Badminton receiving and dispatching all-in-one machine and control method thereof

Abstract

The invention provides a shuttlecock receiving and dispatching all-in-one machine and a control method thereof. The shuttlecock receiving and dispatching all-in-one machine comprises a movable chassis, a serving mechanism, a receiving mechanism, a visual recognition assembly and a main control module, and a collecting basket is arranged on the movable chassis; the ball serving mechanism is detachably arranged on the movable chassis; the ball collecting mechanism is arranged on one side of the movable chassis; the visual identification assembly is used for identifying the position and orientation of the shuttlecock; the mobile chassis moves based on the position of the shuttlecock to adjust the position of the shuttlecock receiving mechanism relative to the shuttlecock; the main control module is connected with a communication module. According to the shuttlecock receiving and sending all-in-one machine, the ball serving mechanism is designed to be detachable, the receiving and sending all-in-one mode and the ball receiving mode can be switched according to actual needs, and the flexibility is high; the overall structural design is simple and ingenious, and intelligent ball collection can be achieved; the movable chassis is high in flexibility, and the requirement for ball serving accuracy is met; the master control module completes communication establishment with a mobile phone or other user terminals through the communication module, and remote operation of a user is facilitated.

Description

Technical Field

[0001] This invention relates to the field of sports technology, specifically to a badminton shuttlecock launcher and receiver integrated machine and its control method. Background Technology

[0002] Badminton is an indoor sport played over a net, using a lightweight racket to hit a shuttlecock made of feathers and cork. It enjoys widespread popularity worldwide due to its fast pace, engaging gameplay, and ease of learning.

[0003] In badminton training, a large number of shuttlecocks need to be launched for hitting practice, and many shuttlecocks need to be collected after they fall. Manually launching and collecting the shuttlecocks is time-consuming and laborious. Therefore, badminton shuttlecock launching machines have emerged on the market. A badminton shuttlecock launching machine is a training device that automatically and continuously launches shuttlecocks. It typically has a launching mechanism for launching shuttlecocks, a collecting module for collecting shuttlecocks, and a chassis for movement. Its purpose is to simulate a real person hitting the shuttlecock, providing athletes with efficient, stable, and diverse training support. Whether you are a professional athlete, an amateur enthusiast, or a beginner, you can improve your skills using a shuttlecock launching machine.

[0004] Current badminton serving machines have limited shuttlecock collection capacity due to the space required for the serving mechanism. To avoid making the machine too bulky, the shuttlecock collection compartment is designed with a limited capacity. However, in applications where only large-capacity shuttlecock collection is needed without using the serving mechanism (e.g., manual serving for training purposes), the badminton serving machine cannot meet the large-capacity collection requirement, limiting its flexibility. If the overall dimensions are pre-designed to increase the shuttlecock collection compartment capacity, the entire badminton serving machine will be larger, with a larger chassis, resulting in higher costs. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings and deficiencies of the prior art and to provide a badminton shuttlecock launcher and receiver integrated machine and its control method.

[0006] One embodiment of the present invention provides a badminton shuttlecock receiver / receiver, comprising: A mobile chassis, on which a collection basket is provided; A serving mechanism, detachably mounted on the movable chassis, is used to drive the badminton shuttlecock to launch. A shuttlecock retrieval mechanism is disposed on one side of the movable chassis. The shuttlecock retrieval mechanism is used to drive the shuttlecock into the collection basket or the serving mechanism, wherein the serving mechanism is located between the collection basket and the shuttlecock retrieval mechanism, and at least a portion of the serving mechanism is located within the collection basket. A visual recognition component is disposed on the movable chassis. The visual recognition component is used to identify the position and orientation of the shuttlecock. The movable chassis moves based on the position of the shuttlecock to adjust the position of the shuttlecock-collecting mechanism relative to the shuttlecock. The main control module is connected to the ball-serving mechanism, the ball-receiving mechanism, and the visual recognition component, and is also connected to a communication module.

[0007] In some optional embodiments, the ball-collecting module includes two ball-collecting friction wheels and a first rotary drive assembly. The two ball-collecting friction wheels are arranged on one side of the mobile chassis, and a first friction emission gap is formed between the two ball-collecting friction wheels. The first rotary drive assembly is drivenly connected to the ball-collecting friction wheels. The main control module is signal-connected to the first rotary drive component.

[0008] In some optional embodiments, the ball-collecting module further includes a first rotating frame and a second rotating frame. The first rotating frame is rotatably mounted on the mobile chassis, and the second rotating frame is rotatably engaged with the first rotating frame and extends out to one side of the mobile chassis. The two ball-collecting friction wheels are rotatably mounted on the second rotating frame.

[0009] In some alternative embodiments, the mobile chassis includes a frame, a plurality of Mecanum wheels and a power assembly, the ball-serving mechanism is detachably mounted on the frame, the ball-retrieving mechanism is arranged on one side of the frame, the vision recognition assembly is disposed on the frame, the plurality of Mecanum wheels are rotatably disposed at the bottom of the frame, and the power assembly is drivenly connected to the Mecanum wheels; The main control module is connected to the power component via signal.

[0010] In some alternative embodiments, the ball-serving mechanism includes a collection cover, a mounting bracket, two ball-serving friction wheels, a second rotation drive assembly, and a ball-collecting device; The collecting cover is detachably mounted on the movable chassis, the mounting bracket is detachably mounted on the movable chassis, the two serving friction wheels are mounted on the mounting bracket, a second friction emission gap is formed between the two serving friction wheels, the second rotation drive assembly is drivenly connected to the serving friction wheels, and the ball-collecting device is mounted on the mounting bracket for driving the shuttlecock in the collecting cover to the second friction emission gap. The main control module is signal-connected to the second rotary drive component.

[0011] In some optional embodiments, the serving mechanism further includes a lifting guide rail and a lifting drive assembly. The lifting guide rail is detachably mounted on the movable chassis. The collecting cover is movably engaged with the lifting guide rail and is detachably engaged with the movable chassis via the lifting guide rail. The lifting drive assembly is drivenly connected to the collecting cover. The collecting cover can rise to the serving position and fall to the collecting position under the drive of the lifting drive assembly. When the collecting cover falls to the collecting position, it is positioned between the collecting basket and the collecting mechanism, and at least a portion of the collecting cover is located within the collecting basket. When the collecting cover rises to the serving position, it corresponds to the position of the ball-retrieving device. The main control module is signal-connected to the lifting drive component.

[0012] In some alternative embodiments, the collecting cover surrounds a collecting space and a ball-ejection channel, with a ball-ejection port formed on one side of the collecting space. The ball-ejection channel is located at the bottom of the collecting space and communicates with the collecting space. When the collecting cover descends to the ball-collecting position, the ball-ejection port faces the ball-collecting mechanism.

[0013] In some alternative embodiments, the inner diameter of the shuttlecock delivery channel is not less than the maximum diameter of the shuttlecock, and the shuttlecock delivery channel has a bottom port, the diameter of which is not greater than the maximum diameter of the shuttlecock.

[0014] In some optional embodiments, the ball-collecting device includes a ball guide plate and a ball clamping assembly. The ball guide plate is provided with a ball guide groove that extends from the collection cover to the second friction emission gap, and the ball guide groove gradually slopes downward in the direction from the collection cover to the second friction emission gap. The ball guide plate is disposed on the mounting bracket and located below the collection cover. The ball clamping assembly includes a clamping drive module and two clamping members. The clamping drive module is disposed on the ball guide plate and is drivenly connected to the clamping members. The two clamping members clamp and cooperate under the drive of the clamping drive module. The two clamping members are correspondingly located below the collection cover and are respectively located on both sides of the ball guide groove.

[0015] In some optional embodiments, the ball-retrieving device further includes an avoidance drive assembly. The ball guide plate is movably mounted on the mounting frame. The avoidance drive assembly is driven to the ball guide plate. The ball guide plate can move to an avoidance position and a ball guide position under the drive of the avoidance drive assembly. When the ball guide plate is in the avoidance position, it is located on one side of the lifting path of the collecting cover. When the collecting cover rises to the serving position and the ball guide plate is in the ball guide position, the ball guide plate is located below the collecting cover.

[0016] Another embodiment of the present invention provides a control method for a badminton shuttlecock receiver / receiver, applied to a badminton shuttlecock receiver / receiver as described above, comprising: When the shuttlecock receiving and sending machine is installed on a mobile chassis to switch to integrated receiving and sending mode, the steps for the integrated shuttlecock receiving and sending machine to receive and serve include: The visual recognition component identifies the position and orientation of the badminton shuttlecock. The main control module controls the movement of the mobile chassis based on the position and orientation of the shuttlecock, thereby adjusting the position and orientation of the shuttlecock receiving mechanism relative to the shuttlecock. The shuttlecock receiving mechanism launches the shuttlecock into the serving mechanism; The main control module controls the movement of the mobile chassis, thereby adjusting the position and orientation of the ball-serving mechanism; The serving mechanism launches the badminton shuttlecock; When the shuttlecock launching and receiving mechanism is detached from the mobile chassis to switch the badminton shuttlecock launching and receiving machine to the receiving mode, the steps for the badminton shuttlecock launching and receiving machine to receive the shuttlecock include: The visual recognition component identifies the position and orientation of the badminton shuttlecock. The main control module controls the movement of the mobile chassis based on the position and orientation of the shuttlecock, thereby adjusting the position and orientation of the shuttlecock receiving mechanism relative to the shuttlecock. The shuttlecock receiving mechanism launches the shuttlecock into the collection basket.

[0017] Compared to existing technologies, the badminton shuttlecock launcher of this invention features a detachable launching mechanism, which allows for easy switching between launcher and receiver modes and receiver modes as needed, offering high flexibility. The overall structure is simple and ingeniously designed, enabling intelligent receiver operation with high efficiency, reduced manual intervention, and convenient operation. The mobile chassis utilizes Mecanum wheels, ensuring high flexibility and meeting the accuracy requirements of the launcher. The main control module can establish communication with mobile phones or other user terminals via a communication module, facilitating remote operation.

[0018] To provide a clearer understanding of the present invention, the specific embodiments of the present invention will be described below in conjunction with the accompanying drawings. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the badminton shuttlecock transceiver in transceiver mode according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the badminton shuttlecock receiver and receiver in shuttlecock receiving mode according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the lifting guide rail, collection cover, and lifting drive assembly according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a portion of the structure of the ball-serving mechanism according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a badminton shuttlecock launcher according to an embodiment of the invention, with the guide plate in the avoidance position and the collection cover in the shuttlecock receiving position.

[0020] Explanation of reference numerals in the attached figures: 10. Mobile chassis; 11. Collection basket; 12. Frame; 13. Mecanum wheel; 14. Power assembly; 20. Ball serving mechanism; 21. Collection cover; 211. Collection space; 2111. Ball inlet; 212. Ball outlet channel; 22. Mounting bracket; 23. Ball serving friction wheel; 24. Second rotation drive assembly; 25. Ball retrieval device; 251. Ball guide plate; 2511. Ball guide groove; 252. Ball clamping assembly; 2521. Clamping drive module; 2522. Clamping component; 253. Avoidance drive assembly; 26. Lifting guide rail; 27. Lifting drive assembly; 30. Ball collection mechanism; 31. Ball collection friction wheel; 32. First rotation drive assembly; 33. First rotating frame; 34. Second rotating frame; 35. Third rotating frame; 40. Vision recognition assembly; 50. Main control module. Detailed Implementation

[0021] The technical solutions of 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. In the description of the present invention, unless otherwise stated, "a plurality of" means two or more, and "a number" means one or more. Furthermore, unless otherwise stated, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] In the description of this invention, references to terms such as "one embodiment," "some alternative implementations," or "some optional embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0025] Please see Figure 1 and Figure 2 One embodiment of the present invention provides a badminton shuttlecock receiver / receiver, comprising: A mobile chassis 10 is provided with a collection basket 11. The serving mechanism 20 is used to drive the badminton shuttlecock to be launched. The serving mechanism 20 is detachably mounted on the movable chassis 10. A shuttlecock receiving mechanism 30 is used to drive the shuttlecock into the collection basket 11 or the serving mechanism 20. The shuttlecock receiving mechanism 30 is located on one side of the movable chassis 10. The serving mechanism 20 is located between the collection basket 11 and the shuttlecock receiving mechanism 30. At least part of the serving mechanism 20 is inside the collection basket 11. A visual recognition component 40 for identifying the position and orientation of a badminton shuttlecock is mounted on a movable chassis 10. The main control module 50 is connected to the ball-serving mechanism 20, the ball-receiving mechanism 30, and the visual recognition component 40. The main control module 50 is also connected to a communication module.

[0026] The working principle of a badminton shuttlecock receiver and receiver according to an embodiment of the present invention is explained below: The badminton shuttlecock receiver can switch between a send / receive mode and a shuttlecock receiving mode; When the badminton shuttlecock launcher is in launcher-receiver mode, the launching mechanism 20 is mounted on the movable chassis 10. The launching mechanism 20 and the collection basket 11 partially overlap in space. At this time, the collection basket 11 is not needed, and the launching mechanism 20 can occupy the internal space of the collection basket 11. The receiving mechanism 30 can launch the shuttlecock to the launching mechanism 20. The movable chassis 10 can be moved to different positions and orientations to adjust the launching position and angle of the launching mechanism 20. Subsequently, the launching mechanism 20 can launch the shuttlecock for the user to practice hitting. The badminton shuttlecock launcher can realize the shuttlecock collecting function through the receiving mechanism 30 and the launching function through the launching mechanism 20, thus satisfying the functions of automated shuttlecock collecting and launching.

[0027] When the badminton shuttlecock receiver is in shuttlecock collection mode, the shuttlecock serving mechanism 20 is detached from the movable chassis 10. Since there is no obstruction from the shuttlecock serving mechanism 20, the shuttlecocks can be directly shot into the large-capacity collection basket 11, achieving large-capacity shuttlecock collection. This is suitable for some application scenarios. For example, when the shuttlecock serving mechanism 20 cannot meet the requirements of a specific serving method, manual hitting is required. In this case, the shuttlecock serving mechanism 20 is not needed and can be detached from the movable chassis 10, thus facilitating the collection of more shuttlecocks. Alternatively, it can also be used for quick court clearing after training or competition.

[0028] The main control module 50 receives and processes signals from the communication module and the vision recognition component 40, and then controls the operation of the ball-serving mechanism 20, the ball-receiving mechanism 30, and the moving chassis 10. The main control module 50 can be a microcomputer, a microcontroller, etc., and is not limited to this example.

[0029] The visual recognition component 40 is used to identify the position and orientation of the shuttlecock. The movable chassis 10 can move based on the shuttlecock's position to adjust the position and orientation of the shuttlecock collecting mechanism 30 relative to the shuttlecock, thereby enabling the collecting mechanism 30 to accurately perform the shuttlecock collecting function. The specific structure of the visual recognition component 40 can be designed according to actual needs. For example, the visual recognition component 40 includes a camera mounted on the movable chassis 10. It should be noted that the image recognized by the visual recognition component 40 can be transmitted to the main control module 50. After processing the image, the main control module 50 determines the position and orientation of the shuttlecock, and then the movable chassis 10 moves to the corresponding position, so that the collecting mechanism 30 collects the shuttlecock and shoots it into the serving mechanism 20 or the collecting basket 11. The principle of determining the position and orientation of the shuttlecock is a technology known to those skilled in the art and will not be described in detail here.

[0030] The communication module (not shown in the figure) can be a Bluetooth module, WiFi module, 3G / 4G / 5G module, etc. The communication module is used to establish communication with the terminal used by the user. For example, the communication module establishes communication with the user's mobile phone, and the user can remotely control the operation of the badminton receiver through the operating software in the mobile phone.

[0031] The specific structure of the shuttlecock collecting module can be designed according to actual needs. For example, in some optional embodiments, the shuttlecock collecting module includes two collecting friction wheels 31 and a first rotary drive assembly 32. The two collecting friction wheels 31 are arranged on one side of the movable chassis 10, and a first friction launch gap is formed between the two collecting friction wheels 31. The first rotary drive assembly 32 is driven and connected to the collecting friction wheels 31; the main control module 50 is signal-connected to the first rotary drive assembly 32. After the movable chassis 10 moves, the shuttlecock falling to the ground enters the first friction launch gap. The collecting friction wheels 31 rotate under the drive of the first rotary drive assembly 32. The collecting friction wheels 31 drive the shuttlecock through the first friction launch gap and shoot it into the serving mechanism 20 or the collecting basket 11 through friction.

[0032] The first rotary drive assembly 32 can be a drive motor or other suitable rotary drive assembly.

[0033] To increase the amount of shuttlecocks collected, multiple side panels can be detachably installed on the mobile chassis 10 in shuttlecock collection mode. The side panels and the collection basket 11 together form a space for collecting shuttlecocks. The side panels need to avoid the path of the shuttlecocks launched by the shuttlecock collection mechanism 30. For example, multiple side panels are located between the collection basket 11 and the shuttlecock collection mechanism 30 and are set on both sides of the path of the shuttlecocks launched by the shuttlecock collection mechanism 30.

[0034] To facilitate the positioning and adjustment of the ball-collecting friction wheels 31, in some optional embodiments, the ball-collecting module further includes a first rotating frame 33 and a second rotating frame 34. The first rotating frame 33 is rotatably mounted on the movable chassis 10, and the second rotating frame 34 is rotatably engaged with the first rotating frame 33 and extends to one side of the movable chassis 10. The two ball-collecting friction wheels 31 are rotatably mounted on the second rotating frame 34. The first rotating frame 33 and the second rotating frame 34 can be pre-adjusted at their angles and then locked in place. Alternatively, a first motor can be mounted on the movable chassis 10 to drive the first rotating frame 33 to rotate, and a second motor can be mounted on the first rotating frame 33 to drive the second rotating frame 34 to rotate. Both the first motor and the second motor are signal-connected to the main control module 50.

[0035] By adjusting the angles of the first rotating frame 33 and the second rotating frame 34, the shuttlecock can be collected more accurately. The angle at which the shuttlecock is launched by the shuttlecock collection friction wheel 31 can also be adjusted, so that the shuttlecock can be accurately shot into the shuttlecock collection mechanism 30 or the collection basket 11.

[0036] In some alternative embodiments, the visual recognition component 40 is mounted on the first rotating frame 33 via a third rotating frame 35. The third rotating frame 35 can rotate with the first rotating frame 33 to adaptively adjust the angle. In this embodiment, the second motor is also driven by the third rotating frame 35, causing the third rotating frame 35 and the second rotating frame 34 to rotate together. This maintains the relative position of the visual recognition component 40 and the shuttlecock collection friction wheel 31, which is beneficial for more accurate shuttlecock recognition.

[0037] The specific structure of the mobile chassis 10 can be designed according to actual needs. For example, in some optional embodiments, the mobile chassis 10 includes a frame 12, multiple Mecanum wheels 13, and a power assembly 14. The ball-serving mechanism 20 is detachably mounted on the frame 12, the ball-retrieving mechanism 30 is arranged on one side of the frame 12, the visual recognition component 40 is disposed on the frame 12, the multiple Mecanum wheels 13 are rotatably disposed at the bottom of the frame 12, and the power assembly 14 is driven and connected to the Mecanum wheels 13; the main control module 50 is signal-connected to the power assembly 14. The Mecanum wheels 13 can achieve omnidirectional movement, which helps to improve the flexibility of the mobile chassis 10, thereby facilitating more precise control of the launching position and orientation angle of the ball-serving mechanism 20. The power assembly 14 can adopt multiple power motors, which are correspondingly driven and connected to the Mecanum wheels 13.

[0038] The specific structure of the serving mechanism 20 can be designed according to actual needs. For example, in some optional embodiments, the serving mechanism 20 includes a collecting cover 21, a mounting bracket 22, two serving friction wheels 23, a second rotation drive assembly 24, and a ball-collecting device 25. The collecting cover 21 is detachably mounted on the frame 12 of the movable chassis 10, the mounting bracket 22 is detachably mounted on the frame 12 of the movable chassis 10, the two serving friction wheels 23 are mounted on the mounting bracket 22, a second friction launch gap is formed between the two serving friction wheels 23, the second rotation drive assembly 24 is drivenly connected to the serving friction wheels 23, and the ball-collecting device 25 is mounted on the mounting bracket 22 to drive the badminton shuttlecock in the collecting cover 21 to the second friction launch gap. The main control module 50 is signal-connected to the second rotation drive assembly 24. When the badminton shuttlecock receiver is in the integrated receiver mode, the shuttlecock receiving mechanism 30 can launch the shuttlecock into the collecting cover 21. After the shuttlecock falls to the bottom of the collecting cover 21 due to gravity, the shuttlecock picking device 25 can move the shuttlecock in the collecting cover 21 to the second friction launching gap. Then, the second rotary drive component 24 drives the serving friction wheel 23 to rotate. The serving friction wheel 23 drives the shuttlecock through the second friction launching gap and launches it out through friction.

[0039] The second rotary drive assembly 24 can be a drive motor or other suitable rotary drive assembly.

[0040] Please see Figure 3 and Figure 4 Since the serving mechanism 20 needs to be positioned at a certain height relative to the movable chassis 10, and the height of the collecting cover 21 needs to be higher than the shuttlecock retrieval device 25, so that the shuttlecock can fall to the bottom of the collecting cover 21 for retrieval, the height of the collecting cover 21 is usually relatively high. However, if the shuttlecock retrieval mechanism 30 serves the shuttlecock directly to the collecting cover 21, it is easy to make a retrieval error. In order to facilitate the shuttlecock retrieval mechanism 30 to launch the shuttlecock into the collecting cover 21, in some optional embodiments, the serving mechanism 20 also includes a lifting guide rail 26 and a lifting drive assembly 27. The lifting guide rail 26 is detachably mounted on the movable chassis 10. The collecting cover 21 is movably engaged with the lifting guide rail 26 and the detachable engagement with the movable chassis 10 is achieved through the lifting guide rail 26. The lifting drive assembly 27 is drivenly connected to the collecting cover 21. 1. Driven by the lifting drive assembly 27, the device can rise to the serving position and fall to the receiving position. When the collecting cover 21 falls to the receiving position, the collecting cover 21 is located between the collecting basket 11 and the receiving mechanism 30, and at least part of the collecting cover 21 is located inside the collecting basket 11. By actively lowering the height of the collecting cover 21, when the receiving mechanism 30 launches the shuttlecock toward the collecting basket 11, the shuttlecock is more easily intercepted by the collecting cover 21 and enters the collecting cover 21. In the receiving mode, since there is no collecting cover 21, the shuttlecock is directly launched into the collecting basket 11. When the collecting cover 21 rises to the serving position, the collecting cover 21 corresponds to the position of the shuttlecock retrieval device 25, so that the shuttlecock in the collecting cover 21 can be taken away by the shuttlecock retrieval device 25. The main control module 50 is signal connected to the lifting drive assembly 27.

[0041] The specific structure of the lifting drive assembly 27 can be designed according to actual needs. For example, the lifting drive assembly 27 can be a lead screw drive assembly, a rotary motor translation drive assembly, a belt translation drive assembly, a cylinder translation drive assembly, or a linear motor translation drive assembly. The lifting drive assembly 27 can be mounted on the lifting guide rail 26, or it can be detachably mounted on the frame 12 of the mobile chassis 10, depending on its structure.

[0042] The specific structure of the collecting cover 21 can be designed according to actual needs. For example, in some optional embodiments, the collecting cover 21 surrounds a collecting space 211 and a ball-ejecting channel 212. A ball-ejecting inlet 2111 is formed on one side of the collecting space 211, and the ball-ejecting channel 212 is located at the bottom of the collecting space 211 and communicates with the collecting space 211. When the collecting cover 21 descends to the ball-collecting position, the ball-ejecting inlet 2111 faces the ball-collecting mechanism 30. The collecting cover 21 is used to intercept the flying shuttlecock. The shuttlecock launched by the ball-collecting mechanism 30 enters the collecting space 211 through the ball-ejecting inlet 2111, then hits the inner wall of the collecting space 211, and then falls naturally by gravity and enters the ball-ejecting channel 212, where it remains. The ball-retrieving device 25 retrieves the shuttlecock from the ball-ejecting channel 212 and then transports it to the second friction launch gap.

[0043] In some alternative embodiments, the inner diameter of the shuttlecock delivery channel 212 is not less than the maximum diameter of the shuttlecock, thereby confining the shuttlecock within the channel 212. The channel 212 has a bottom port with a diameter not greater than the maximum diameter of the shuttlecock, thus preventing the shuttlecock from detaching from the channel 212 due to its own weight. The feather tip of the shuttlecock represents its maximum diameter, and since the feathers are elastic, force can be applied to remove the shuttlecock from the bottom port of the channel 212.

[0044] In some optional embodiments, the ball-retrieving device 25 includes a ball guide plate 251 and a ball clamping assembly 252. The ball guide plate 251 is provided with a ball guide groove 2511, which extends from the collection cover 21 to the second friction emission gap. The ball guide groove 2511 gradually slopes downward in the direction from the collection cover 21 to the second friction emission gap. The ball guide plate 251 is mounted on the mounting frame and located below the collection cover 21. The ball clamping assembly 252 includes a clamping drive module 2521 and two clamping members 2522. The clamping drive module 2521 is mounted on the ball guide plate 251 and is drivenly connected to the clamping members 2522. The two clamping members 2522 clamp and cooperate under the drive of the clamping drive module 2521. The two clamping members 2522 are located below the collection cover 21 and are respectively located on both sides of the ball guide groove 2511. When a serve is needed, the collecting cover 21 descends, allowing the clamping members 2522 to extend into the shuttlecock outlet channel 212. The two clamping members 2522 then clamp the portion of the shuttlecock located within the outlet channel 212. Alternatively, due to gravity, the shuttlecock's head is usually facing downwards within the collecting cover 21. The two clamping members 2522 can also clamp the portion of the shuttlecock located outside the outlet channel 212 under the drive of the clamping drive module 2521, without requiring the collecting cover 21 to descend. The choice depends on the specific situation. After the two clamping members 2522 clamp the shuttlecock, the collecting cover 21 rises. The shuttlecock at the bottom of the outlet channel 212, held by the clamping members 2522, cannot move, causing it to detach from the outlet channel 212. The two clamping members 2522 then release the shuttlecock, which falls into the guide groove 2511 and travels along the guide groove 2511 to the second friction launch gap, thus completing the shuttlecock retrieval operation.

[0045] The specific structure of the clamping drive module 2521 can be designed according to actual needs. For example, the clamping drive module 2521 can be two clamping drive motors, which drive the two clamping parts 2522 to rotate, thereby achieving clamping engagement of the clamping parts 2522. Alternatively, the clamping drive module 2521 can be two translation drive modules, which drive the two clamping parts 2522 to translate, thereby achieving clamping engagement of the clamping parts 2522. The translation drive module can be a lead screw drive module, a rotary motor translation drive module, a belt translation drive module, a cylinder translation drive module, or a linear motor translation drive module.

[0046] To prevent the guide plate 251 from obstructing the shuttlecock's flight when the collection cover 21 descends to the shuttlecock-collecting position, in some optional embodiments, the shuttlecock-collecting device 25 further includes an avoidance drive assembly 253. The guide plate 251 is movably mounted on the mounting frame, and the avoidance drive assembly 253 is drivenly connected to the guide plate 251. The guide plate 251 can move to the avoidance position and the shuttlecock-collecting position under the drive of the avoidance drive assembly 253. Please refer to [link / reference]. Figure 5When the guide plate 251 is in the avoidance position, it is positioned to one side of the lifting path of the collecting cover 21. This ensures that the guide plate 251 does not obstruct the lifting of the collecting cover 21 and also avoids the flight path of the shuttlecock launched by the collecting mechanism 30, allowing the shuttlecock to reach the collecting cover 21 smoothly. Please refer to [link to relevant documentation]. Figure 1 When the collecting cover 21 rises to the serving position and the guide plate 251 is in the guiding position, the guide plate 251 is located below the collecting cover 21. At this time, the guide plate 251 can guide the badminton shuttlecock into the second friction launch gap.

[0047] The specific structure of the avoidance drive assembly 253 can be designed according to actual needs. For example, when the ball guide plate 251 and the mounting bracket 22 are in rotational engagement, the avoidance drive assembly 253 can be a motor, whose output shaft is connected to the ball guide plate 251 for driving. When the ball guide plate 251 and the mounting bracket 22 are in sliding engagement, the avoidance drive assembly 253 can be a screw drive assembly, a rotary motor translation drive assembly, a belt translation drive assembly, a cylinder translation drive assembly, or a linear motor translation drive assembly, etc., which can drive the ball guide plate 251 to translate.

[0048] This invention also provides a control method for a badminton shuttlecock receiver / receiver, applied to a badminton shuttlecock receiver / receiver as described above, comprising: The badminton receiver can be switched to a receiving mode by mounting the serving mechanism 20 on the mobile chassis 10 and to a receiving mode by removing the serving mechanism 20 from the mobile chassis 10.

[0049] When the badminton shuttlecock receiver is in receiver-launch mode, it can both retrieve and serve the shuttlecock. The steps for retrieving and serving the shuttlecock include: The position and orientation of the badminton shuttlecock are identified by the visual recognition component 40. The main control module 50 controls the movement of the moving chassis 10 based on the position and orientation of the shuttlecock, thereby adjusting the position and orientation of the shuttlecock collection mechanism 30 relative to the shuttlecock, so that the shuttlecock collection mechanism 30 can approach the shuttlecock in the correct orientation and make the shuttlecock contact the shuttlecock collection mechanism 30. The shuttlecock receiving mechanism 30 launches the shuttlecock into the serving mechanism 20, so that the shuttlecock is collected by the serving mechanism 20; The main control module 50 controls the movement of the mobile chassis 10, thereby adjusting the position and orientation of the serving mechanism 20 so that the position and orientation of the serving mechanism 20 meet the user's training requirements; The serving mechanism 20 will launch the collected shuttlecocks for users to practice hitting.

[0050] When the badminton shuttlecock receiver is in shuttlecock collection mode, it can collect a large number of shuttlecocks. The steps for the badminton shuttlecock receiver to collect shuttlecocks include: The position and orientation of the badminton shuttlecock are identified by the visual recognition component 40. The main control module 50 controls the movement of the moving chassis 10 based on the position and orientation of the shuttlecock, thereby adjusting the position and orientation of the shuttlecock collection mechanism 30 relative to the shuttlecock, so that the shuttlecock collection mechanism 30 can approach the shuttlecock in the correct orientation and make the shuttlecock contact the shuttlecock collection mechanism 30. The shuttlecock receiving mechanism 30 launches the shuttlecock into the serving mechanism 20, so that the shuttlecock is collected by the collection basket 11.

[0051] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A badminton shuttlecock receiver / receiver, characterized in that, include: A mobile chassis, on which a collection basket is provided; A serving mechanism, detachably mounted on the movable chassis, is used to drive the badminton shuttlecock to launch. A shuttlecock retrieval mechanism is disposed on one side of the movable chassis. The shuttlecock retrieval mechanism is used to drive the shuttlecock into the collection basket or the serving mechanism, wherein the serving mechanism is located between the collection basket and the shuttlecock retrieval mechanism, and at least a portion of the serving mechanism is located within the collection basket. A visual recognition component is disposed on the movable chassis. The visual recognition component is used to identify the position and orientation of the shuttlecock. The movable chassis moves based on the position of the shuttlecock to adjust the position of the shuttlecock-collecting mechanism relative to the shuttlecock. The main control module is connected to the ball-serving mechanism, the ball-receiving mechanism, and the visual recognition component, and is also connected to a communication module.

2. The badminton shuttlecock receiver and receiver according to claim 1, characterized in that: The ball-collecting module includes two ball-collecting friction wheels and a first rotary drive assembly. The two ball-collecting friction wheels are arranged on one side of the mobile chassis, and a first friction emission gap is formed between the two ball-collecting friction wheels. The first rotary drive assembly is drivenly connected to the ball-collecting friction wheels. The main control module is signal-connected to the first rotary drive component.

3. The badminton shuttlecock receiver and receiver as described in claim 1, characterized in that: The ball-collecting module also includes a first rotating frame and a second rotating frame. The first rotating frame is rotatably mounted on the mobile chassis, and the second rotating frame is rotatably engaged with the first rotating frame and extends to one side of the mobile chassis. The two ball-collecting friction wheels are rotatably mounted on the second rotating frame.

4. The badminton shuttlecock receiver and receiver according to claim 1, characterized in that: The ball-serving mechanism includes a collection cover, a mounting bracket, two ball-serving friction wheels, a second rotation drive assembly, and a ball-collecting device. The collecting cover is detachably mounted on the movable chassis, the mounting bracket is detachably mounted on the movable chassis, the two serving friction wheels are mounted on the mounting bracket, a second friction emission gap is formed between the two serving friction wheels, the second rotation drive assembly is drivenly connected to the serving friction wheels, and the ball-collecting device is mounted on the mounting bracket for driving the shuttlecock in the collecting cover to the second friction emission gap. The main control module is signal-connected to the second rotary drive component.

5. A badminton shuttlecock receiver and receiver as described in claim 4, characterized in that: The serving mechanism further includes a lifting guide rail and a lifting drive assembly. The lifting guide rail is detachably mounted on the movable chassis. The collecting cover is movably engaged with the lifting guide rail and is detachably engaged with the movable chassis via the lifting guide rail. The lifting drive assembly is driven to the collecting cover. The collecting cover can rise to the serving position and fall to the collecting position under the drive of the lifting drive assembly. When the collecting cover falls to the collecting position, it is positioned between the collecting basket and the collecting mechanism, and at least a portion of the collecting cover is located within the collecting basket. When the collecting cover rises to the serving position, it corresponds to the position of the ball-retrieving device. The main control module is signal-connected to the lifting drive component.

6. A badminton shuttlecock receiver and receiver as described in claim 5, characterized in that: The collecting cover surrounds and forms a collecting space and a ball-ejection channel. A ball-ejection port is formed on one side of the collecting space. The ball-ejection channel is located at the bottom of the collecting space and communicates with the collecting space. When the collecting cover descends to the ball-collecting position, the ball-ejection port faces the ball-collecting mechanism.

7. A badminton shuttlecock receiver and receiver as described in claim 6, characterized in that: The inner diameter of the shuttlecock delivery channel is not less than the maximum diameter of the shuttlecock, and the shuttlecock delivery channel has a bottom port, the diameter of which is not greater than the maximum diameter of the shuttlecock.

8. A badminton shuttlecock receiver and receiver as described in claim 5, characterized in that: The ball-collecting device includes a ball guide plate and a ball clamping assembly. The ball guide plate is provided with a ball guide groove, which extends from the collection cover to the second friction emission gap. The ball guide groove gradually slopes downward in the direction from the collection cover to the second friction emission gap. The ball guide plate is disposed on the mounting frame and located below the collection cover. The ball clamping assembly includes a clamping drive module and two clamping members. The clamping drive module is disposed on the ball guide plate and is drivenly connected to the clamping members. The two clamping members clamp and cooperate under the drive of the clamping drive module. The two clamping members are correspondingly located below the collection cover and are respectively located on both sides of the ball guide groove.

9. A badminton shuttlecock receiver and receiver as described in claim 5, characterized in that: The ball-collecting device further includes an avoidance drive assembly. The ball guide plate is movably mounted on the mounting frame. The avoidance drive assembly is driven to the ball guide plate. The ball guide plate can move to an avoidance position and a ball guide position under the drive of the avoidance drive assembly. When the ball guide plate is in the avoidance position, it is located on one side of the lifting path of the collection cover. When the collection cover rises to the serving position and the ball guide plate is in the ball guide position, the ball guide plate is located below the collection cover.

10. A control method for a badminton shuttlecock receiver / receiver, applied to a badminton shuttlecock receiver / receiver as described in any one of claims 1 to 9, characterized in that, include: When the serving mechanism is mounted on a mobile chassis to switch the badminton shuttlecock receiver to integrated receiver mode, the steps for the badminton shuttlecock receiver to receive and serve include: The visual recognition component identifies the position and orientation of the badminton shuttlecock. The main control module controls the movement of the mobile chassis based on the position and orientation of the shuttlecock, thereby adjusting the position and orientation of the shuttlecock receiving mechanism relative to the shuttlecock. The shuttlecock receiving mechanism launches the shuttlecock into the serving mechanism; The main control module controls the movement of the mobile chassis, thereby adjusting the position and orientation of the ball-serving mechanism; The serving mechanism launches the badminton shuttlecock; When the shuttlecock serving mechanism is detached from the mobile chassis to switch the badminton shuttlecock receiving and sending machine to the shuttlecock receiving mode, the steps for the badminton shuttlecock receiving and sending machine to receive the shuttlecock include: The visual recognition component identifies the position and orientation of the badminton shuttlecock. The main control module controls the movement of the mobile chassis based on the position and orientation of the shuttlecock, thereby adjusting the position and orientation of the shuttlecock receiving mechanism relative to the shuttlecock. The shuttlecock receiving mechanism launches the shuttlecock into the collection basket.

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