CN103341255B - Intelligent ball picking system based on visual identification and multi-sensor data fusion - Google Patents
Intelligent ball picking system based on visual identification and multi-sensor data fusion Download PDFInfo
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Abstract
The invention discloses an intelligent ball picking system based on visual identification and multi-sensor data fusion. A multi-sensor data fusion method is adopted. A first infrared sensor (1-8), a second infrared sensor (1-21), a third infrared sensor (1-22) and a fourth infrared sensor (1-9) are four sensors at fixed positions and can detect barriers at the top corners of an intelligent ball picking device (1). A fifth infrared sensor (1-11) controlled by a fifth steering engine (1-10), a sixth infrared sensor (1-18) controlled by a sixth steering engine (1-17) and a seventh infrared sensor (1-20) controlled by a seventh steering engine (1-19) form three sets of sensors which can swing at angles, the sensors transmit collected data to a control system in real time and detect the barriers in front, on the left side and on the right side after the data are processed by the control system, and the barrier avoidance function is achieved. An infrared counting sensor (1-5) transmits collected information of the number of ball bodies to the control system for processing, and the counting function is achieved.
Description
Technical field
The present invention relates to the intelligent ball collecting device for the venue such as tennis, table tennis.
Background technology
Along with the raising of people's living standard, increasing people takes to the extra-professional activity such as table tennis, tennis, and the ball work of picking up of table tennis, tennis venue is a heavy manual labor, and manually picking up ball wastes time and energy, and efficiency is not high.In recent years, people constantly trial intelligent robot replace manually be engaged in this work.At present, the feature that the bi-mode intelligent ball picking robot control system (application number: CN201310155091.1) having proposed patent application utilizes two kinds of mode of operations to be combined with each other solves the problem picking table tennis, tennis.But its ball picking-up efficiency is lower, intelligent poor, and do not possess the function that picked spheroid number information is counted.Therefore, the intelligent ball collecting device researching and developing a kind of view-based access control model identification and Fusion improving ball picking-up efficiency, promote intelligent, to realize picking up ball count be very necessary.
Summary of the invention
The object of this invention is to provide the intelligent ball collecting system of a kind of view-based access control model identification and Fusion.
The present invention is the intelligent ball collecting system of view-based access control model identification and Fusion, this system by integral mechanical structure, image capturing system, obstacle avoidance system, dynamical system, pick up ball count system, control system, skin plating form; Integral mechanical structure comprises bottom frame for movement 1-46, top layer frame for movement 1-47; Bottom frame for movement 1-46 is for installing image capturing system, obstacle system, dynamical system, picking up ball count system; Top layer frame for movement 1-47 is used for installation control system.
By first crossbeam, (1-48, second cross beam 1-49, the first curb girder 1-54, the second curb girder 1-55 form bottom frame for movement 1-46, first curb girder 1-54 is parallel with the second curb girder 1-55, first crossbeam 1-48 and second cross beam 1-49 is all perpendicular to the first curb girder 1-54 and the second curb girder 1-55, and first crossbeam 1-48 be positioned at the first curb girder 1-54 and the second curb girder 1-55 form the top of plane, second cross beam 1-49 be positioned at the first curb girder 1-54 and the second curb girder 1-55 form the below of plane; Top layer mechanical mechanism 1-47 is made up of the first column 1-58, the second column 1-59, the 3rd column 1-60, the 4th column 1-61, the 5th column 1-62, the 6th column 1-63, the 7th column 1-64, the 8th column 1-65, the 3rd crossbeam 1-50, the 4th crossbeam 1-51, the 5th crossbeam 1-52, the 6th crossbeam 1-53, the 3rd curb girder 1-56, the 4th curb girder 1-57, top layer division board 1-72, wherein, the first column 1-58, the second column 1-59, the 3rd column 1-60, the 4th column 1-61 are vertical with bottom frame for movement 1-46; 3rd crossbeam 1-50, the 4th crossbeam 1-51, the 3rd curb girder 1-56, the 4th curb girder 1-57, top layer division board 1-72 form planar rectangular framework; 5th column 1-62, the 6th column 1-63, the 7th column 1-64, the 8th column 1-65 are perpendicular to planar rectangular framework, 5th crossbeam 1-52 is installed between the 5th column 1-62, the 7th column 1-64, and the 6th crossbeam 1-53 is installed between the 6th column 1-63, the 8th column 1-65.
Image capturing system comprises camera 1-42, the 8th steering wheel 1-27, support 1-73, wherein: support 1-73 is fixed on the middle part of first crossbeam 1-48 in bottom frame for movement 1-46,8th steering wheel 1-27 is installed on the top of support 1-73, and camera 1-42 and the 8th steering wheel 1-27 fixes; 8th steering wheel 1-27, by controlling from the rotation in support 1-73, drives the angled swing of camera 1-42 to gather image information.
Obstacle avoidance system comprises the first infrared sensor 1-8, second infrared sensor 1-21, 3rd infrared sensor 1-22, 4th infrared sensor 1-9, 5th infrared sensor 1-11, 6th infrared sensor 1-18, 7th infrared sensor 1-20, 5th steering wheel 1-10, 6th steering wheel 1-17, 7th steering wheel 1-19, wherein: the first infrared sensor 1-8, 4th infrared sensor 1-9 becomes miter angle to be fixed on the two ends of first crossbeam 1-48 with first crossbeam 1-48 respectively, second infrared sensor 1-21, 3rd infrared sensor 1-22 becomes miter angle to be fixed on the two ends of second cross beam 1-49 with second cross beam 1-49 respectively, 5th steering wheel 1-10 controls the 5th infrared sensor 1-11 and is installed on the middle part of the second curb girder 1-55,6th steering wheel 1-17 controls the 6th infrared sensor 1-18 and is installed on the middle part of the first curb girder 1-54,7th steering wheel 1-19 controls the 7th infrared sensor 1-20 and is installed on the middle part of first crossbeam 1-48, and these 3 groups the sensor of angled swing can be detected the barrier of the front of intelligent ball collecting system, left and right.
Dynamical system comprises the first steering wheel 1-25, the second steering wheel 1-30, the 3rd steering wheel 1-29, the 4th steering wheel 1-26, the first omni-directional wheel 1-15, the second omni-directional wheel 1-23, the 3rd omni-directional wheel 1-24, the 4th omni-directional wheel 1-16, wherein: the first steering wheel 1-25 controls the first omni-directional wheel 1-15, the second steering wheel 1-30 controls the second omni-directional wheel 1-23 and the first steering wheel 1-25, the second steering wheel 1-30 are installed on the first curb girder 1-54 two ends; 3rd steering wheel 1-29 controls the 3rd omni-directional wheel 1-24, the 4th steering wheel 1-26 controls the 4th omni-directional wheel 1-16 and the 3rd steering wheel 1-29, the 4th steering wheel 1-26 are installed on the second curb girder 1-55 two ends; The angle of the first omni-directional wheel 1-15, the second omni-directional wheel 1-23, the 3rd omni-directional wheel 1-24, the 4th omni-directional wheel 1-16 and intelligent ball collecting device 1 plane of symmetry is 60 degree.
Pick up ball count system comprise first keep that plate 1-39, second keeps plate 1-40, picks up ball impeller 1-13, the 9th steering wheel 1-28, kick back 1-12, resistance ball plate 1-4, infrared counting sensor 1-5, storage ball case 1-7, wherein: kick back 1-12 is fixed on bottom bottom frame for movement 1-46; 9th steering wheel 1-28 controls to pick up ball impeller 1-13, and the 9th steering wheel 1-28 is fixed on the first curb girder 1-54 front portion, picks up ball impeller 1-13 and is installed between the first curb girder 1-54 and the second curb girder 1-55; Storage ball case 1-7 is put on kick back 1-12, can slide between the first curb girder 1-54 and the second curb girder 1-55; Infrared counting sensor 1-5 is fixed on the first curb girder 1-54 of bottom frame for movement 1-46, and between the 9th steering wheel 1-28 and the 6th steering wheel 1-17, is convenient to detect through picking up the spheroid 1-14 that ball impeller 1-13 rolls; First keep plate 1-39 and second keep plate 1-40 ensure spheroid 1-14 smoothly with pick up ball impeller 1-13 and contact.
Usefulness of the present invention is: place is adaptable, intelligence degree is high.The structural design of stratification makes manufacture process clear, simple, and exploitativeness is stronger; Application image treatment technology, makes ball picking-up efficiency increase substantially; The application of multi-sensor fusion technology makes the realization of barrier avoiding function become to be more prone to, to save hardware resource, improve the execution efficiency of code.
Accompanying drawing explanation
Fig. 1 is the overall perspective of system, Fig. 2 is the vertical view cutaway drawing in Fig. 1, Fig. 3 is bottom mechanism map, Fig. 4 is kick back installation diagram, Fig. 5 is for picking up ball impeller and kick back graph of a relation, Fig. 6 is for picking up ball impeller installation diagram, Fig. 7 is storage ball case and device graph of a relation, Fig. 8 is Portions of top layer mechanism installation diagram, Fig. 9 is top layer division board installation diagram, Figure 10 is top layer mechanism installation diagram, Figure 11 is shaft side figure, Figure 12 is front view, Figure 13 is left view, Figure 14 is right view, Figure 15 is rearview, in figure, Reference numeral and corresponding name are called: 1 intelligent ball collecting machine, 1-1 action control center, 1-2 tally control center, 1-3 camera module, 1-4 hinders ball plate, 1-5 infrared counting sensor, 1-6 liquid crystal display, 1-7 stores up ball case, 1-8 first infrared sensor, 1-9 the 4th infrared sensor, 1-10 the 5th steering wheel, 1-11 the 5th infrared sensor, 1-12 kick back, 1-13 picks up ball impeller, 1-14 spheroid, 1-15 first omni-directional wheel, 1-16 the 4th omni-directional wheel, 1-17 the 6th steering wheel, 1-18 the 6th infrared sensor, 1-19 the 7th steering wheel, 1-20 the 7th infrared sensor, 1-21 second infrared sensor, 1-22 the 3rd infrared sensor, 1-23 second omni-directional wheel, 1-24 the 3rd omni-directional wheel, 1-25 first steering wheel, 1-26 the 4th steering wheel, 1-27 the 8th steering wheel, 1-28 the 9th steering wheel, 1-29 the 3rd steering wheel, 1-30 second steering wheel, 1-31 first hinge, 1-32 second hinge, 1-33 the 3rd hinge, 1-34 the 4th hinge, 1-35 pentahapto leaf, 1-36 six directions leaf, 1-37 offside door switch, 1-38 offside door switch, 1-39 first keeps plate, 1-40 second keeps plate, door switch handle after 1-41, 1-42 camera, 1-43 offside door, 1-44 offside door, 1-45 back door, 1-46 bottom frame for movement, 1-47 top layer frame for movement, 1-48 first crossbeam, 1-49 second cross beam, 1-50 the 3rd crossbeam, 1-51 the 4th crossbeam, 1-52 the 5th crossbeam, 1-53 the 6th crossbeam, 1-54 first curb girder, 1-55 second curb girder, 1-56 the 3rd curb girder, 1-57 the 4th curb girder, 1-58 first column, 1-59 second column, 1-60 the 3rd column, 1-61 the 4th column, 1-62 the 5th column, 1-63 the 6th column, 1-64 the 7th column, 1-65 the 8th column, 1-66 first skin plating, 1-67 second skin plating, 1-68 the 3rd skin plating, 1-69 the 4th skin plating, 1-70 the 5th skin plating, 1-71 top cover, 1-72 top layer division board, 1-73 support.
Detailed description of the invention
As shown in Fig. 1, Figure 10, Figure 11, the ball picking up device 1 of view-based access control model identification of the present invention and Fusion by integral mechanical structure, image capturing system, obstacle avoidance system, dynamical system, pick up ball count system, control system, skin plating form.Integral mechanical structure comprises bottom frame for movement 1-46, top layer frame for movement 1-47.
As shown in Figure 3, bottom frame for movement 1-46 is made up of first crossbeam 1-48, second cross beam 1-49, the first curb girder 1-54, the second curb girder 1-55, first curb girder 1-54 is parallel with the second curb girder 1-55, first crossbeam 1-48 and second cross beam 1-49 is all perpendicular to the first curb girder 1-54 and the second curb girder 1-55, and first crossbeam 1-48 be positioned at the first curb girder 1-54 and the second curb girder 1-55 form the top of plane, second cross beam 1-49 be positioned at the first curb girder 1-54 and the second curb girder 1-55 form the below of plane.
As shown in Figure 9, top layer mechanical mechanism 1-47 is made up of the first column 1-58, the second column 1-59, the 3rd column 1-60, the 4th column 1-61, the 5th column 1-62, the 6th column 1-63, the 7th column 1-64, the 8th column 1-65, the 3rd crossbeam 1-50, the 4th crossbeam 1-51, the 5th crossbeam 1-52, the 6th crossbeam 1-53, the 3rd curb girder 1-56, the 4th curb girder 1-57, top layer division board 1-72, wherein, the first column 1-58, the second column 1-59, the 3rd column 1-60, the 4th column 1-61 are vertical with bottom frame for movement 1-46; 3rd crossbeam 1-50, the 4th crossbeam 1-51, the 3rd curb girder 1-56, the 4th curb girder 1-57, top layer division board 1-72 form planar rectangular framework; 5th column 1-62, the 6th column 1-63, the 7th column 1-64, the 8th column 1-65 are perpendicular to planar rectangular framework, 5th crossbeam 1-52 is installed between the 5th column 1-62, the 7th column 1-64, and the 6th crossbeam 1-53 is installed between the 6th column 1-63, the 8th column 1-65.
As shown in Figure 3, image capturing system is made up of camera 1-42, the 8th steering wheel 1-27, support 1-73, wherein: support 1-73 is fixed on the middle part of first crossbeam 1-48 in bottom frame for movement 1-46,8th steering wheel 1-27 is installed on the top of support 1-73, and camera 1-42 and the 8th steering wheel 1-27 fixes; 8th steering wheel 1-27, by controlling from the rotation in support 1-73, drives the angled swing of camera 1-42 to gather image information.
As shown in Figure 3, obstacle avoidance system is by the first infrared sensor 1-8, second infrared sensor 1-21, 3rd infrared sensor 1-22, 4th infrared sensor 1-9, 5th infrared sensor 1-11, 6th infrared sensor 1-18, 7th infrared sensor 1-20, 5th steering wheel 1-10, 6th steering wheel 1-17, 7th steering wheel 1-19 forms, wherein: the first infrared sensor 1-8, 4th infrared sensor 1-9 becomes miter angle to be fixed on the two ends of first crossbeam 1-48 with first crossbeam 1-48 respectively, second infrared sensor 1-21, 3rd infrared sensor 1-22 becomes miter angle to be fixed on the two ends of second cross beam 1-49 with second cross beam 1-49 respectively, the sensor of these 4 fixed positions can detect the barrier of intelligent ball collecting device 1 drift angle, 5th steering wheel 1-10 controls the 5th infrared sensor 1-11 and is installed on the middle part of the second curb girder 1-55,6th steering wheel 1-17 controls the 6th infrared sensor 1-18 and is installed on the middle part of the first curb girder 1-54,7th steering wheel 1-19 controls the 7th infrared sensor 1-20 and is installed on the middle part of first crossbeam 1-48, and these 3 groups the sensor of angled swing can be detected the barrier of intelligent ball collecting device 1 front, left and right.The detecting distance of sensor can do corresponding adjustment according to actual needs, and in the conduct process of intelligent ball collecting device 1, and 7 sensors can scan the barrier of around (except afterbody) within the scope of 270 degree altogether.
As shown in Figure 1, Figure 2, Figure 3 shows, dynamical system is made up of the first steering wheel 1-25, the second steering wheel 1-30, the 3rd steering wheel 1-29, the 4th steering wheel 1-26, the first omni-directional wheel 1-15, the second omni-directional wheel 1-23, the 3rd omni-directional wheel 1-24, the 4th omni-directional wheel 1-16, wherein: the first steering wheel 1-25 controls the first omni-directional wheel 1-15, the second steering wheel 1-30 controls the second omni-directional wheel 1-23 and the first steering wheel 1-25, the second steering wheel 1-30 are installed on the first curb girder 1-54 two ends; 3rd steering wheel 1-29 controls the 3rd omni-directional wheel 1-24, the 4th steering wheel 1-26 controls the 4th omni-directional wheel 1-16 and the 3rd steering wheel 1-29, the 4th steering wheel 1-26 are installed on the second curb girder 1-55 two ends; The angle of the first omni-directional wheel 1-15, the second omni-directional wheel 1-23, the 3rd omni-directional wheel 1-24, the 4th omni-directional wheel 1-16 and intelligent ball collecting device 1 plane of symmetry is 60 degree.
As shown in Fig. 2, Fig. 4, Fig. 5, Fig. 6, Fig. 7, pick up ball count system by first keeping that plate 1-39, second keeps plate 1-40, picks up ball impeller 1-13, the 9th steering wheel 1-28, kick back 1-12, resistance ball plate 1-4, infrared counting sensor 1-5, storage ball case 1-7 form, wherein: kick back 1-12 is fixed on bottom bottom frame for movement 1-46; 9th steering wheel 1-28 controls to pick up ball impeller 1-13, and the 9th steering wheel 1-28 is fixed on the first curb girder 1-54 front portion, picks up ball impeller 1-13 and is installed between the first curb girder 1-54 and the second curb girder 1-55; Storage ball case 1-7 is put on kick back 1-12, can slide between the first curb girder 1-54 and the second curb girder 1-55; Infrared counting sensor 1-5 is fixed on the first curb girder 1-54 of bottom frame for movement 1-46, and between the 9th steering wheel 1-28 and the 6th steering wheel 1-17, is convenient to detect through picking up the spheroid 1-14 that ball impeller 1-13 rolls; First keep plate 1-39 and second keep plate 1-40 ensure spheroid 1-14 smoothly with pick up ball impeller 1-13 and contact, hinder ball plate 1-4 and play the effect preventing from affecting infrared counting sensor 1-5 counting effect because of rocking of spheroid 1-14.
As shown in Fig. 1, Fig. 9, control system is made up of action control center 1-1, tally control center 1-2, and action control center 1-1 and tally control center 1-2 is all installed on the top layer division board 1-72 in top layer frame for movement 1-47.
As Figure 11, Figure 12, Figure 13, Figure 14, shown in Figure 15, skin plating is by the first skin plating 1-66, second skin plating 1-67, 3rd skin plating 1-68, 4th skin plating 1-69, 5th skin plating 1-70, top cover 1-71, offside door 1-43, offside door 1-44, back door 1-45 forms, wherein: the second skin plating 1-67, 3rd skin plating 1-68, 4th skin plating 1-69, 5th skin plating 1-70, top cover 1-71 is by the top seal of top layer frame for movement 1-47, first skin plating 1-66, offside door 1-43, offside door 1-44, the junction of top layer frame for movement 1-47 and bottom frame for movement 1-46 is closed by back door 1-45, offside door switch 1-37 can control the closedown of offside door 1-43, offside door switch 1-38 can control the closedown of offside door 1-44, rear door switch handle 1-41 can control the closedown of back door 1-45, reach the effect of overall appearance, and skin plating all adopts 0.3mm light face aluminium sheet.
As Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, shown in Figure 11, the bottom frame for movement 1-46 of intelligent ball collecting device 1, top layer frame for movement 1-47, top layer division board 1-72 wherein in top layer frame for movement 1-47 adopts 1mm light face aluminium sheet, first crossbeam 1-48 in bottom frame for movement 1-46, second cross beam 1-49, first curb girder 1-54, the first column 1-58 in second curb girder 1-55 and top layer frame for movement 1-47, second column 1-59, 3rd column 1-60, 4th column 1-61, 5th column 1-62, 6th column 1-63, 7th column 1-64, 8th column 1-65, 3rd crossbeam 1-50, 4th crossbeam 1-51, 5th crossbeam 1-52, 6th crossbeam 1-53, 3rd curb girder 1-56, 4th curb girder 1-57 all adopts common structural type aluminum alloy materials.
Application image treatment technology of the present invention, the 8th steering wheel 1-27, by controlling from the rotation in support 1-73, drives the angled swing of camera 1-42 to gather image information, the image information collected is sent to control system process by camera 1-42, activates dynamical system afterwards, and what send according to control system picks up ball signal towards determining target travel, realizes identifying spheroid and the function picking up spheroid, this intelligent ball collecting device 1 adopts multi-Sensor Information Fusion Approach, first infrared sensor 1-8, second infrared sensor 1-21, 3rd infrared sensor 1-22, 4th infrared sensor 1-9 is the sensor of 4 fixed positions, the barrier of intelligent ball collecting device 1 drift angle can be detected, the 5th infrared sensor 1-11 that 5th steering wheel 1-10 controls, the 6th infrared sensor 1-18 that 6th steering wheel 1-17 controls, the 7th infrared sensor 1-20 that 7th steering wheel 1-19 controls forms 3 groups can the sensor of angled swing, the data collected are sent to control system by these sensors in real time, front is detected after control system process, the barrier of left and right, realize barrier avoiding function, the number of spheres information collected is sent to control system process by infrared counting sensor 1-5, realizes tally function.
Claims (3)
1. the intelligent ball collecting system of view-based access control model identification and Fusion, is characterized in that: this system by integral mechanical structure, image capturing system, obstacle avoidance system, dynamical system, pick up ball count system, control system, skin plating form; Integral mechanical structure comprises bottom frame for movement (1-46), top layer frame for movement (1-47); Bottom frame for movement (1-46) is for installing image capturing system, obstacle system, dynamical system, picking up ball count system; Top layer frame for movement (1-47) is for installation control system;
Bottom frame for movement (1-46) is by first crossbeam (1-48), second cross beam (1-49), first curb girder (1-54), second curb girder (1-55) forms, first curb girder (1-54) is parallel with the second curb girder (1-55), first crossbeam (1-48) and second cross beam (1-49) are all perpendicular to the first curb girder (1-54) and the second curb girder (1-55), and first crossbeam (1-48) be positioned at the first curb girder (1-54) and the second curb girder (1-55) form the top of plane, second cross beam (1-49) be positioned at the first curb girder (1-54) and the second curb girder (1-55) form the below of plane, top layer mechanical mechanism (1-47) is by the first column (1-58), second column (1-59), 3rd column (1-60), 4th column (1-61), 5th column (1-62), 6th column (1-63), 7th column (1-64), 8th column (1-65), 3rd crossbeam (1-50), 4th crossbeam (1-51), 5th crossbeam (1-52), 6th crossbeam (1-53), 3rd curb girder (1-56), 4th curb girder (1-57), top layer division board (1-72) forms, wherein, first column (1-58), second column (1-59), 3rd column (1-60), 4th column (1-61) is vertical with bottom frame for movement (1-46), 3rd crossbeam (1-50), the 4th crossbeam (1-51), the 3rd curb girder (1-56), the 4th curb girder (1-57), top layer division board (1-72) form planar rectangular framework, 5th column (1-62), the 6th column (1-63), the 7th column (1-64), the 8th column (1-65) are perpendicular to planar rectangular framework, 5th crossbeam (1-52) is installed between the 5th column (1-62), the 7th column (1-64), and the 6th crossbeam (1-53) is installed between the 6th column (1-63), the 8th column (1-65),
Image capturing system comprises camera (1-42), the 8th steering wheel (1-27), support (1-73), wherein: support (1-73) is fixed on the middle part of first crossbeam (1-48) in bottom frame for movement (1-46), 8th steering wheel (1-27) is installed on the top of support (1-73), and camera (1-42) is fixed with the 8th steering wheel (1-27); 8th steering wheel (1-27), by controlling from the rotation in support (1-73), drives camera (1-42) angled swing to gather image information;
Obstacle avoidance system comprises the first infrared sensor (1-8), second infrared sensor (1-21), 3rd infrared sensor (1-22), 4th infrared sensor (1-9), 5th infrared sensor (1-11), 6th infrared sensor (1-18), 7th infrared sensor (1-20), 5th steering wheel (1-10), 6th steering wheel (1-17), 7th steering wheel (1-19), wherein: the first infrared sensor (1-8), 4th infrared sensor (1-9) becomes miter angle to be fixed on the two ends of first crossbeam (1-48) with first crossbeam (1-48) respectively, second infrared sensor (1-21), 3rd infrared sensor (1-22) becomes miter angle to be fixed on the two ends of second cross beam (1-49) with second cross beam (1-49) respectively, 5th steering wheel (1-10) controls the 5th infrared sensor (1-11) and is installed on the middle part of the second curb girder (1-55), 6th steering wheel (1-17) controls the 6th infrared sensor (1-18) and is installed on the middle part of the first curb girder (1-54), 7th steering wheel (1-19) controls the 7th infrared sensor (1-20) and is installed on the middle part of first crossbeam (1-48), and these 3 groups the sensor of angled swing can be detected the barrier of the front of intelligent ball collecting system, left and right,
Dynamical system comprises the first steering wheel (1-25), the second steering wheel (1-30), the 3rd steering wheel (1-29), the 4th steering wheel (1-26), the first omni-directional wheel (1-15), the second omni-directional wheel (1-23), the 3rd omni-directional wheel (1-24), the 4th omni-directional wheel (1-16), wherein: the first steering wheel (1-25) controls the first omni-directional wheel (1-15), the second steering wheel (1-30) controls the second omni-directional wheel (1-23) and the first steering wheel (1-25), the second steering wheel (1-30) are installed on the first curb girder (1-54) two ends; 3rd steering wheel (1-29) controls the 3rd omni-directional wheel (1-24), the 4th steering wheel (1-26) controls the 4th omni-directional wheel (1-16) and the 3rd steering wheel (1-29), the 4th steering wheel (1-26) are installed on the second curb girder (1-55) two ends; First omni-directional wheel (1-15), the second omni-directional wheel (1-23), the 3rd omni-directional wheel (1-24), the 4th omni-directional wheel (1-16) are 60 degree with the angle of intelligent ball collecting device (1) plane of symmetry;
Pick up ball count system comprise first keep that plate (1-39), second is kept plate (1-40), picked up ball impeller (1-13), the 9th steering wheel (1-28), kick back (1-12), resistance ball plate (1-4), infrared counting sensor (1-5), storage ball case (1-7), wherein: kick back (1-12) is fixed on bottom frame for movement (1-46) bottom; 9th steering wheel (1-28) controls to pick up ball impeller (1-13), and the 9th steering wheel (1-28) is fixed on the first curb girder (1-54) front portion, picks up ball impeller (1-13) and is installed between the first curb girder (1-54) and the second curb girder (1-55); Storage ball case (1-7) is put on kick back (1-12), can slide between the first curb girder (1-54) and the second curb girder (1-55); Infrared counting sensor (1-5) is fixed on first curb girder (1-54) of bottom frame for movement (1-46), and between the 9th steering wheel (1-28) and the 6th steering wheel (1-17), is convenient to detect through picking up the spheroid (1-14) that ball impeller (1-13) is rolled; First keep plate (1-39) and second keep plate (1-40) ensure spheroid (1-14) smoothly with pick up ball impeller (1-13) and contact.
2. the intelligent ball collecting system of view-based access control model identification according to claim 1 and Fusion, it is characterized in that control system is made up of action control center (1-1), tally control center (1-2), and action control center (1-1) and tally control center (1-2) are all installed on the top layer division board (1-72) in top layer frame for movement (1-47).
3. the intelligent ball collecting system of view-based access control model identification according to claim 1 and Fusion, it is characterized in that skin plating comprises the first skin plating (1-66), second skin plating (1-67), 3rd skin plating (1-68), 4th skin plating (1-69), 5th skin plating (1-70), top cover (1-71), offside door (1-43), offside door (1-44), back door (1-45), wherein: the second skin plating (1-67), 3rd skin plating (1-68), 4th skin plating (1-69), 5th skin plating (1-70), top cover (1-71) is by the top seal of top layer frame for movement (1-47), first skin plating (1-66), offside door (1-43), offside door (1-44), the junction of top layer frame for movement (1-47) with bottom frame for movement (1-46) is closed by back door (1-45).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310294170.0A CN103341255B (en) | 2013-07-15 | 2013-07-15 | Intelligent ball picking system based on visual identification and multi-sensor data fusion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310294170.0A CN103341255B (en) | 2013-07-15 | 2013-07-15 | Intelligent ball picking system based on visual identification and multi-sensor data fusion |
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| CN103934820B (en) * | 2014-04-25 | 2015-09-09 | 东南大学 | A kind of table tennis balls collecting machine people |
| CN104958884B (en) * | 2015-05-06 | 2019-12-17 | 安徽中机华教智能科技有限公司 | Ball receiver based on machine vision tracking |
| CN104874164B (en) * | 2015-05-06 | 2018-12-14 | 芜湖林一电子科技有限公司 | A kind of vision tracking badminton companion trainer device people |
| CN104801023B (en) * | 2015-05-07 | 2017-07-28 | 上海电机学院 | Ball picker of tennis picks up ball system and method |
| CN104889997B (en) * | 2015-07-03 | 2017-11-10 | 四川理工学院 | A kind of solid brewing turns over the manipulator control system and method for bent high accuracy positioning |
| CN104999454B (en) * | 2015-07-10 | 2017-03-08 | 黑龙江大学 | A kind of remote control Omni-mobile manipulator and its control method |
| CN105597286B (en) * | 2015-10-19 | 2018-05-04 | 新乡医学院 | A kind of ball picker of tennis teaching training |
| CN106422223A (en) * | 2016-08-31 | 2017-02-22 | 成都市和平科技有限责任公司 | Intelligent robot system for spherical object recycling and method |
| CN106823315B (en) * | 2017-04-11 | 2018-04-13 | 彭红星 | A kind of tennis picks and detection device |
| CN107115637A (en) * | 2017-05-17 | 2017-09-01 | 成都理工大学 | A kind of golf ball picking robot of view-based access control model |
| CN107019883B (en) * | 2017-05-17 | 2019-02-01 | 成都理工大学 | A kind of tennis automatically picking up balls robot of machine vision |
| CN107854822A (en) * | 2017-11-17 | 2018-03-30 | 长沙展朔轩兴信息科技有限公司 | Intelligent ball collecting robot |
| CN109029733B (en) * | 2018-06-11 | 2024-05-31 | 中国水利水电科学研究院 | Double-infrared load parallel data acquisition device |
| CN109224405B (en) * | 2018-10-16 | 2024-02-20 | 广西科技大学 | Novel automatic ball picking robot |
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| PT103807A (en) * | 2007-08-13 | 2009-01-13 | Univ Do Minho | GOLF BALL COLLECTION SYSTEM FULLY SELF-EMPLOYED OR REMOTELY OPERATED |
| CN202446752U (en) * | 2012-01-11 | 2012-09-26 | 张宇航 | Tennis ball reclaiming robot |
| CN102908763A (en) * | 2012-10-19 | 2013-02-06 | 广东工业大学 | Automatic ball pick-up robot |
| CN203355229U (en) * | 2013-07-15 | 2013-12-25 | 兰州理工大学 | Intelligent ball picking-up device based on visual identification and multi-sensor data fusion |
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