A badminton robot and system

Abstract

The application discloses a badminton robot and system, and belongs to the technical field of robots, which is used for solving the problems of insufficient steering flexibility of a mobile chassis, low positioning precision of the end of a mechanical arm, limited swing torque and poor visual positioning stability in the prior art. The system comprises a badminton robot main body and an off-court judgment system. The robot main body comprises a trunk assembly, six rudder wheel assemblies and a mechanical arm assembly. The mechanical arm assembly adopts a crossed roller bearing to support a second motor and subsequent components, and transmits inertial force and self-weight to an aluminum profile support through a mechanical arm base. The off-court judgment system is arranged at an off-court position behind a court, comprises two camera supports, a high-speed global shutter camera and a server, constitutes a binocular recognition system, compares and analyzes pixel points through the distance between the cameras and the shooting pictures to recognize the spatial position of a badminton, and determines the position of the robot through a recognition machine body positioning plate.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a six-wheeled badminton robot and a system including the robot. Background Technology

[0002] Badminton, as a widely popular sport, places high demands on athletes' reaction speed, mobility, and hitting techniques. With the development of robotics technology, badminton robots are gradually becoming important tools for training assistance and technical research.

[0003] In existing badminton robot systems, the mobile chassis mostly employs differential drive or Mecanum wheel solutions. While the differential drive solution is structurally simple, it lacks steering flexibility and struggles to quickly respond to changes in the shuttlecock's landing point. The Mecanum wheel solution, although enabling omnidirectional movement, has a complex wheel structure, limited load-bearing capacity, and poor stability at high speeds. Another approach uses multi-degree-of-freedom robotic arms to perform the hitting action, but existing robotic arms mostly use a serial structure, resulting in significant load accumulation effects on the motors of each joint, leading to insufficient end-effector positioning accuracy and failing to meet the dual requirements of precision and speed in badminton hitting. Furthermore, the swing torque of existing robotic arms is limited by the balance between arm length and weight, making it difficult to ensure both swing speed and structural strength. Regarding visual positioning, existing systems often mount cameras on the robot body, but cameras experience severe shaking during high-speed robot movement, affecting image acquisition quality and target recognition accuracy. Summary of the Invention

[0004] The purpose of this invention is to provide a six-wheeled badminton robot to solve the technical problems of insufficient steering flexibility of the mobile chassis, low positioning accuracy of the robotic arm end effector, limited swing torque, and poor visual positioning stability in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a six-wheeled badminton robot, comprising a badminton robot body; the badminton robot body includes a torso assembly, six steering wheel assemblies, and a robotic arm assembly; The six steering wheel assemblies are located in the four directions of front, back, left, and right of the torso assembly, two in front and two in the back, and one in the left and one in the right; the robotic arm assembly is located in the center of the torso assembly. The steering wheel assembly includes a steering motor, a motor mounting plate, a conductive slip ring, a wheel mounting plate, a wheel rotation motor, and a wheel. The steering motor is fixed to the motor mounting plate, and its output shaft is fixedly connected to the wheel mounting plate. The wheel rotation motor is fixed to the wheel mounting plate, and the wheel is connected to its output end. The conductive slip ring provides power and communication to the wheel rotation motor. This steering wheel assembly uses an independent drive system for the steering motor and the wheel rotation motor. When the steering motor operates, it drives the wheel mounting plate to rotate, thereby causing the wheel rotation motor and the wheel to change direction together, achieving rapid steering in any direction. The conductive slip ring provides power and communication to the wheel rotation motor, enabling the steering wheel to select the shortest path for steering in the target direction, which not only shortens the steering time but also effectively avoids the problem of cable entanglement caused by continuous rotation.

[0006] As a further technical solution, the torso assembly includes a first transverse support, a second transverse support, a longitudinal support, and a robotic arm assembly mounting bracket. The first transverse support and the second transverse support are arranged parallel to each other, and the longitudinal support is mounted on the first transverse support and the second transverse support and is symmetrically arranged with respect to the center of the first transverse support and the second transverse support. The robotic arm assembly mounting bracket is installed at the center of the longitudinal support. Steering wheel assemblies are installed at the ends of the first transverse support, the second transverse support, and the longitudinal support. The robotic arm assembly is mounted on the robotic arm assembly mounting bracket.

[0007] As a further technical solution, the robotic arm assembly includes a first motor, a first motor mounting plate, a first motor output shaft connector, a robotic arm base, a cross roller bearing, a second motor mounting plate, a second motor, a carbon fiber upper arm, a third motor mounting base, a third motor, a fourth motor mounting bracket, a fourth motor, a fifth motor mounting bracket, a fifth motor, a racket rotation support, a racket extension carbon fiber tube, and a badminton racket; the first motor is fixed to the robotic arm assembly mounting bracket via the first motor mounting plate, and the rotation axis of the first motor is vertically upward; the first motor output shaft connector connects the output shaft of the first motor to the second motor mounting plate; the second motor mounting plate is connected to the cross roller bearing, and the cross roller bearing is fixed to the robotic arm base. The robotic arm is mounted on a base; the base is fixed to the robotic arm assembly mounting bracket; the rotation axis of the second motor is perpendicular to the rotation axis of the first motor; one end of the carbon fiber arm is fixed to the output shaft of the second motor; the third motor is fixed to the other end of the carbon fiber arm via a third motor mounting bracket; the rotation axis of the third motor is always parallel to the rotation axis of the second motor; the fourth motor is fixed via a fourth motor mounting bracket, which is fixedly connected to the output shaft of the third motor; the rotation axis of the fourth motor is perpendicular to the rotation axis of the third motor, and the rotation axis of the fourth motor and the rotation axis of the first motor always define a plane perpendicular to the ground; the output shaft of the fourth motor is connected to a fifth motor mounting bracket. The fifth motor is fixed to the fifth motor mounting bracket, and its rotation axis is perpendicular to the rotation axis of the fourth motor. The output shaft of the fifth motor is fixedly connected to the extended carbon fiber tube of the badminton racket, and the badminton racket is fixed to the extended carbon fiber tube.

[0008] Furthermore, the extended carbon fiber tube of the racket passes through the racket rotation support, which is fixed to the fifth motor mounting bracket. The racket rotation support provides auxiliary support and reinforcement to the extended carbon fiber tube, improving the structural strength of the robotic arm's end effector.

[0009] Furthermore, the torso assembly includes an industrial control computer that controls the movement of all motors in the main body of the badminton robot and communicates with the server of the off-court judgment system to receive instructions.

[0010] Furthermore, the industrial control computer is installed directly below the robotic arm assembly mounting bracket.

[0011] Furthermore, a fuselage positioning plate is fixed at one end of the first transverse support and the second transverse support.

[0012] Furthermore, the steering wheel assembly is fixed to the aluminum profile bracket of the body assembly by screws. This fixing method is simple in structure, reliable in connection, and easy to assemble and maintain.

[0013] Secondly, based on the aforementioned six-wheeled badminton robot, this invention also provides a six-wheeled badminton robot system, including an off-court judgment system. The off-court judgment system is located at the rear of the badminton court and includes two camera brackets, high-speed global shutter cameras respectively mounted on the two camera brackets, and a server. The two high-speed global shutter cameras are connected to the server to form a binocular recognition system. A body positioning plate is located directly behind the main body of the badminton robot, and a QR code is provided on the panel of the body positioning plate. The binocular recognition system identifies the spatial position of the badminton shuttlecock by comparing and analyzing the pixel points of the images captured by the two high-speed global shutter cameras. The binocular recognition system determines the position of the main body of the badminton robot relative to the court by recognizing the body positioning plate in the image.

[0014] This system avoids the impact of robot movement on visual acquisition by independently setting up the visual recognition system off-site. The binocular recognition system is based on the distance between the two cameras and the pixel comparison analysis of the captured images. It can accurately identify the spatial position of the badminton shuttlecock and predict its flight trajectory. At the same time, it determines the robot's position by recognizing the QR code on the positioning plate on the robot body, and then plans the robot's movement trajectory and the target position of the robotic arm, thus achieving stable and reliable visual positioning and trajectory planning.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention employs a six-point support and six-wheel drive structure, which expands the platform's support range, reduces the load-bearing pressure on individual wheel sets, and improves the overall load-bearing capacity, anti-tipping ability, and posture stability. Simultaneously, the six steering wheels can distribute redundant driving and braking forces, improving platform motion stability and fault tolerance through multi-wheel coordinated control during high-speed movement, emergency stops, steering, and external disturbances. By using an omnidirectional mobile chassis with six steering wheel assemblies, each assembly has an independent steering motor and wheel rotation motor. The steering motor drives the wheel fixing plate, wheel rotation motor, and wheels to change direction together, enabling rapid movement and steering in any direction, significantly improving the robot's mobility and response speed. The conductive slip rings provide power and communication connections to the wheel rotation motors, allowing the steering wheels to select the shortest path for steering in the target direction. This not only shortens steering time but also effectively avoids cable entanglement issues caused by continuous rotation, improving system reliability.

[0016] 2. By using crossed roller bearings to support the second motor and all subsequent robotic arm components, and transferring the inertial force and weight generated by these components to the aluminum profile bracket through the high-strength robotic arm base, the inertial force and weight generated when the robotic arm moves do not directly act on the relatively weak first motor, thereby reducing the load on the first motor. At the same time, it significantly improves the overall stability of the robotic arm base and the positioning accuracy of the robotic arm end, overcoming the defects of existing serial robotic arms where the load accumulation effect of each joint motor is obvious and the end positioning accuracy is insufficient.

[0017] 3. By adopting a carbon fiber upper arm and an extended carbon tube for the racket, the weight of the robotic arm is effectively reduced while increasing the hitting torque, thus improving the swing speed and hitting distance. The racket rotation support provides auxiliary support and reinforcement to the extended carbon tube, effectively preventing the fifth motor output shaft or the extended carbon tube from breaking due to inertial forces during high-speed swings. This solves the problem that the swing torque of existing robotic arms is limited by the balance between arm length and self-weight, making it difficult to ensure both swing speed and structural strength.

[0018] 4. By independently setting up the off-court judgment system at the back of the badminton court, a binocular recognition system is used to perform pixel comparison analysis based on the distance between two high-speed global shutter cameras and their captured images. This accurately identifies the spatial position of the badminton shuttlecock and predicts its flight trajectory. At the same time, the robot's position is determined by recognizing the QR code on the robot's positioning plate. This avoids the impact of the robot's movement on visual acquisition and overcomes the shortcomings of existing systems where the camera is mounted on the robot body, causing severe camera shaking when the robot moves at high speed, affecting image acquisition quality and target recognition accuracy. This improves the accuracy and stability of badminton shuttlecock spatial position recognition and robot positioning. Attached Figure Description

[0019] Figure 1 A schematic diagram of the overall structure of the badminton robot is shown. Figure 2 A schematic diagram of the overall structure of the badminton robot is shown. Figure 3 A schematic diagram of the steering wheel assembly is shown; Figure 4 A schematic diagram of the torso assembly is shown; Figure 5 A schematic diagram of the robotic arm assembly is shown. Figure 6 A schematic diagram of the off-site determination system is shown; Explanation of reference numerals in the attached drawings: 1. Steering motor; 2. Motor mounting plate; 3. Conductive slip ring; 4. Wheel mounting plate; 5. Wheel rotation motor; 6. Wheel; 9. Body positioning plate; 10. First motor; 11. First motor mounting plate; 12. First motor output shaft connector; 13. Robotic arm base; 14. Cross roller bearing; 15. Second motor mounting plate; 16. Second motor; 17. Carbon fiber upper arm; 18. Third motor mounting base; 19. Third motor; 20. Fourth motor mounting bracket; 21. Fourth motor; 22. 23. Fifth Motor Mount; 24. Racket Rotation Support; 25. Racket Extended Carbon Fiber Tube; 26. Badminton Racket; 27. Aluminum Profile Support; 28. Battery; 29. ​​Industrial Computer; 30. Circuit Board; 31. Robotic Arm Assembly; 32. Torso Assembly; 33. Steering Wheel Assembly; 34. Badminton Robot Body; 35. High-Speed ​​Global Shutter Camera; 36. Camera Mount; 37. Server; 38. First Lateral Support; 39. Second Lateral Support; 40. Longitudinal Support; 41. Robotic Arm Assembly Mounting Bracket; Detailed Implementation It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. For ease of description, the words "up," "down," "left," and "right" appearing in this invention only indicate that they are consistent with the up, down, left, and right directions of the accompanying drawings themselves, and do not limit the structure. They are merely for the purpose of facilitating the description of this invention and simplifying the description, and do not indicate or imply that the device or component 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.

[0021] The specific embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0022] Example 1 like Figure 1As shown, the badminton robot system of the present invention mainly consists of a badminton robot body 34 and an off-court determination system. The off-court determination system is located at the rear of the badminton court and includes two camera brackets 36, each mounted with a high-speed global shutter camera 35. The two high-speed global shutter cameras 35 are connected to a server 37, thus forming a binocular recognition system. Based on the distance between the two cameras and the pixel comparison analysis of their captured images, the system can accurately identify the spatial position of the badminton shuttlecock and predict its flight trajectory. Simultaneously, the system determines the position of the badminton robot body 34 relative to the court by recognizing the body positioning plate 9 set on the robot body in the image. This allows the system to plan the subsequent movement trajectory of the robot body 34 and the target position of the badminton racket held on its robotic arm.

[0023] The badminton robot proposed in this invention can rapidly move to the hitting position in any direction based on the predicted flight trajectory and landing point of the badminton shuttlecock by the vision system, and quickly brake and stabilize its posture before hitting the shuttlecock. The six-wheel platform can reduce slippage and vibration during movement, reduce the impact of the reaction force of the robotic arm or swing mechanism on the chassis posture at the moment of hitting the shuttlecock, and improve the accuracy of the hitting point position, the accuracy of racket face posture control, and the consistency of the return shot. At the same time, this invention has high load-bearing capacity and good field adaptability, and is suitable for carrying components such as robotic arms, vision sensors, batteries, and control systems, and can reduce wear and tear on badminton court flooring or wooden floors.

[0024] Specifically, the structure of the badminton robot body 34 mainly includes a mechanical arm assembly 31, four steering wheel assemblies 33, and a torso assembly 32.

[0025] The steering wheel assembly 33 is fixed to the aluminum profile bracket 27 of the torso assembly 32 by screws. The robotic arm assembly 31 is fixed to the aluminum profile bracket 27 of the torso assembly 32.

[0026] like Figure 1 , Figure 2As shown, specifically, the torso assembly 32 includes a first transverse support 38, a second transverse support 39, a longitudinal support 40, and a robotic arm assembly mounting bracket 41. The first transverse support 38 and the second transverse support 39 have identical structures and are arranged parallel to each other. The longitudinal support is mounted on the first transverse support 38 and the second transverse support 39 and is symmetrically arranged with respect to their centers. The robotic arm assembly mounting bracket 41 is mounted at the center of the longitudinal support 40. Steering wheel assemblies are mounted at the ends of the first transverse support 38, the second transverse support 39, and the longitudinal support 40. The six steering wheel assemblies are located at the front, rear, left, and right positions of the badminton robot body 34. The robotic arm assembly is mounted on the robotic arm assembly mounting bracket 41. This invention adopts a six-point support and six-wheel drive structure, which can expand the platform support range, reduce the load-bearing pressure of a single wheel assembly, and improve the overall load-bearing capacity, anti-tipping ability, and posture stability of the machine. Meanwhile, the six steering wheels can distribute redundant driving and braking forces, and can improve the platform's motion stability and fault tolerance through multi-wheel coordinated control when moving at high speed, stopping suddenly, turning, or being subjected to external disturbances. like Figure 2 As shown, the steering wheel assembly 33 consists of a steering motor 1, a motor mounting plate 2, a conductive slip ring 3, a wheel mounting plate 4, a wheel rotation motor 5, and a wheel 6. The steering motor 1 is fixed to the motor mounting plate 2, and its output shaft is fixedly connected to the wheel mounting plate 4. When the steering motor 1 operates, it drives the wheel mounting plate 4 to rotate, thereby causing the wheel 6 to rotate. The wheel 6 is connected to the output end of the wheel rotation motor 5, which is fixed to the wheel mounting plate 4. Therefore, when the steering motor 1 rotates, it will cause the wheel mounting plate 4, the wheel rotation motor 5, and the wheel 6 to change direction together. The steering motor 1 can read the current orientation and rotation angle of the wheel 6 in real time through its own rotation angle. The conductive slip ring 3 provides power and communication connection to the wheel rotation motor 5. This design allows the steering wheel to select the shortest path for steering in the target direction, which not only shortens the steering time but also effectively avoids the problem of cable entanglement caused by continuous rotation.

[0027] This invention employs six independently steering and driven steering wheel modules. Each steering wheel can actively adjust its steering angle according to the platform's target motion direction, matching the wheel's rolling direction with the platform's actual motion direction. This reduces lateral slippage, driving force decomposition loss, and periodic vibration caused by the omnidirectional roller structure. Therefore, this invention can improve the platform's ground adhesion utilization, traction efficiency, acceleration performance, braking performance, and high-speed trajectory tracking accuracy.

[0028] like Figure 3As shown, the torso assembly 32 uses an aluminum profile bracket 27 as its main frame. An industrial control computer 29 is fixed below the aluminum profile bracket 27, responsible for controlling the movement of all the robot's motors and communicating with the off-site server 37 to receive instructions. A battery 28 is housed and fixed inside the aluminum profile bracket 27, providing power to the entire system. A circuit board 30 is fixed inside the aluminum profile bracket 27, used to control the power supply of the entire machine, provide real-time feedback on the rotation angle of each motor, and handle external control logic. Two body positioning plates 9 are symmetrically fixed at the rear of the badminton robot's main body, and their panels have QR codes affixed to facilitate position recognition by the binocular recognition system.

[0029] like Figure 4 As shown, the robotic arm assembly 31 includes a first motor 10, a first motor mounting plate 11, a first motor output shaft connector 12, a robotic arm base 13, a crossed roller bearing 14, a second motor mounting plate 15, a second motor 16, a carbon fiber upper arm 17, a third motor mounting base 18, a third motor 19, a fourth motor mounting bracket 20, a fourth motor 21, a fifth motor mounting bracket 22, a fifth motor 23, a racket rotation support 24, a racket extended carbon fiber tube 25, and a badminton racket 26. The first motor 10 is fixed to the aluminum profile bracket 27 of the torso assembly 32 via the first motor mounting plate 11. The first motor output shaft connector 12 connects the output shaft of the first motor 10 to the second motor mounting plate 15, transmitting the rotational torque of the first motor 10 to the second motor mounting plate 15. The first motor mounting plate 11 provides reaction force support for the rotational movement of the output shaft of the first motor 10. When the first motor 10 operates, its output shaft drives the entire robotic arm to rotate around the axis of the first motor via the first motor output shaft connector 12. The second motor mounting plate 15 is simultaneously connected to the crossed roller bearing 14, which is fixed to the robotic arm base 13. This robotic arm base 13 is high-strength and fixed to the aluminum profile support 27 of the torso assembly 32. In this structural design, the crossed roller bearing 14 supports the second motor 16 and all subsequent robotic arm components, transferring the inertial forces generated by these components and their own weight to the main frame of the aluminum profile support 27 through the high-strength robotic arm base 13. Its advantage is that the inertial forces and weight generated during robotic arm movement do not directly act on the relatively weak first motor 10, thereby reducing the load on the first motor 10 and significantly improving the overall stability of the robotic arm base and the positioning accuracy of the robotic arm end effector.

[0030] The rotation axis of the first motor 10 is designed to be vertically upward, while the rotation axis of the second motor 16 is perpendicular to the rotation axis of the first motor 10. One end of the carbon fiber boom 17 is fixed to the output shaft of the second motor 16. The third motor 19 is fixed to the other end of the carbon fiber boom 17 via a third motor mounting bracket 18. Therefore, the rotation of the output shaft of the second motor 16 will drive the third motor 19 to perform circular motion. In this structure, the rotation axis of the third motor 19 is always parallel to the rotation axis of the second motor 16, and the distance between their axes is 60 cm. The fourth motor 21 is fixed via a fourth motor mounting bracket 20, which is fixedly connected to the output shaft of the third motor 19. Therefore, the rotation of the output shaft of the third motor 19 will drive the fourth motor 21 to perform circular motion. The rotation axis of the fourth motor 21 is perpendicular to the rotation axis of the third motor 19, and the rotation axis of the fourth motor 21 and the rotation axis of the first motor 10 always define a plane perpendicular to the ground. The output shaft of the fourth motor 21 is connected to a fifth motor mounting bracket 22.

[0031] The fifth motor 23 is fixed to the fifth motor mounting bracket 22, and its rotation axis is perpendicular to the rotation axis of the fourth motor 21. The output shaft of the fifth motor 23 is fixedly connected to the extended carbon fiber tube 25 of the racket, and the badminton racket 26 is fixed to the extended carbon fiber tube 25. At this time, the output shaft of the fifth motor 23, the extended carbon fiber tube 25 of the racket, and the central axis of the badminton racket 26 are collinear. The rotation of the output shaft of the fifth motor 23 can drive the badminton racket 26 to rotate around its own axis, thereby adjusting the angle of attack between the racket face and the shuttlecock at the moment of impact. The output axis of the fourth motor 21 is perpendicular to the racket face of the badminton racket 26, and the rotation of its output shaft can drive the badminton racket 26 to perform a swinging motion. The distance from the output axis of the fourth motor 21 to the center point of the racket face of the badminton racket 26 is 85 cm. The longer this distance, the greater the linear velocity of the center of the racket face during the swing, and the farther the hitting distance.

[0032] To address this, a carbon fiber extended carbon tube 25 is used as an extension shaft, which increases the hitting torque while effectively reducing the overall weight of the racket. The extended carbon tube 25 passes through a racket rotation support 24, which is also fixed to the fifth motor mounting bracket 22, providing auxiliary support and reinforcement for the extended carbon tube 25. This effectively prevents breakage of the fifth motor 23 output shaft or the extended carbon tube 25 due to inertial forces during high-speed swings.

[0033] Finally, it should be noted that relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0034] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A badminton robot, comprising a main body; characterized in that, The main body of the badminton robot includes a torso assembly, six steering wheel assemblies, and a robotic arm assembly; The six steering wheel assemblies are located in the front, rear, left, and right directions of the torso assembly, with two in each direction and one in each direction. The robotic arm assembly is located at the center of the torso assembly. Each steering wheel assembly includes a steering motor, a motor mounting plate, a conductive slip ring, a wheel mounting plate, a wheel rotation motor, and a wheel. The steering motor is fixed to the motor mounting plate, and the output shaft of the steering motor is fixedly connected to the wheel mounting plate; the wheel rotation motor is fixed to the wheel mounting plate, and the wheel is connected to the output end of the wheel rotation motor; the conductive slip ring is used to provide power and communication connection to the wheel rotation motor.

2. The badminton robot as described in claim 1, characterized in that, The torso assembly includes a first transverse support, a second transverse support, a longitudinal support, and a robotic arm assembly mounting bracket. The first transverse support and the second transverse support are arranged parallel to each other, and the longitudinal support is mounted on the first transverse support and the second transverse support and is symmetrically arranged with respect to the center of the first transverse support and the second transverse support. The robotic arm assembly mounting bracket is installed at the center of the longitudinal support. Steering wheel assemblies are installed at the ends of the first transverse support, the second transverse support, and the longitudinal support. The robotic arm assembly is mounted on the robotic arm assembly mounting bracket.

3. The badminton robot as described in claim 1, characterized in that, The robotic arm assembly includes a first motor, a robotic arm base, a crossed roller bearing, a second motor, a carbon fiber upper arm, a third motor, a fourth motor, a fifth motor, a racket rotation support, and an extended carbon fiber tube for the racket. The first motor is fixed to the robotic arm assembly mounting bracket, and the rotation axis of the first motor is vertically upward. The output shaft of the first motor is connected to the second motor mounting plate via a first motor output shaft connector. The second motor mounting plate is connected to the crossed roller bearing, which is fixed to the robotic arm base. The robotic arm base is fixed to the robotic arm assembly mounting bracket. The second motor is connected to the second motor mounting plate. The rotation axis of the second motor is perpendicular to the rotation axis of the first motor. One end of the carbon fiber upper arm... The first motor is fixed to the output shaft of the second motor; the third motor is fixed to the other end of the carbon fiber arm via a third motor mounting bracket; the rotation axis of the third motor is always parallel to the rotation axis of the second motor; the fourth motor is fixed via a fourth motor mounting bracket, which is fixedly connected to the output shaft of the third motor, and the rotation axis of the fourth motor is perpendicular to the rotation axis of the third motor, and the rotation axis of the fourth motor and the rotation axis of the first motor always define a plane perpendicular to the ground; the output shaft of the fourth motor is connected to a fifth motor mounting bracket; the fifth motor is fixed to the fifth motor mounting bracket, and its rotation axis is perpendicular to the rotation axis of the fourth motor; the output shaft of the fifth motor is fixedly connected to the extended carbon fiber tube of the racket.

4. The badminton robot as described in claim 1, characterized in that, The extended carbon fiber tube of the racket passes through the racket rotation support, which is fixed to the fifth motor mounting bracket.

5. The badminton robot as described in claim 1, characterized in that, The torso assembly includes an industrial control computer that controls the movement of all motors in the main body of the badminton robot and communicates with the server of the off-court judging system to receive instructions.

6. The badminton robot as described in claim 1, characterized in that, The industrial control computer is installed directly below the robotic arm assembly mounting bracket.

7. The badminton robot as described in claim 1, characterized in that, The body positioning plate is fixed at one end of the first horizontal support and the second horizontal support.

8. The badminton robot as described in claim 1, characterized in that, The steering wheel assembly is fixed to the aluminum profile bracket of the body assembly by screws.

9. A badminton robot system, characterized in that, The invention includes a six-wheeled badminton robot and an off-court judgment system as described in any one of claims 1-8. The off-court judgment system comprises two camera brackets, high-speed global shutter cameras respectively mounted on the two camera brackets, and a server. The two high-speed global shutter cameras are connected to the server to form a binocular recognition system. The badminton robot is equipped with a QR code. The binocular recognition system identifies the spatial position of the badminton shuttlecock by comparing and analyzing the pixels of the two high-speed global shutter cameras and their captured images. The binocular recognition system uses the QR code to determine the position of the badminton robot body relative to the court.

10. A badminton robot system as described in claim 9, characterized in that, The QR code is set on the body positioning plate at one end of the first horizontal support and the second horizontal support.

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