CN105080089A - Control system and method for automatic table tennis ball picking device - Google Patents
Control system and method for automatic table tennis ball picking device Download PDFInfo
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- CN105080089A CN105080089A CN201410216576.1A CN201410216576A CN105080089A CN 105080089 A CN105080089 A CN 105080089A CN 201410216576 A CN201410216576 A CN 201410216576A CN 105080089 A CN105080089 A CN 105080089A
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- controller
- table tennis
- control system
- automatic pick
- pickup
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Abstract
The invention discloses a control system and a control method for an automatic table tennis ball picking device. The control system comprises a controller, wherein a color sensor and a 360-degree-rotation high-definition camera are connected with the controller through leads, an ultrasonic ranging device is connected with the controller by a lead, the controller is connected with a walking driving controller through a lead, the walking driving controller is connected with a walking motor through a lead, the controller is connected with a pickup driving controller through a lead, and the pickup driving controller is connected with a pickup motor through a lead. With the adoption of the system and the method, the problems that in the prior art, a table tennis ball falling on the ground of the court needs to be manually packed up to be placed into a storage device, so that manpower and material resources are wasted, and the burden is heavy, are solved.
Description
Technical field
The invention belongs to Intelligent robotic manipulator technical field, particularly relate to a kind of control system and control method thereof of table tennis automatic pick-up device.
Background technology
In table tennis competition field or training field, the pickup of table tennis is solve by artificial always, the table tennis dropping on ground generally puts into storage device by manually going to pick up after having played ball, such Method compare waste of manpower and time, and it is more arduous, in today that human cost is more and more higher, be not suitable for.
Summary of the invention
The technical problem to be solved in the present invention: control system and control method thereof that a kind of table tennis automatic pick-up device is provided, need to put into storage device by manually picking up to solve the table tennis fallen to the ground on court now, existing wasting manpower and material resources, and the problem such as relatively more arduous.
Technical solution of the present invention:
A kind of control system of table tennis automatic pick-up device, it comprises controller, color sensor is connected with controller wire with 360 degree of rotation high-definition cameras, supersonic range finder is connected with controller wire, controller is connected with hoofing part controller wire, hoofing part controller is connected with movable motor wire, and controller is connected with pickup driving governor wire, and pickup driving governor is connected with pickup motor wire.
Controller adopts single-chip microcomputer or PLC.
Pickup driving governor and hoofing part controller are servo controller, and movable motor and pickup motor are servomotor.
Supersonic range finder is arranged on four faces all around of automatic pick-up device respectively.
Its control method of the control system of table tennis automatic pick-up device, it comprises the steps:
Step 1, camera tentatively judge object position and distance thereof;
Step 2, afterwards color sensor accurately judge whether object is table tennis;
When step 3, object are tablees tennis, send travel commands by controller, automatic pick-up device run to object position, period ultrasonic measuring device measure in real time;
Step 4, arrival object, controller sends stopping travel commands, and automatic pick-up device walking stops, and controller sends pickup instruction, is controlled to pick up motor action, pick up table tennis by pickup driving governor;
After step 5, table tennis are picked up, controller sends travel commands, and storage device place of being walked to by automatic pick-up device, puts into storage device by table tennis.
Beneficial effect of the present invention:
The present invention passes through automatic control technology, pick up table tennis by automatic pick-up device and put into assigned address, instead of artificial pickup, solve the table tennis fallen to the ground on court now to need to put into storage device by manually picking up, existing wasting manpower and material resources, and the problem such as relatively more arduous.
accompanying drawing illustrates:
Fig. 1 is control principle schematic diagram of the present invention.
detailed description of the invention:
A kind of control system of table tennis automatic pick-up device, it comprises controller, color sensor is connected with controller wire with 360 degree of rotation high-definition cameras, supersonic range finder is connected with controller wire, controller is connected with hoofing part controller wire, hoofing part controller is connected with movable motor wire, and controller is connected with pickup driving governor wire, and pickup driving governor is connected with pickup motor wire.
Controller adopts single-chip microcomputer or PLC.
Pickup driving governor and hoofing part controller are servo controller, and movable motor and pickup motor are servomotor, and the pattern that stepper motor driver also can be adopted to add stepper motor realizes.
Supersonic range finder is arranged on four faces all around of automatic pick-up device respectively, and setting height(from bottom) is overhead 5-10 millimeter.
Its control method of the control system of table tennis automatic pick-up device, it comprises the steps:
Step 1, camera tentatively judge object position and distance thereof;
Step 2, afterwards color sensor accurately judge whether object is table tennis;
When step 3, object are tablees tennis, send travel commands by controller, automatic pick-up device run to object position, period ultrasonic measuring device measure in real time;
Step 4, arrival object, controller sends stopping travel commands, and automatic pick-up device walking stops, and controller sends pickup instruction, is controlled to pick up motor action, pick up table tennis by pickup driving governor;
After step 5, table tennis are picked up, controller sends travel commands, and storage device place of being walked to by automatic pick-up device, puts into storage device by table tennis.
Claims (5)
1. the control system of a table tennis automatic pick-up device, it comprises controller, it is characterized in that: color sensor is connected with controller wire with 360 degree of rotation high-definition cameras, supersonic range finder is connected with controller wire, controller is connected with hoofing part controller wire, hoofing part controller is connected with movable motor wire, and controller is connected with pickup driving governor wire, and pickup driving governor is connected with pickup motor wire.
2. the control system of a kind of table tennis automatic pick-up device according to claim 1, is characterized in that: controller adopts single-chip microcomputer or PLC.
3. the control system of a kind of table tennis automatic pick-up device according to claim 1, is characterized in that: pickup driving governor and hoofing part controller are servo controller, and movable motor and pickup motor are servomotor.
4. the control system of a kind of table tennis automatic pick-up device according to claim 1, is characterized in that: supersonic range finder is arranged on four faces all around of automatic pick-up device respectively.
5. its control method of control system of table tennis automatic pick-up device described in, it comprises:
Step 1, camera tentatively judge object position and distance thereof;
Step 2, afterwards color sensor accurately judge whether object is table tennis;
When step 3, object are tablees tennis, send travel commands by controller, automatic pick-up device run to object position, period ultrasonic measuring device measure in real time;
Step 4, arrival object, controller sends stopping travel commands, and automatic pick-up device walking stops, and controller sends pickup instruction, is controlled to pick up motor action, pick up table tennis by pickup driving governor;
After step 5, table tennis are picked up, controller sends travel commands, and storage device place of being walked to by automatic pick-up device, puts into storage device by table tennis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410216576.1A CN105080089A (en) | 2014-05-22 | 2014-05-22 | Control system and method for automatic table tennis ball picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410216576.1A CN105080089A (en) | 2014-05-22 | 2014-05-22 | Control system and method for automatic table tennis ball picking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105080089A true CN105080089A (en) | 2015-11-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410216576.1A Pending CN105080089A (en) | 2014-05-22 | 2014-05-22 | Control system and method for automatic table tennis ball picking device |
Country Status (1)
| Country | Link |
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| CN (1) | CN105080089A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106823312A (en) * | 2017-01-10 | 2017-06-13 | 浙江大学 | A kind of intelligent ball collecting robot and its control method |
| CN108786041A (en) * | 2018-07-12 | 2018-11-13 | 贵州理工学院 | Intelligent ball collecting control method and intelligent ball collecting robot |
| CN109782753A (en) * | 2018-12-18 | 2019-05-21 | 江汉大学 | It is a kind of to receive the control method for picking device |
-
2014
- 2014-05-22 CN CN201410216576.1A patent/CN105080089A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106823312A (en) * | 2017-01-10 | 2017-06-13 | 浙江大学 | A kind of intelligent ball collecting robot and its control method |
| CN106823312B (en) * | 2017-01-10 | 2019-02-05 | 浙江大学 | A kind of intelligent ball collecting robot and its control method |
| CN108786041A (en) * | 2018-07-12 | 2018-11-13 | 贵州理工学院 | Intelligent ball collecting control method and intelligent ball collecting robot |
| CN109782753A (en) * | 2018-12-18 | 2019-05-21 | 江汉大学 | It is a kind of to receive the control method for picking device |
| CN109782753B (en) * | 2018-12-18 | 2022-07-19 | 江汉大学 | Control method of picking device |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151125 |
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| WD01 | Invention patent application deemed withdrawn after publication |