Humanoid shooting robot

Abstract

The utility model discloses a humanoid shooting robot, the overall appearance structure of which imitates the ergonomic design, and the humanoid shooting robot comprises legs, a waist, a trunk, big arms, small arms, hands and a head so as to fit the visual perception and viewing habits of a human body. The main body frame of the robot is made of a novel high-strength carbon fiber composite material, so that the structural strength is effectively guaranteed, the self weight is greatly reduced, and the movement flexibility of the robot is remarkably improved. By adopting the bionic grasping technology and bionic materials, stable grasping of basketballs is achieved, the grasping stability under various complex conditions is greatly improved, the shooting accuracy is obviously enhanced through a multi-joint cooperative control strategy, and the shooting action performance of human basketball players is better simulated. Meanwhile, the robot not only can be competent for basketball training and performance tasks, but also can play a positive role in the field of science popularization education due to rich intelligent interaction functions.

Description

Technical Field

[0001] This utility model belongs to the field of humanoid robot technology, and in particular relates to a humanoid basketball shooting robot. Background Technology

[0002] Currently, basketball is popular worldwide across all age groups due to its unique competitive appeal and broad appeal. However, traditional basketball training and instruction rely heavily on manual operation, which not only struggles to guarantee accuracy and efficiency but also easily leads to fatigue for coaches and trainees over long periods, hindering the demonstration and instruction of standardized movements with precise repetition. Therefore, basketball training assistive robots have emerged. These robots typically possess the ability to simulate real basketball movements, reducing the workload of coaches or training partners to some extent and improving training efficiency. However, existing basketball training robots still face many unresolved issues in practical applications.

[0003] First, existing basketball training robots perform poorly in shooting, posture control, and motion stability, particularly struggling to precisely adjust and control their posture during movement, making them ill-suited for the complex and ever-changing basketball environment. Furthermore, due to limitations in their structural design, most robots lack flexible and rapid responses, resulting in unstable movement and potentially inaccurate shooting or even failed attempts, thus significantly limiting their practicality as professional training tools.

[0004] Secondly, most basketball training robots currently lack intelligent interactive functions, failing to effectively recognize user actions and commands, and struggling to establish real-time interactive communication with trainers or spectators. This results in significant deficiencies in the robots' functions for science education, entertainment, and social interaction. Furthermore, when demonstrating or teaching, robots often exhibit mechanical and monotonous action patterns, with stiff grasping and shooting methods that lack human-like characteristics, greatly reducing the user's sense of realism and engagement.

[0005] Therefore, there is an urgent need to develop a basketball robot with stronger motion stability, adaptive posture control capabilities, and high-level intelligent interactive functions. By optimizing the mechanical structure and control algorithms, the robot can possess more flexible motion adjustment capabilities and higher motion precision, as well as intelligent recognition and interactive communication functions, significantly improving the professionalism of basketball training aids and enabling wider application in science education and entertainment. Utility Model Content

[0006] To solve the above-mentioned technical problems, this utility model provides a humanoid basketball shooting robot.

[0007] The specific technical solution provided by this utility model is as follows:

[0008] A humanoid basketball shooting robot includes legs, waist, torso, upper arm, forearm, hand, and head. The waist is equipped with a waist-tilting servo motor, the output shaft of which is connected to waist-leg connecting blocks on both sides of the waist. Extensions of the waist-leg connecting blocks are fixedly connected to the legs. Above the waist is a torso supporting the upper limbs, and a torso rotation servo motor is installed to achieve torso rotation. The upper arm is connected to the torso, and an upper arm lifting servo motor is built into the shoulder of the torso to achieve upper arm raising and lowering. The output shaft of the upper arm lifting servo motor is fixedly connected to one end of a shoulder connecting block, and the other end of the shoulder connecting block is connected to the upper arm. The forearm is connected to the upper arm via a forearm lifting servo motor. The hand is connected to the end of the forearm via a wrist servo motor, and includes a palm and multiple fingers hinged to the palm. The fingers are fixedly connected to the output shaft of a finger servo motor located within the palm via connecting rods. The head is equipped with a visual sensor, a voice interaction module, and a central processing module.

[0009] Furthermore, the main structure of the upper arm is provided with an upper arm rotation servo motor for realizing the rotation of the upper arm and / or the main structure of the lower arm is provided with a lower arm rotation servo motor for realizing the rotation of the lower arm.

[0010] Furthermore, the legs are positioned at a certain bending angle on the fixed base.

[0011] Furthermore, the finger is also equipped with a torque sensor or a pressure sensor.

[0012] Furthermore, the surface of the finger is covered with a biomimetic material for cushioning, and the surface of the biomimetic material is provided with a fingerprint-like texture.

[0013] Furthermore, the biomimetic material is silicone, silicone rubber, or polyurethane.

[0014] Furthermore, the robot is equipped with a matching wearable shell.

[0015] Furthermore, the robot is manufactured using high-strength carbon fiber composite material.

[0016] Compared to existing technologies, the humanoid basketball shooting robot provided by this invention achieves significant improvements in grasping and shooting performance, movement flexibility and stability, and intelligent interactive experience. Specifically, by employing biomimetic gripping technology and biomimetic materials, it achieves stable grasping of the basketball, significantly improving gripping stability under various complex conditions and reducing the grasping error rate by approximately 50% compared to traditional robots. Simultaneously, through shooting trajectory planning based on deep reinforcement learning algorithms and multi-joint collaborative control strategies, shooting accuracy is significantly enhanced, and the shooting percentage is significantly improved under the same conditions. Furthermore, by introducing dynamic balance control algorithms and hierarchical motion planning strategies, it maintains good stability and coordination during complex movements and better simulates the shooting motion of human basketball players. In addition, it integrates multiple intelligent interaction methods such as voice, gestures, and emotions, enabling more natural and human-like communication and interaction with users. Moreover, the rich intelligent interactive functions allow the robot not only to perform basketball training and performance tasks but also to play a positive role in science education, effectively disseminating basketball knowledge and robotics technology through vivid interactive communication, thus expanding the robot's application value. Attached Figure Description

[0017] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0018] Figure 1 This is a schematic diagram of the structure of a humanoid basketball shooting robot provided in one embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the appearance of a humanoid basketball shooting robot provided in one embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram A of the robot hand structure provided in an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram B of the robot hand structure provided in one embodiment of the present invention.

[0022] The reference numerals in the attached figures are as follows:

[0023] 1-Fixed base, 2-Legs, 3-Waist, 4-Waist and leg connecting block, 5-Tortoise, 6-Shoulder connecting block, 7-Forearm lifting servo motor, 8-Forearm rotation servo motor, 9-Wrist servo motor, 10-Head, 11-Palm, 12-Finger servo motor output shaft, 13-Connecting rod, 14-Finger. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0025] This embodiment provides a humanoid basketball shooting robot. Its overall appearance and structure are designed according to ergonomics, with an overall height of approximately 2 meters to conform to human visual perception and viewing habits. The robot's main frame is made of a new type of high-strength carbon fiber composite material, which effectively ensures structural strength while significantly reducing its weight and greatly improving the robot's movement flexibility.

[0026] like Figure 1 and Figure 2 As shown, the robot's overall structure mainly consists of components such as legs 2, waist 3, torso 5, upper arm, forearm, hand, and head 10. Among them, the legs 2, which have a certain bending angle, are set on the fixed base 1, and the fixed structure can provide a stable and reliable support foundation for the entire robot.

[0027] The waist section 3 houses a waist-tilting servo motor. The output shaft of the waist-tilting servo motor is connected to the waist-leg connecting blocks 4 on both sides of the waist. The extension of the waist-leg connecting blocks 4 is fixedly connected to the legs 2. By driving the waist-tilting servo motor, the robot's waist can tilt forward and backward under the transmission action of the waist-leg connecting blocks 4. The torso 5 is located above the waist section 3 to support the upper limb movement mechanism and achieves the rotational movement of the torso 5 through a built-in torso rotation servo motor. The waist-tilting servo motor and the torso rotation servo motor can assist in achieving aiming and shooting actions in different directions for the robot.

[0028] The robot's upper arm is connected to the torso 5 via a shoulder connecting block 6. The lifting and lowering motions are driven by an upper arm lifting servo motor, while the rotation motion is achieved by an upper arm rotation servo motor, meeting the requirement for accurate positioning of the upper arm during shooting. Specifically, the upper arm lifting servo motor is built into the shoulder of the torso 5, with its output shaft fixedly connected to one end of the shoulder connecting block 6. The other end of the shoulder connecting block 6 is fixedly connected to the bottom of the upper arm rotation servo motor, and the output shaft of the upper arm rotation servo motor is connected to the main body of the upper arm.

[0029] The robot's forearm is connected to the upper arm via a forearm lifting servo motor 7. The forearm is driven by the forearm lifting servo motor 7 to achieve the abduction movement of the forearm, and the forearm rotation servo motor 8 set in the forearm body is driven to achieve the rotation movement of the forearm tip, thereby realizing the flexible movement of the arm when shooting.

[0030] The robot's hand is connected to the end of its forearm via a wrist servo motor 9. The wrist servo motor 9 drives precise wrist flexion movements to simulate the wrist-based power generation characteristic of human basketball shooting. Figure 3 and Figure 4 As shown, the hand includes a palm 11 and multiple fingers 14 hinged to the palm. One end of a connecting rod 13 is connected to the fingers 14, and the other end of the connecting rod 13 is fixedly connected to the output shaft 12 of a finger servo motor located inside the palm 11. By driving the output shaft 12 of the finger servo motor to rotate, the connecting rod 13 is displaced, thereby realizing the opening and closing of the fingers 14. Precise control of the displacement speed and acceleration of the connecting rod 13 ensures that the opening and closing speed and acceleration of the fingers 14 meet the requirements for gripping and releasing the basketball, especially at the moment of shooting, allowing them to quickly detach from the basketball surface and avoid interfering with the basketball's trajectory. To more closely resemble the actual human finger gripping action, the structure of the fingers 14 is also designed to mimic the structure of human finger bones and muscles. High-precision torque sensors or pressure sensors are installed at the opening and closing points. By combining and analyzing data from multiple sensors, the fine control strategy of the human brain on the fingers is simulated, achieving adaptive bending of the fingers and precise adjustment of gripping force.

[0031] In some embodiments, the surface of the finger 14 is covered with a biomimetic material that possesses excellent frictional and flexible properties, allowing it to precisely conform to the texture of the basketball surface. This effectively improves the stability of the grip and provides cushioning to reduce the instantaneous impact force generated during gripping, thus protecting the basketball and the robotic hand structure. The selection of the biomimetic material is key to achieving high-performance gripping; materials such as silicone, silicone rubber, and polyurethane (e.g., TPU 95A) can be used. Furthermore, to enhance friction, a fingerprint-like texture can be formed on the surface of the biomimetic material.

[0032] The robot's head 10 is equipped with a visual sensor and a voice interaction module. Inside the head 10 is a central processing module connected to the visual sensor and the voice interaction module. This module is used to process and analyze the collected audio and video information and generate relevant control commands. It also integrates high-precision speech recognition and speech synthesis technology, which can accurately recognize the user's voice commands and interact with the user in natural and fluent language. Users can control the robot to perform shooting actions, inquire about basketball-related knowledge, or set training modes through voice commands.

[0033] In some embodiments, to enhance the robot's aesthetics or technological appeal, a wearable shell matching the robot's various modules is also designed, such as... Figure 2 As shown, this design not only enhances the robot's overall aesthetics but also strengthens its functionality and practicality, protecting internal components while meeting requirements for waterproofing and dustproofing.

[0034] The robot's shooting motion control system employs a deep reinforcement learning algorithm, enabling it to autonomously plan the optimal shooting trajectory and force application based on various dynamic information such as the robot's own position, posture, the basketball's state, and the basket's position. During actual shooting, the robot can coordinate and adjust the coordinated movements of multiple parts, including its fingers, wrist, and arm, in real time to ensure the accuracy and power of the shooting motion, achieving a high-precision shooting effect.

[0035] In addition, this robot has an advanced dynamic balance control system that monitors the robot's center of gravity position and posture deviation in real time through visual sensors and makes timely adjustments using advanced posture control algorithms, thereby maintaining a stable posture during various movements such as shooting, catching, and moving.

[0036] In terms of motion planning and coordinated control, the robot adopts a hierarchical motion planning strategy. The upper-level planning generates a global motion path based on the predetermined task objectives, while the lower-level planning optimizes and adjusts the robot's local motion based on real-time perception data. At the same time, a multi-joint collaborative control algorithm enables coordinated limb movements, allowing the robot to perform complex basketball movements such as running, stopping suddenly, and turning, resulting in a more natural and fluid overall motion posture.

[0037] In the actual shooting action, the robot first simulates the human gripping posture to grab the basketball. Through the coordinated movement of multiple parts such as the waist, upper arm, forearm, and wrist, the robot adjusts its posture and the position of the basketball to accurately aim at the basket target. At the moment of shooting force, the robot mainly uses the force of the wrist (wrist servo motor) to throw the basketball in a projectile form, rather than simply swinging it. The shooting posture and force mode are closer to the real human shooting action.

[0038] Through the detailed structural design and corresponding control strategies described above, the humanoid basketball shooting robot in this embodiment can efficiently and accurately complete basketball shooting actions. It not only has high flexibility and coordination, but also can interact with users in a friendly voice manner. It is suitable for multiple fields such as basketball training, robot demonstration, and artificial intelligence technology research.

[0039] The above description is only used to illustrate the technical solutions of this utility model, and is not intended to limit it. Under the concept of this utility model, the technical features of the above embodiments or different embodiments can also be combined, and there are other variations of different aspects of this utility model as described above. For the sake of brevity, they are not provided in detail. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A humanoid shooting robot characterized by, The robot comprises a leg, a waist, a trunk, a large arm, a small arm, a hand and a head; the waist is internally provided with a waist forward tilting servo motor, the output shafts of the waist forward tilting servo motor are respectively connected with waist leg connecting blocks on both sides of the waist, the extension parts of the waist leg connecting blocks are fixedly connected with the legs; an upper part of the waist is provided with the trunk for supporting upper limbs, and a trunk rotating servo motor for realizing trunk rotation is arranged; the large arm is connected with the trunk, a large arm lifting servo motor for realizing large arm lifting and falling is arranged in a shoulder part of the trunk; an output shaft of the large arm lifting servo motor is fixedly connected with one end of a shoulder connecting block, and the other end of the shoulder connecting block is connected with the large arm; the small arm is connected with the large arm through a small arm lifting servo motor; the hand is connected with a distal end of the small arm through a wrist servo motor, the hand comprises a palm and a plurality of fingers hinged with the palm, the fingers are fixedly connected with output shafts of finger servo motors arranged in the palm through connecting rods; the head is provided with a visual sensor, a voice interaction module and a central processing module.

2. The human form shooting robot of claim 1, wherein, A large arm rotating servo motor is arranged in a main body structure of the large arm, and / or a small arm rotating servo motor is arranged in a main body structure of the small arm.

3. The human form shooting robot of claim 1, wherein, The leg is arranged on a fixed base in a certain bending angle.

4. The human form shooting robot of claim 1, wherein, A torque sensor or a pressure sensor is further arranged on the finger.

5. The human form shooting robot of claim 1, wherein, A bionic material for buffering is covered on a surface of the finger, and a simulated fingerprint texture is arranged on a surface of the bionic material.

6. The human form shooting robot of claim 5, wherein, The bionic material is silica gel, silicone rubber or polyurethane material.

7. The human form shooting robot of claim 1, wherein, The robot is provided with a matching wearable shell.

8. The robot of claim 1, wherein, The robot is made of high-strength carbon fiber composite material.

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