magnetic force disappears, and the baffle 21 is reset under the action of the torsion spring 19, realizing the automatic control of the baffle 21.

[0042] The fixed base 5 provides stable support for the connecting rod 23 and ensures that it can rotate flexibly to achieve the cleaning function. The motor 27 drives the connecting rod 23 to move, thereby realizing the efficient rotation of the brush roller 22. The fixed rod 20 provides a stable mounting base for the baffle 21 and the torsion spring 19, ensuring that the rotation trajectory of the baffle 21 is fixed. The two ends of the torsion spring 19 are connected to the baffle 21 and the fixed base 5 respectively, which can reliably provide a reset spring force, so that the baffle 21 can quickly and accurately reset after the electromagnet 18 is de-energized, ensuring the continuous and stable operation of the interception component.

[0043] Reference Appendix Figure 12 , Figure 12 This is a block diagram illustrating the hardware structure and information flow of a ballistic simulation launch system according to an embodiment of the present invention. The present invention provides a ballistic simulation launch system for a football training auxiliary ball-launching machine, which is installed inside the ball-launching machine and used to control the automated deployment and precise launch of the entire machine.

[0044] The ballistic simulation launch system includes a control module 44 and a data processing module 45 that operates within the control module 44. The control module 44 is a central processing unit, such as a microcontroller (MCU) or an embedded system core board, which is electrically connected and communicates data with other components through multiple input / output interfaces.

[0045] The control panel 42 serves as a user interface, featuring a display screen and physical or touch buttons. Users input ballistic parameters or select preset modes via the control panel 42, which then transmits these commands and data parameters to the data processing module 45 via serial communication or a bus, serving as the initial input for system calculations.

[0046] Two sensors 9 are fixedly installed to monitor the real-time rotational speed of the two transmitting wheels 6. Each sensor 9 continuously sends its measured real-time rotational speed data as a digital signal to the designated input interface of the control module 44, forming a closed-loop feedback path and providing a real-time data basis for subsequent precise control.

[0047] Based on the calculation results of the data processing module 45 and the feedback data of the sensor 9, the control module 44 generates and outputs independent control commands to each execution component.

[0048] For the two ball-serving motors 14, the control module 44 outputs two independent pulse width modulation (PWM) signals to control the two motor drivers respectively, so as to precisely adjust the speed and torque of the two ball-serving motors 14. This is the core execution link to realize the simulation of different ball trajectories.

[0049] For the first motor 27 in the obstacle clearing component, the second motor 30 in the rotation component, the cylinder 41 in the height component, and the electromagnet 18 in the interception component, the control module 44 outputs high and low level signals through its general purpose input / output (GPIO) port, and controls the start / stop, rotation direction, extension / retraction, or on / off state of these components respectively via relays or power drive circuits, thereby completing the automated deployment of the whole machine and the orderly processing flow of the football.

[0050] During the operation of the ballistic simulation launch system, its core functions are implemented by specific algorithms running in the data processing module 45 and the control module 44. The specific working principle is as follows.

[0051] First, the data processing module 45 performs a reverse calculation task. When the user inputs a set of specific ballistic target parameters through the control panel 42, such as the desired coordinates of the soccer ball's landing point, the reverse calculator within the data processing module 45 is activated. The core task of the reverse calculator is to reverse-engineer the initial launch conditions, i.e., the initial linear velocity, based on the given endpoint coordinates. and initial angular velocity .

[0052] The solution process is based on a ballistic physics model coupled with the Magnus effect. The ballistic physics model is fundamentally a model of ideal projectile motion considering gravity, described by the following set of equations: ; ; in, Indicates the football's flight time The subsequent horizontal displacement; Indicates the football's flight time The subsequent vertical displacement; The initial linear velocity of the soccer ball after it is launched by wheel 6 is represented by a scalar. This represents the angle at which the football is launched, that is, the angle between the initial velocity vector and the horizontal direction; This represents gravitational acceleration, which is a physical constant. This indicates that, without considering air resistance, the football's flight time... The horizontal displacement generated within; This indicates that, without considering gravity, the time it takes for the soccer ball to travel along its initial vertical velocity direction during flight... The vertical displacement generated within; This represents the time it takes for an object to travel in flight under the influence of gravity. Vertical displacement during free fall. In the entire formula, this term represents the reduction in the vertical position of the soccer ball due to gravity compared to a weightless state.

[0053] To achieve a curved ball trajectory and accurately hit the target, the solver must incorporate the Magnus force into the calculation. The Magnus force is described by the following formula: ; in, This represents the Magnus force vector acting on the soccer ball. The direction of this vector is perpendicular to both the translational velocity vector and the angular velocity vector of the soccer ball, and its effect is to deflect the soccer ball's flight trajectory. The aerodynamic coefficient is a scalar whose value depends on the air density, the cross-sectional area of ​​the soccer ball, and the lift coefficient. This represents the angular velocity vector of the soccer ball's spin caused by the difference in rotational speed between the two launching wheels 6. The direction of this vector is the direction of the soccer ball's rotation axis, and its magnitude is proportional to the difference in rotational speed. This represents the translational velocity vector of the football after it is launched. This vector characterizes the speed and direction of the football's center of motion in the air. This represents the vector cross product operator.

[0054] The inverse solver uses the user-input target impact coordinates as the endpoint constraint of the ballistic trajectory. Since the equations of motion involving Magnus forces are nonlinear, there is no direct analytical solution. Therefore, the solver employs a numerical iterative method. This method involves setting an initial... The estimated value is obtained by integrating the resultant force, including gravity and Magnus force, to calculate the entire flight trajectory and arrive at a calculated landing point. Then, the difference between the calculated landing point and the target landing point is compared, and adjustments are made based on this difference. The value is calculated, and this process is repeated until the distance between the calculated landing point and the target landing point is less than a preset error threshold. Upon successful solution, the solver outputs a unique set of values. Solution. Subsequently, the data processing module 45 converts these two physical quantities into the target rotational speeds of the two launching wheels 6, where the average rotational speed of the two launching wheels 6 determines the target rotational speed. The speed difference between the two determines .

[0055] After obtaining the target rotational speeds of the two launching wheels 6, the control module 44 begins executing closed-loop control to ensure that the actual rotational speed is accurately stabilized at the target value. The control module 44 independently runs a proportional-integral-derivative (PID) control algorithm for each launching motor 14. In each control cycle... Inside, the control module 44 first reads the real-time rotational speed of the launching wheel 6 from the corresponding sensor 9, and then calculates the rotational speed error between the real-time rotational speed and the target rotational speed given by the data processing module 45. The output control quantity of the closed-loop control algorithm is determined by the following discrete-time domain formula: ; in, Indicates the current discrete time. The calculated control output is used to adjust the power applied to the ball-serving motor 14; This is a proportional term used to respond to the current speed error; This represents the scaling factor, which is a preset constant gain. Represents the current discrete time. The rotational speed error is the difference between the target rotational speed and the real-time rotational speed fed back by sensor 9. This is the integral term, used to eliminate the steady-state error of the system; This represents the integral coefficient, which is a preset constant gain; Indicates from the initial time up to the current discrete time The cumulative sum of rotational speed errors; This is a differential term used to predict error trends and suppress system oscillations; The differential coefficient is a preset constant gain; Represents the previous discrete time. The rotational speed error; This indicates the rate of change of the rotational speed error; The time interval representing the control cycle, i.e. the sampling period, is a fixed time constant.

[0056] The control module 44 will calculate the control output quantity This is converted into control signals for the driver of the ball-launching motor 14 (e.g., updating the PWM duty cycle), thereby dynamically adjusting the motor's output power. This process continues, and even when the ball contacts the launching wheel 6 and causes a load impact, the closed-loop control system can instantly compensate for the drop in rotational speed, ensuring that the linear velocity and angular velocity of the ball precisely match the target values ​​calculated by the inverse solver at the instant it leaves the launching wheel 6.

[0057] Working principle: In the initial storage state, the operator initiates the one-click deployment program via control panel 42. First, the height component starts working, cylinder 41 extends, pushing the rotating rod 38 and the scissor-type linkage structure composed of support plate 36 and support plate 37 to unfold. During this process, rotating rod 39 and rotating rod 40 slide in the slide groove 43 respectively, ensuring that the entire upper structure is smoothly and vertically raised to the preset training height. At the same time, the rotation component starts, motor 30 drives gear 31 to rotate, gear 31 then drives gear 32 to rotate, gear 32 drives support rod 33 to rotate, and support rod 33 then drives base 1 to rotate until the specified launch angle is reached, completing the fully automatic deployment of the entire machine.

[0058] After deployment, the soccer ball rolls into the track 3. First, the soccer ball passes through a flexible guide unit consisting of a mounting box 15 supported by multiple springs 17 and multiple ball bearings 16. The ball bearings 16 adaptively center the soccer ball, ensuring that it falls along the central path. Next, the soccer ball is reliably intercepted in the waiting area by the baffle 21, which is in a default closed state. When the control panel 42 issues a launch command, the ballistic simulation launch system first starts the motor 27, which drives the brush rollers 22 on the two connecting rods 23 to rotate at high speed via the belt 25, forming a cleaning zone. The dirt and grass clippings on the surface of the soccer ball are forcibly removed, achieving the purpose of cleaning the soccer ball. Immediately afterwards, the electromagnet 18 is instantly energized, pushing the baffle 21 to open. The soccer ball falls under the action of gravity and falls precisely between the two launch wheels 6, ready to be launched. When the electromagnet 18 is de-energized, the baffle 21 immediately resets under the action of the torsion spring 19, ready to intercept the next soccer ball.

[0059] The operator selects the preset expert mode or inputs the desired ballistic parameters, such as the highest flight point, landing point, and maximum curvature, through the control panel 42. These parameters are sent to the data processing module 45. The reverse solver in the data processing module 45 immediately calculates the parameters into the specific target rotational speeds that the two launching wheels 6 need to achieve. In order to generate an arc ball, there will be a precise difference in rotational speed between the two calculated target rotational speeds. Subsequently, the control module 44 sends independent control commands to the two ball launching motors 14. The ball launching motors 14 are connected by bevel gear 13, bevel gear 12, pulley 11, and belt 10. The transmission chain consisting of pulley 8 drives the launching wheel 6 on the connecting rod 7 to rotate at high speed. During the rotation, sensor 9 monitors the actual rotation speed of the launching wheel 6 in real time and continuously feeds the data back to the control module 44. The proportional-integral-derivative control algorithm in the control module 44 compares the actual rotation speed with the target rotation speed. Once the rotation speed drops due to the load impact caused by the ball entering the air, the system will immediately perform dynamic power compensation and instruct the launching motor 14 to increase the output torque to ensure that the rotation speed of both launching wheels 6 is accurately and stably maintained at the target value at the moment of launch, thereby launching the ball at high speed with a preset trajectory.

Claims

1. A portable soccer training auxiliary ball-serving machine, characterized in that, include: The base (1) is provided with a ball feeding assembly on the top of the base (1), a fixed seat (5) is fixedly connected to the top of the base (1), a protective box (4) is fixedly connected to the top of the fixed seat (5), a ball launching assembly is provided inside the protective box (4), a clearing assembly is provided outside the fixed seat (5), an interception assembly is provided outside the fixed seat (5), a ball training auxiliary ball launching machine is provided inside the ball trajectory simulation launching system for simulating the flight trajectory of the ball, a height assembly is provided at the bottom of the base (1), and a rotation assembly is provided at the bottom of the base (1). The obstacle clearing assembly includes two connecting rods (23), a brush roller (22) is fixedly connected to the outside of the connecting rod (23), a pulley (24) is fixedly connected to the outside of the connecting rod (23), a belt (25) is provided between the two pulleys (24), a motor (27) is fixedly connected inside the fixed seat (5), two springs (17) are fixedly connected to both sides of the fixed seat (5), a mounting box (15) is fixedly connected between the two springs (17) on the same side, and a plurality of ball bearings (16) are rotatably connected to the outside of the mounting box (15).

2. The portable soccer training auxiliary ball-serving machine according to claim 1, characterized in that, The ball-serving assembly includes two ball-serving motors (14), which are fixedly connected inside the protective box (4). The output end of the ball-serving motor (14) is fixedly connected to a bevel gear (13). The top of the protective box (4) is rotatably connected to two pulleys (11), and the top of the pulleys (11) is fixedly connected to a bevel gear (12). The bevel gear (12) and the bevel gear (13) mesh. The top of the protective box (4) is rotatably connected to two connecting rods (7), and the outside of the connecting rods (7) is fixedly connected to a pulley (8). A belt (10) is provided between the pulleys (11) and the pulleys (8). A sensor (9) is provided on the outside of the connecting rods (7), and a launching wheel (6) is fixedly connected on the outside of the connecting rods (7). The mounting slots (28) are provided on both sides of the mounting base (5), and the connecting rods (7) are rotatably connected to the outside of the mounting slots (28).

3. The portable soccer training auxiliary ball-serving machine according to claim 2, characterized in that, The ballistic simulation launch system includes: The control module (44) is used to receive the real-time rotational speed data of the launching wheel (6) fed back by the sensor (9) and send independent control commands to the ball launching motor (14); The data processing module (45) operates within the control module (44) and is used to calculate the target rotation speed of the two launching wheels (6) according to the preset or user-input ballistic parameters through the reverse solver, and compare the target rotation speed with the real-time rotation speed data based on the proportional-integral-derivative control algorithm to generate a control signal for correcting the rotation speed of the ball launching motor (14). Control panel (42), which is used to receive ballistic parameters input by the user and send them to the data processing module (45).

4. The portable soccer training auxiliary ball-serving machine according to claim 1, characterized in that, The height assembly includes two fixed plates (29), with two support plates two (37) and two support plates one (36) rotatably connected between the two fixed plates (29). A rotating rod one (38) is rotatably connected between the support plates one (36) and the support plates two (37). A rotating rod three (40) is rotatably connected to the outside of the support plates one (36). A cylinder (41) is fixedly connected to the outside of the rotating rod three (40). The output end of the cylinder (41) is fixedly connected to the outside of the rotating rod one (38). A rotating rod two (39) is rotatably connected to the outside of the support plates two (37). Slide grooves (43) are provided on both sides of the fixed plates (29). The rotating rod three (40) is slidably connected to the outside of two of the slide grooves (43), and the rotating rod two (39) is slidably connected to the outside of the other two slide grooves (43).

5. A portable soccer training auxiliary ball-serving machine according to claim 4, characterized in that, The rotating assembly includes a second motor (30), which is fixedly connected to the bottom of one of the fixed plates (29). A gear (31) is fixedly connected to the output end of the second motor (30). A limit plate (35) is rotatably connected to the top of one of the fixed plates (29). A limit plate (34) is fixedly connected to the top of the limit plate (35). The limit plate (34) is rotatably connected inside one of the fixed plates (29). A support rod (33) is fixedly connected to the top of the limit plate (34). A gear (32) is fixedly connected to the outside of the support rod (33). The gear (32) meshes with the gear (31). The support rod (33) is fixedly connected to the bottom of the base (1).

6. A portable soccer training auxiliary ball-serving machine according to claim 5, characterized in that, The ball delivery assembly includes a column (2), which is fixedly connected to the top of the base (1). A ball track (3) is provided on the outside of the column (2), and the top of the ball track (3) is fixedly connected to the outside of the fixed seat (5). Multiple wheels (26) are fixedly connected to the outside of one of the fixed plates (29).

7. A portable soccer training auxiliary ball-serving machine according to claim 3, characterized in that, The independent control commands sent by the control module (44) are used to make the two ball-launching motors (14) run at different speeds, generate a speed difference, apply rotation to the football, and generate an arc flight trajectory; The control panel (42) provides an operation interface with an expert mode and a professional custom mode.

8. A portable soccer training auxiliary ball-serving machine according to claim 3, characterized in that, The reverse solver is used to solve the nonlinear ballistic parameters input by the user into specific target rotational speeds of the two launch wheels (6) with a rotational speed difference, wherein the nonlinear ballistic parameters include at least one of the highest flight point, landing point and maximum curvature.

9. A portable soccer training auxiliary ball-serving machine according to claim 3, characterized in that, The proportional-integral-derivative control algorithm is used so that when the speed of the launching wheel (6) fluctuates due to the impact of the football load, the control module (44) can perform dynamic power compensation based on the real-time speed data to maintain the stability of the speed of the launching wheel (6).

10. A portable football training auxiliary ball-serving machine according to claim 3, characterized in that, The interception assembly includes a fixed rod (20), a baffle (21) is rotatably connected to the outside of the fixed rod (20), a torsion spring (19) is provided on the outside of the fixed rod (20), an electromagnet (18) is provided on the outside of the fixed base (5), and the control panel (42) and the electromagnet (18) are electrically connected. The second connecting rod (23) is rotatably connected to the outside of the fixed seat (5), the output end of the first motor (27) is fixedly connected to the outside of one of the second connecting rods (23), the fixed rod (20) is fixedly connected to the outside of the fixed seat (5), one end of the torsion spring (19) is fixedly connected to the top of the baffle (21), and the other end of the torsion spring (19) is fixedly connected to the outside of the fixed seat (5).

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