Intelligent serving robot

Abstract

The utility model discloses an intelligent ball launching robot relates to the technical field of auxiliary training equipment, wherein, intelligent ball launching robot includes base, launching device and identification device, is provided with walking mechanism on the base, launching device sets up on the base, and the projection device includes drive mechanism and two opposite friction wheel, and the interval between two friction wheels is set to be less than the diameter of basketball, and one of two friction wheels is located above the other, and drive mechanism is driven to be connected with two friction wheels, to drive two friction wheels to rotate in opposite directions, and identification device is used for identifying the position information of basket and player, in the technical scheme provided in the utility model, the compound friction force produced by double friction wheel structure can accurately control the basketball flight trajectory, and through walking mechanism and identification device, the collaborative control of robot autonomous mobile positioning and dynamic target tracking is realized, ensures that the basketball is accurately delivered to the athlete or the basket position, and effectively assists the athlete to improve the skill.

Description

Technical Field

[0001] This utility model relates to the field of auxiliary training equipment technology, and in particular to an intelligent serving robot. Background Technology

[0002] In an era of rapid development in artificial intelligence, robotics is constantly advancing, gradually acquiring the ability to serve humanity and benefit society. Particularly in the sports industry, the application of robotics is becoming increasingly widespread, aiming to provide more efficient, precise, and safe training assistance. Basketball, as a popular sport, places crucial importance on mastering basic skills such as passing and dribbling during training. However, traditional basketball training methods often rely on human assistance, resulting in low efficiency and insufficient accuracy, failing to meet the demands of modern training. While some basketball training aids exist, most of these devices are single-function and cannot achieve intelligent passing operations, making it difficult to effectively assist athletes in improving their skills. Utility Model Content

[0003] The main purpose of this invention is to propose an intelligent serving robot, which aims to at least solve the problem of basketball training auxiliary equipment in related technologies. However, most of these devices have limited functions and cannot achieve intelligent passing operations, making it difficult to effectively assist athletes in improving their skills.

[0004] To achieve the above objectives, this utility model proposes an intelligent serving robot, comprising:

[0005] A base, on which a walking mechanism is provided;

[0006] A launching device, mounted on the base, includes a drive mechanism and two opposing friction wheels. The distance between the two friction wheels is less than the diameter of a basketball. One of the friction wheels is positioned above the other. The drive mechanism is motive-connected to the two friction wheels to drive them to rotate in opposite directions.

[0007] The identification device is used to identify the position information of the basketball hoop and the player.

[0008] In one embodiment, the drive mechanism includes two motors, each of which is drivenly connected to one of the two friction wheels.

[0009] In one embodiment, the identification device includes an infrared sensor and / or a camera; and / or,

[0010] The location information includes the height of the launching device from the basket or the player's hand, and the horizontal distance of the launching device from the basket or the player.

[0011] In one embodiment, the intelligent serving robot further includes an angle adjustment device disposed between the base and the launching device, the angle adjustment device being used to adjust the angle between the line connecting the two friction wheels and the horizontal plane.

[0012] In one embodiment, the two friction wheels include a first friction wheel and a second friction wheel located above the first friction wheel;

[0013] The launching device further includes a connecting frame, which includes a connecting end rotatably connected to the base and a free end away from the connecting end. The connecting end of the connecting frame is coaxially arranged with the first friction wheel, and the second friction wheel is rotatably arranged at the free end of the connecting frame.

[0014] The angle adjustment device is driven to the free end of the connecting frame to drive the connecting frame to rotate, thereby adjusting the angle between the line connecting the two friction wheels and the horizontal plane.

[0015] In one embodiment, the angle adjustment device includes:

[0016] The two side panels are positioned opposite each other.

[0017] A rotating shaft is rotatably disposed between the two side plates;

[0018] The first gear is mounted on the rotating shaft;

[0019] A second gear is disposed on the connecting frame and meshes with the first gear; and

[0020] A drive motor is connected to the rotating shaft.

[0021] In one embodiment, the location information includes the height of the launching device from the basket or the player's hand, and the horizontal distance of the launching device from the basket or the player.

[0022] The angle between the line connecting the two friction wheels and the horizontal plane is . It satisfies the following relationship:

[0023]

[0024] in, The horizontal distance from the launching device to the basket or player. It is the acceleration due to gravity. The initial velocity of the basketball launch. The height of the launching device from the basket or the player's hand.

[0025] In one embodiment, the base is provided with a storage structure for storing basketballs.

[0026] In one embodiment, the two friction wheels include a first friction wheel and a second friction wheel located above the first friction wheel;

[0027] The storage structure includes a support plate, which is at least partially located below the first friction wheel and spaced apart. The distance between the support plate and the first friction wheel is set to be less than the diameter of a basketball.

[0028] In one embodiment, the support plate is arc-shaped, with its lower end positioned below the first friction wheel and its upper end facing the second friction wheel.

[0029] In this invention, the intelligent ball-serving robot includes a base with a walking mechanism mounted on it. A launching device is mounted on the base and includes a drive mechanism and two opposing friction wheels. The distance between the two friction wheels is less than the diameter of the basketball, with one friction wheel positioned above the other. The drive mechanism is connected to both friction wheels to drive them to rotate in opposite directions. A recognition device identifies the position information of the basketball hoop and the player. The combined friction force generated by the dual-friction wheel structure can precisely control the basketball's flight trajectory, adapting to different distances and heights of shooting. The walking mechanism and recognition device enable coordinated control of the robot's autonomous movement and positioning, as well as dynamic target tracking, ensuring the basketball is accurately delivered to the player or the basketball hoop, effectively assisting the athlete in improving their skills. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0031] Figure 1 A three-dimensional structural diagram of an embodiment of the intelligent serving robot provided by this utility model;

[0032] Figure 2 for Figure 1 A three-dimensional structural diagram of the launch device;

[0033] Figure 3 for Figure 1 A three-dimensional structural diagram of the mid-angle adjustment device;

[0034] Figure 4 for Figure 3 A three-dimensional structural diagram of the center angle adjustment device from another angle;

[0035] Figure 5for Figure 1 A three-dimensional structural diagram of the central launching device and the angle adjustment device;

[0036] Figure 6 for Figure 1 A three-dimensional structural diagram of the central base.

[0037] Explanation of icon numbers:

[0038] 100. Intelligent ball-serving robot; 1. Base; 11. Walking mechanism; 2. Launching device; 21. Friction wheel; 211. First friction wheel; 212. Second friction wheel; 22. Drive mechanism; 23. Connecting frame; 231. Connecting end; 232. Free end; 3. Identification device; 4. Angle adjustment device; 41. Side plate; 42. Rotation shaft; 43. First gear; 44. Second gear; 45. Drive motor; 5. Storage structure; 51. Support plate.

[0039] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0041] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0042] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0043] In an era of rapid development in artificial intelligence, robotics is constantly advancing, gradually acquiring the ability to serve humanity and benefit society. Particularly in the sports industry, the application of robotics is becoming increasingly widespread, aiming to provide more efficient, precise, and safe training assistance. Basketball, as a popular sport, places crucial importance on mastering basic skills such as passing and dribbling during training. However, traditional basketball training methods often rely on human assistance, resulting in low efficiency and insufficient accuracy, failing to meet the demands of modern training. While some basketball training aids exist, most of these devices are single-function and cannot achieve intelligent passing operations, making it difficult to effectively assist athletes in improving their skills.

[0044] The main purpose of this invention is to propose an intelligent serving robot, which aims to at least solve the problem of basketball training auxiliary equipment in related technologies. However, most of these devices have limited functions and cannot achieve intelligent passing operations, making it difficult to effectively assist athletes in improving their skills.

[0045] Please see Figure 1 and Figure 2 In one embodiment of this utility model, the intelligent serving robot 100 includes a base 1, a launching device 2, and an identification device 3. The base 1 is provided with a walking mechanism 11. The launching device 2 is disposed on the base 1 and includes a driving mechanism 22 and two friction wheels 21 arranged opposite to each other. The distance between the two friction wheels 21 is set to be less than the diameter of a basketball. One of the two friction wheels 21 is located above the other. The driving mechanism 22 is drivenly connected to the two friction wheels 21 to drive the two friction wheels 21 to rotate in opposite directions. The identification device 3 is used to identify the position information of the basketball hoop and the player.

[0046] In the technical solution of this utility model, the intelligent ball-serving robot 100 includes a base 1, on which a walking mechanism 11 is mounted; a launching device 2 is mounted on the base 1, including a drive mechanism 22 and two opposing friction wheels 21, the distance between the two friction wheels 21 being less than the diameter of the basketball, with one friction wheel 21 positioned above the other; the drive mechanism 22 is driven by the two friction wheels 21 to drive them to rotate in opposite directions; and a recognition device 3 is used to identify the position information of the basketball hoop and the player. The composite friction force generated by the dual friction wheel 21 structure can precisely control the trajectory of the basketball, adapting to the needs of shooting at different distances and heights. Through the walking mechanism 11 and the recognition device 3, the robot's autonomous movement and positioning, as well as dynamic target tracking, are coordinated and controlled, ensuring that the basketball is accurately delivered to the player or the basketball hoop, effectively assisting the player in improving their skills.

[0047] The walking mechanism 11 refers to a drive unit with autonomous movement capabilities, which can be implemented using electric tracks or omnidirectional wheels, enabling the robot to adjust its position according to the training scenario. The friction wheel 21 refers to a rotating component with a high coefficient of friction, which can be implemented using a rubber-coated metal hub, achieving precise throwing by clamping a basketball and applying a reverse rotational force. The drive mechanism 22 refers to a power output device, which can be implemented using a dual-motor independent drive mode or a single motor driving two friction wheels 21. The recognition device 3 refers to a spatial positioning sensor, which can be implemented using a combination of a binocular camera and an infrared ranging module to acquire the target's three-dimensional coordinate data in real time.

[0048] Specifically, the walking mechanism 11 enables the robot to move freely along the field, overcoming the spatial limitations of fixed equipment. When the recognition device 3 detects that the athlete has moved to a new position, the walking mechanism 11 drives the chassis closer to the target area. The friction wheels 21 arranged vertically in the launching device 2 form a clamping space. After the basketball enters this space, it is captured by the two counter-rotating friction wheels 21. The initial velocity of the basketball is controlled by adjusting the rotation speed of the friction wheels 21. The recognition device 3 continuously tracks the height of the basket and the position of the athlete's hands, transmitting the coordinate data to the control system in real time. The system then calculates the optimal launch angle and force parameters based on the kinematic model. The driving mechanism 22 adjusts the rotation speed of the friction wheels 21 according to the calculation results, causing the basketball to fly towards the target point along a predetermined trajectory.

[0049] Calculation formula based on the momentum theorem:

[0050]

[0051] in, For basketball launch speed, Let v0 be the velocity of the basketball when it enters friction wheel 21, and m be the mass of the basketball. The above formula shows that if v0 = 0, the initial velocity of the basketball is... f and t This is related to increasing friction or contact time; specific considerations also include motor selection and the material of friction wheel 21.

[0052] This application further proposes that the drive mechanism 22 includes two motors, which are respectively connected to two friction wheels 21 for driving.

[0053] The two motors refer to two independently controlled power sources, which can be implemented using DC servo motors or stepper motors, and are respectively mounted on the rotating shaft 42 of the friction wheel 21. The separate drive connection to the two friction wheels 21 means that each motor directly drives its corresponding friction wheel 21. This can be achieved through a coupling or a reduction gear set, eliminating power loss caused by intermediate transmission mechanisms.

[0054] Compared to existing technologies, traditional single-motor drive schemes require synchronous drive of both wheels via gear sets or belts. Transmission gaps and elastic deformation can cause deviations between the actual and theoretical rotational speeds of the two wheels, resulting in a shift in the direction of the resultant force. The setup of two independent motors directly eliminates the intermediate transmission link, improving the speed control precision of the two friction wheels 21 and making the calculation of the basketball's initial velocity vector more accurate.

[0055] This application further proposes that the identification device 3 includes at least one of an infrared sensor and a camera, and the location information includes the height of the transmitter 2 from the basket or the player's hand, and the horizontal distance of the transmitter 2 from the basket or the player.

[0056] Infrared sensors are devices that measure distance by detecting infrared signals reflected from target objects. Specifically, they can be implemented using phase-type laser ranging modules, which calculate the distance value by converting the phase difference between the transmitted and received signals.

[0057] Among them, the camera device refers to a visual sensor with image acquisition function, which can be implemented by using a binocular camera with depth calculation function, and the spatial coordinates of the target object are analyzed by binocular parallax algorithm.

[0058] Specifically, in low-light or highly reflective scenarios, the infrared sensor can stably acquire absolute distance data of the target object by actively emitting modulated infrared light signals. Under sufficient light conditions, the camera can identify the outline of the basketball hoop or the player's limb features through a feature point matching algorithm. Height and horizontal distance parameters are simultaneously input into the kinematic model. The height difference is used to calculate the vertical component of the basketball's trajectory, while the horizontal distance serves as the reference value for the horizontal component of the parabolic trajectory. These two parameters are solved simultaneously using kinematic equations to accurately derive the required combination of launch angle and initial velocity for the friction wheel 21.

[0059] Compared to existing technologies, traditional solutions rely solely on a single ultrasonic sensor to measure horizontal distance, resulting in a lack of vertical positioning. Furthermore, using ordinary cameras for 2D image recognition is ineffective in backlit or foggy environments. This solution, through a multi-sensor complementary mechanism, retains the anti-interference capability of infrared sensing while leveraging the high-resolution characteristics of visual recognition. Simultaneously, it introduces a height dimension into the spatial parameter system, upgrading basketball launch trajectory calculation from a two-dimensional plane to three-dimensional spatial modeling.

[0060] Through the above technical solution, this application can continuously acquire the three-dimensional coordinates of the target under various lighting conditions such as glare from the stadium ceiling lights and outdoor rain, eliminating the parabolic trajectory calculation error caused by the lack of height measurement, and ensuring that the spatial overlap between the basketball landing point and the center point of the basket or the position of the player's palm meets the training requirements.

[0061] Please refer to Figures 3 to 5 This application further proposes an intelligent ball-serving robot 100, including an angle adjustment device 4 disposed between a base 1 and a launching device 2. The angle adjustment device 4 is used to adjust the angle between the line connecting the two friction wheels 21 and the horizontal plane.

[0062] Among them, the angle adjustment device 4 refers to the mechanical transmission mechanism that connects the base 1 and the launching device 2. Specifically, it can be implemented by an electric push rod or a gear transmission mechanism, and is used to change the overall tilt angle of the launching device 2 relative to the base 1.

[0063] The angle between the line connecting the friction wheels 21 and the horizontal plane refers to the geometric angle between the straight line formed by the center points of the two friction wheels 21 and the ground plane.

[0064] Specifically, when the identification device 3 obtains the height and horizontal distance of the target position, the angle adjustment device 4 calculates the required projection angle according to a preset motion trajectory algorithm, driving the launching device 2 to rotate around the rotation axis 42 of the base 1. The launching channel formed by the two friction wheels 21 tilts as a whole with the launching device 2, so that the basketball obtains an initial launch angle corresponding to the included angle when it leaves the friction wheels 21. With the dynamic adjustment of the included angle, the flight trajectory of the basketball can match the target position at different heights and distances.

[0065] Compared to existing technologies, traditional ball-launching devices use a fixed-angle friction wheel 21 structure, which can only achieve a single parabolic trajectory, resulting in deviations in the basketball's landing point. This solution, through the coordinated control of the angle adjustment device 4 and the recognition device 3, achieves real-time dynamic adjustment of the launch angle, adapting to different scenario requirements without the need for complex mechanical structures.

[0066] Through the above technical solution, this application solves the problem of basketball landing point deviation caused by fixed launch angle. It can adjust the tilt angle of the friction wheel 21 component in real time according to the target position data, so that the flight trajectory of the basketball can accurately match the height and distance of the basket or the player's hand, significantly improving the passing and shooting accuracy.

[0067] This application further proposes an intelligent ball-serving robot 100, which includes a base 1, a launching device 2, and a recognition device 3. The launching device 2 includes a drive mechanism 22 and two friction wheels 21 arranged vertically opposite each other. The distance between the two friction wheels 21 is less than the diameter of a basketball, and they rotate in opposite directions. An angle adjustment device 4 is disposed between the base 1 and the launching device 2, and is used to adjust the angle between the line connecting the friction wheels 21 and the horizontal plane. In the specific structure, the two friction wheels 21 are divided into a first friction wheel 211 and a second friction wheel 212, with the second friction wheel 212 located above the first friction wheel 211. The launching device 2 is additionally provided with a connecting frame 23, which includes a connecting end 231 rotatably connected to the base 1 and a free end 232. The connecting end 231 is coaxially arranged with the first friction wheel 211, and the second friction wheel 212 is assembled on the free end 232. The angle adjustment device 4 is drivenly connected to the free end 232, and the tilt angle of the two friction wheels 21 is changed by driving the connecting frame 23 to rotate.

[0068] In this design, the connecting end 231 of the connecting frame 23 forms a rotating pair with the base 1, while the free end 232 carries the second friction wheel 212. This design allows the second friction wheel 212 to rotate around the axis of the first friction wheel 211, maintaining the synchronous tilt of the two friction wheels 21. The angle adjustment device 4 is an actuator that outputs rotational power, such as a servo motor with a reduction gear set. Its output shaft is connected to the free end 232 of the connecting frame 23 via a transmission component, and the tilt angle of the connecting frame 23 is changed by driving the free end 232 to rise and fall. This device can precisely control the tilt angle of the clamping surface of the friction wheel 21, thereby adjusting the trajectory of the basketball.

[0069] Specifically, when the shooting angle needs to be changed, the angle adjustment device 4 outputs rotational power to drive the connecting frame 23 to rotate around the axis of its connecting end 231. Since the second friction wheel 212 is installed at the free end 232, its position is vertically displaced as the connecting frame 23 rotates, causing the clamping plane formed by the two friction wheels 21 to form an angle with the horizontal plane. During this process, the first friction wheel 211 rotates along a fixed axis, while the second friction wheel 212 tilts as a whole with the connecting frame 23 while rotating at the free end 232. This linkage structure ensures that the two friction wheels 21 always maintain a predetermined distance and that their rotation directions remain opposite, preventing the basketball from slipping during clamping. By adjusting the tilt angle of the connecting frame 23 in real time, the directional component of the initial velocity of the basketball when it is released can be dynamically changed, thereby adapting to the needs of different shooting distances and heights.

[0070] This application further proposes an angle adjustment device 4 comprising two side plates 41, a rotating shaft 42, a first gear 43, a second gear 44, and a drive motor 45. The two side plates 41 are arranged opposite to each other, the rotating shaft 42 is rotatably disposed between the two side plates 41, the first gear 43 is disposed on the rotating shaft 42, the second gear 44 is disposed on the connecting frame 23 and meshes with the first gear 43, and the drive motor 45 is drivenly connected to the rotating shaft 42.

[0071] Among them, the two side plates 41 refer to a pair of parallel support structures, which can be made of metal sheets and are used to fix the rotating shaft 42 and provide mechanical stability to prevent the rotating shaft 42 from shifting during rotation.

[0072] Specifically, after the drive motor 45 starts, it drives the rotating shaft 42 to rotate, causing the first gear 43 to rotate synchronously. Since the first gear 43 meshes with the second gear 44, the rotation of the second gear 44 forces the connecting frame 23 to oscillate around its rotational connection point with the base 1. The free end 232 of the connecting frame 23 causes the second friction wheel 212 to change angle relative to the first friction wheel 211, thereby adjusting the angle between the line connecting the two friction wheels 21 and the horizontal plane. In this process, the gear meshing transmission converts the continuous rotational motion of the rotating shaft 42 into the reciprocating oscillation of the connecting frame 23, achieving linear adjustment of the angle between the friction wheels 21.

[0073] This design is not limited to this. The angle adjustment device 4 can also use a hydraulic cylinder or a linkage mechanism to adjust the angle. For example, the fixed end of the hydraulic cylinder is hinged to the base 1, and the output end is hinged to the free end 232 of the connecting frame 23. When the hydraulic cylinder is started, it can drive the free end 232 of the connecting frame 23 to swing.

[0074] This application further proposes that, given the positional information including the height and horizontal distance from the launching device 2 to the basket or player's hand, the angle θ between the line connecting the two friction wheels 21 and the horizontal plane must satisfy the following relationship: .

[0075] The included angle θ refers to the tilt angle formed by the line connecting the centers of the two friction wheels 21 and the horizontal plane. Specifically, it can be achieved by changing the rotation angle of the connecting frame 23 through the angle adjustment device 4. The adjustment of this included angle directly affects the initial launch angle of the basketball.

[0076] Here, l refers to the horizontal distance between the launching device 2 and the basket or player, which can be measured in real time by an infrared sensor or camera. This parameter is used to calculate the horizontal component requirement of the basketball's flight trajectory.

[0077] Where h refers to the vertical height difference between the launching device 2 and the basket or the player's hand, which can be obtained through a depth sensor or a stereo vision system. This parameter is used to determine the vertical displacement requirement of the basketball's flight trajectory.

[0078] V0 refers to the initial velocity of the basketball when it leaves the friction wheel 21. Specifically, it can be achieved by adjusting the motor speed to control the linear velocity of the friction wheel 21. The initial velocity is positively correlated with the rotational speed of the friction wheel 21.

[0079] Among them, the gravitational acceleration g is a known constant, representing the vertical acceleration experienced by the basketball during flight. This parameter is used to calculate the compensation amount of the basketball's falling displacement caused by gravity.

[0080] Specifically, when the launching device 2 is activated, the identification device 3 acquires the height h and horizontal distance l of the target point in real time. The control module substitutes h, l, and the preset initial velocity V0 of the basketball into the following equation: Iterative calculations are performed to find the minimum angle θ that satisfies the conditions. The angle adjustment device 4 then drives the friction wheel set 21 to rotate to this angle θ, so that the throwing direction formed by the two friction wheels 21 simultaneously satisfies the constraints of horizontal displacement and vertical height. The basketball launched at this angle has its horizontal motion component guaranteed to cover the target distance by the lcotθ term, while the vertical motion component is compensated for the amount of fall caused by gravity by the (gl²) / (2V0sin²θ) term, so that the height of the apex of the basketball trajectory is sufficient to reach the target point.

[0081] Through the above technical solution, this application realizes adaptive angle adjustment based on the spatial coordinates of the target point, ensuring that the basketball can reach the target position with the optimal launch angle under any horizontal distance and height difference conditions. It solves the problem of trajectory calculation error caused by neglecting gravity compensation in traditional devices, and significantly improves the accuracy of passing and the controllability of the trajectory.

[0082] Please refer to Figure 1 and Figure 6 This application further proposes to provide a storage structure 5 for storing basketballs on the base 1.

[0083] Among them, the storage structure 5 refers to the physical support component used to fix the storage position of the basketball, which can be implemented by placing a slot or a clamping mechanism.

[0084] In embodiments of this application, the two friction wheels 21 include a first friction wheel 211 and a second friction wheel 212 located above the first friction wheel 211; the storage structure 5 includes a support plate 51, which is at least partially located below the first friction wheel 211 and spaced apart, with the distance between the support plate 51 and the first friction wheel 211 set to be less than the diameter of the basketball. This distance restriction confines the basketball between the support plate 51 and the friction wheel 21 when stored, preventing the basketball from leaving the storage area due to external force.

[0085] Specifically, the storage structure 5 achieves positioning constraint on the basketball through the coordinated action of the support plate 51 and the first friction wheel 211. When the basketball is placed on the surface of the support plate 51, its bottom contacts the support plate 51, while its top is blocked by the first friction wheel 211. Due to the limited distance between the support plate 51 and the friction wheel 21, the basketball cannot fall downwards or move upwards, thus maintaining a stable storage state. When it is necessary to launch, the friction force generated by the rotation of the friction wheel 21 can directly act on the surface of the basketball, realizing the smooth execution of the grabbing and throwing actions.

[0086] Through the above technical solution, this application can stably confine the basketball to a preset position, preventing the basketball from accidentally rolling or falling off during robot movement or operation. The distance limit between the support plate 51 and the friction wheel 21 ensures that the basketball maintains a fixed posture when stored, facilitating quick grabbing by the subsequent launching mechanism, improving operational efficiency and reducing the need for manual intervention.

[0087] This application further proposes that the support plate 51 is arranged in an arc shape, with the lower end of the support plate 51 located below the first friction wheel 211 and the upper end facing the second friction wheel 212.

[0088] The support plate 51 is arc-shaped, meaning its cross-section has a continuously curved surface structure. This can be achieved using a metal or engineering plastic sheet formed by stamping or injection molding. This arc-shaped structure creates a contact surface that matches the surface of the basketball when it is stored, increasing the support contact area through the curvature of the surface. The lower end of the support plate 51 is located below the first friction wheel 211, meaning the lowest point of the support plate 51 is perpendicular to the rotation axis 42 of the first friction wheel 211. This can be achieved by welding or bolting it to the base 1 frame, forming a physical constraint on the bottom of the basketball.

[0089] Specifically, when the basketball is collected, its bottom contacts the arc-shaped support surface formed by the lower end of the support plate 51. The curved structure counteracts the slippage tendency caused by the ball's own weight through the normal component force. As the launching device 2 is activated, the basketball rolls along the arc surface of the support plate 51 under the action of gravity. The upper end forms a guide slope in the direction of extension of the second friction wheel 212, forcing the basketball's trajectory to gradually converge into the launching channel between the two friction wheels 21. The distance between the arc-shaped support plate 51 and the first friction wheel 211 is less than the diameter of the basketball, generating a restraining effect during rolling and preventing the ball from deviating. When the basketball contacts the second friction wheel 212, the counter-rotating friction wheel 21 applies a tangential force to the ball, driving it to accelerate away along the predetermined launching direction.

[0090] Through the above technical solution, this application achieves stable positioning of the basketball in its stored state, preventing accidental slippage due to insufficient friction on the support surface. During launch, the curved support plate 51 guides the basketball smoothly into the clamping area of ​​the friction wheels 21 through a curved transition, avoiding abrupt changes in the motion path caused by traditional linear guide structures and effectively reducing the rate of basketball jamming. This structure simultaneously ensures storage stability and launch smoothness, guaranteeing that the basketball can be accurately captured by the two friction wheels 21 and launched along a predetermined trajectory after detaching from the support plate 51.

[0091] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An intelligent serving robot, characterized in that, include: A base, on which a walking mechanism is provided; A launching device, mounted on the base, includes a drive mechanism and two opposing friction wheels. The distance between the two friction wheels is less than the diameter of a basketball. One of the friction wheels is positioned above the other. The drive mechanism is motive-connected to the two friction wheels to drive them to rotate in opposite directions. The identification device is used to identify the position information of the basketball hoop and the player.

2. The intelligent serving robot as described in claim 1, characterized in that, The drive mechanism includes two motors, which are respectively connected to the two friction wheels.

3. The intelligent serving robot as described in claim 1, characterized in that, The identification device includes an infrared sensor and / or a camera; and / or, The location information includes the height of the launching device from the basket or the player's hand, and the horizontal distance of the launching device from the basket or the player.

4. The intelligent serving robot as described in claim 1, characterized in that, The intelligent ball-serving robot also includes an angle adjustment device disposed between the base and the launching device, the angle adjustment device being used to adjust the angle between the line connecting the two friction wheels and the horizontal plane.

5. The intelligent serving robot as described in claim 4, characterized in that, The two friction wheels include a first friction wheel and a second friction wheel located above the first friction wheel; The launching device further includes a connecting frame, which includes a connecting end rotatably connected to the base and a free end away from the connecting end. The connecting end of the connecting frame is coaxially arranged with the first friction wheel, and the second friction wheel is rotatably arranged at the free end of the connecting frame. The angle adjustment device is driven to the free end of the connecting frame to drive the connecting frame to rotate, thereby adjusting the angle between the line connecting the two friction wheels and the horizontal plane.

6. The intelligent serving robot as described in claim 5, characterized in that, The angle adjustment device includes: The two side panels are positioned opposite each other. A rotating shaft is rotatably disposed between the two side plates; The first gear is mounted on the rotating shaft; A second gear is disposed on the connecting frame and meshes with the first gear; and A drive motor is connected to the rotating shaft.

7. The intelligent serving robot as described in claim 4, characterized in that, The location information includes the height of the launching device from the basket or the player's hand, and the horizontal distance of the launching device from the basket or the player; The angle between the line connecting the two friction wheels and the horizontal plane is . It satisfies the following relationship: in, The horizontal distance from the launching device to the basket or player. It is the acceleration due to gravity. The initial velocity of the basketball launch. The height of the launching device from the basket or the player's hand.

8. The intelligent serving robot as described in claim 1, characterized in that, The base is equipped with a storage structure for storing basketballs.

9. The intelligent serving robot as described in claim 8, characterized in that, The two friction wheels include a first friction wheel and a second friction wheel located above the first friction wheel; The storage structure includes a support plate, which is at least partially located below the first friction wheel and spaced apart. The distance between the support plate and the first friction wheel is set to be less than the diameter of a basketball.

10. The intelligent serving robot as described in claim 9, characterized in that, The support plate is arc-shaped, with its lower end positioned below the first friction wheel and its upper end facing the second friction wheel.

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