CN105963936A - Tennis ball pick-up machine and control system thereof - Google Patents
Tennis ball pick-up machine and control system thereof Download PDFInfo
- Publication number
- CN105963936A CN105963936A CN201610524611.5A CN201610524611A CN105963936A CN 105963936 A CN105963936 A CN 105963936A CN 201610524611 A CN201610524611 A CN 201610524611A CN 105963936 A CN105963936 A CN 105963936A
- Authority
- CN
- China
- Prior art keywords
- tennis
- car body
- ball
- control system
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
- A63B2047/022—Autonomous machines which find their own way around the playing surface
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a tennis ball pick-up machine and a control system thereof. The tennis ball pick-up machine comprises a car body, a tennis ball collecting frame installed on the car body and a ball pick-up device installed at the front end of the car body. The control system comprises a remote control system for sending and receiving sports signals, an infrared navigation system capable of automatically detecting the distance to a target point and autonomously planning a navigation route, and a controller. The tennis ball pick-up machine is simple in structure, overcomes the defect of picking up tennis balls, solves the current problem of picking up tennis balls manually, is high in efficiency and low in consumption, fills in the blank that no tennis ball pick-up machine exists on the market, and is environmentally friendly and free of emission due to electric driving, the control system of the tennis ball pick-up machine is simple and intelligent, and manual control and autonomous navigation can be achieved.
Description
Technical field
The present invention relates to ball pick-up device tool and supporting control system, particularly relate to ball picker of tennis and control system thereof.
Background technology
In tennis training, often use multi-ball drill mode, after training terminates, court can a lot of tennis of in disorder distribution,
Manually pick up ball and not only can consume the muscle power of sporter, also can take the too many training time, to this end, we have developed tennis
Picking up ball ball picker of tennis, this ball picker of tennis realizes picking up tennis and collecting.And overcome tennis court corner space
Narrow, pick up difficulty situation, well save manpower, improve efficiency.Ball picker of tennis has two kinds of controlling parties
Formula, is divided into remote manual control and from motion tracking.
The most not being specifically designed to tennis picks up the ball picker of tennis of ball now, only has some simple ball picking up device, this
A little ball picking up device need manual operation, and generally tubular or basket shape, hand-held ball of picking up one by one, labor intensive, efficiency is the lowest.
Our ball picker of tennis, it is not necessary to expending too many manpower, and can realize picking up in batches ball, work efficiency is high, picks up ball
Hurry up.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of simple in construction, controls intelligence
And the high ball picker of tennis of efficiency and control system thereof.
Technical scheme: for achieving the above object, the ball picker of tennis of the present invention includes car body, the tennis being arranged on car body
Collect frame and be arranged on the ball picking up device of car body front end；Described ball picking up device includes the main collecting board of at least two rectangle,
All of main collecting board can rotate around same level rotary shaft, and all of main collecting board is around its public horizontal rotating shaft
Circumference array is distributed；Rotation uplifted side along described main collecting board is provided with curved baffle, and main collecting board rotates when rising it
Edge away from horizontal rotating shaft againsts curved baffle；Described curved baffle lower limb ground proximity, top edge is arranged on institute
State tennis to collect at the goal mouth of frame.
Further, described ball picking up device also includes for stoping tennis along the rotary shaft axially-movable of described main collecting board
Assisted collection plate, described assisted collection plate is arranged on the both sides that described main collecting board rotary shaft is axial.
Further, described assisted collection plate generally wedge shape, it is sharper away from the part of described car body, and assisted collection
Plate outwards bends away from one end of car body so that forms one between two assisted collection plates and is wider than entering of described main collecting board
Mouthful.
Further, described car body includes car body and four wheels, and all of wheel is Mecanum wheel.
Further, described car body is at least provided with shock-damping structure on two wheels.
Further, described wheel is arranged on the output shaft of described wheel electrical machine, for turning between wheel electrical machine and car body
Being dynamically connected, and be connected between wheel electrical machine with car body and have amortisseur, the two ends of amortisseur are respectively hinged at car body and car
On turbin generator.
Further, described ball picking up device includes four main collecting boaries.
Ball picker of tennis control system, including the remote control system for sending and receive motor message, can detect from mesh voluntarily
The infrared navigation system of gauge length contexture by self navigation way and controller, described remote control system includes remote controller
And for receiving the receiver of remote-control sytem of described remote signal, described infrared navigation system include Infrared Detectors and and
For controlling the gyroscope of steering angle；Described remote control system, infrared navigation system, ball picking up device and described car body
Motion is controlled by described controller.
Further, also include that weight sensory perceptual system, described weight sensory perceptual system include that being arranged on described tennis collects in frame
Weight detecting sensor and be arranged on described remote controller for reminding tennis to collect the fully loaded display lamp that frame is fully loaded；
Described weight sensory perceptual system is controlled by described controller.
Further, described controller is STMF single-chip microcomputer.
Beneficial effect: the ball picker of tennis simple in construction of the present invention, overcomes tennis and picks up a difficult problem for ball, solve with forefathers
Power picks up the difficulty of ball, and has accomplished high efficiency, and the blank the most not picking up ball ball picker of tennis has been filled up in low consumption,
And this ball picker of tennis environmental protection, ball picker of tennis all achieves electronic, zero-emission.Its control system is the most intelligent,
Artificial Control and independent navigation can be realized.
Accompanying drawing explanation
Accompanying drawing 1 is the structure chart of ball picker of tennis；
Accompanying drawing 2 is the structure chart of shock-damping structure.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described.
Ball picker of tennis as shown in Figure 1, the tennis collection frame 2 including car body 1, being arranged on car body 1 and peace
It is contained in the ball picking up device 3 of car body 1 front end；Described ball picking up device 3 includes the main collecting board 31 of four rectangles, all of master
Collecting board 31 can rotate around same level rotary shaft, and all of main collecting board 31 is around its public horizontal rotating shaft circle
All array distribution；Rotation uplifted side along described main collecting board 31 is provided with curved baffle 32, in the rotation of main collecting board 31
When rising, it againsts curved baffle 32 away from the edge of horizontal rotating shaft；Described curved baffle 32 lower limb ground proximity, on
Edge is arranged on described tennis and collects at the goal mouth of frame 2.So when ball picker of tennis performs to pick up ball task, 4 masters
Collecting board 31 circulation is stirred tennis and is entered tennis collection frame 2 along curved baffle 32.
Main collecting board 31 stirs tennis when, tennis can flee from the Jian Qiu district of main collecting board 31 along generation transverse movement
Territory, in order to prevent the generation of this phenomenon, described ball picking up device 3 also includes for stoping tennis along described main collecting board 31
The assisted collection plate 33 of rotary shaft axially-movable, described assisted collection plate 33 is arranged on described main collecting board 31 rotary shaft
Axial both sides, described assisted collection plate 33 generally wedge shape, it is sharper away from the part of described car body 1, and auxiliary
Collecting board 33 outwards bends away from one end of car body 1 so that forms one between two assisted collection plates 33 and is wider than described
The entrance of main collecting board 31.Such design can allow the collecting board of ball picker of tennis reach the lower section of tennis court fence,
Collect the tennis of corner.
Described car body 1 includes four wheels 11, and all of wheel 11 is Mecanum wheel.By 4 wheels
The different rotary direction of 11, it is possible to achieve the omnirange of ball picker of tennis moves horizontally.The special tectonic of Mecanum wheel,
Ball picker of tennis can be made to realize advance, retrogressing, left, right translation, it is also possible to carry out under different differential designs
Moving horizontally of any angle so that the degree of flexibility of ball picker of tennis is greatly improved.Mecanum wheel can also realize net
The pivot stud of ball machine picked up by ball, makes ball picker of tennis rotate rapidly after putting in place, just facing to tennis.
At least shock-damping structure is installed on two wheels 11 on the described car body 1 of ball picker of tennis, its damping realization side
Formula is: as shown in Figure 2, and described wheel 11 is arranged on the output shaft of described wheel electrical machine 12, wheel electrical machine 12
And for being rotationally connected between car body, and it is connected between wheel electrical machine 12 with car body and has amortisseur 13, amortisseur 13
Two ends be respectively hinged on car body and wheel electrical machine 12.Such structure makes ball picker of tennis when motion, it is ensured that
Four-wheel all lands, and adds the stable movement degree of ball picker of tennis, improves the ability of the complicated landform of reply.
Control system based on above-mentioned ball picker of tennis include the remote control system for sending and receive motor message, can be voluntarily
Detect the infrared navigation system from impact point distance also contexture by self navigation way and controller, described remote control system bag
Including remote controller and for receiving the receiver of remote-control sytem of described remote signal, described infrared navigation system includes Infrared Detectors
And and for controlling the gyroscope of steering angle；Described remote control system, infrared navigation system and described car body 1
Motion is controlled by described controller.Preferably, described controller is STM32F4 single-chip microcomputer.
In single-chip microcomputer, write is for controlling to drive the program of the motor of wheel 11, accepts remote signal program, it is judged that from
Body anglec of rotation program, controls to pick up ball motor program, it is judged that infrared instruction routing sequence etc., it is achieved pick up ball for tennis
The control of machine.Under remote state, ball picker of tennis can move to pick up ball place according to the instruction of remote control, open or
Close the motor driving ball picking up device 11；Under infrared boot state, Infrared Detectors can identify infrared light supply automatically,
Automated Design moves route, moves to infrared instruction place, and automatically opens up the motor driving ball picking up device 11.
Use infrared automatically control guiding time, have employed close-loop control mode, when automatically pursuing infrared indication signal,
Infrared Detectors can sense the distance oneself put apart from infrared instruction in real time, and recalculates route, and round-off error can
Reach to pick up ball place realizing beeline.Gyroscope can perception ball picker of tennis rotational angle, it is ensured that towards target travel,
Also can adjust angle in travel in real time, revise route, the effect of gyroscope is exactly the anglec of rotation of perception oneself, will
The projected route anglec of rotation of control system is converted to the change in actual motion direction.
The in the right direction when control in direction not only ensure that mobile, can make ball picker of tennis can allow when picking up ball simultaneously
Collecting board, towards tennis, accelerates collection efficiency.
Also include that weight sensory perceptual system, described weight sensory perceptual system include that being arranged on described tennis collects the weight sense in frame 2
Know sensor and be arranged on described remote controller for reminding tennis to collect the fully loaded display lamp that frame 2 is fully loaded；Described heavy
Amount sensory perceptual system is controlled by described controller.When tennis collection basket 2 fills tennis, it is possible to send full appearance signal, hands
In fully loaded display lamp corresponding to remote controller can flash for prompting, drive the motor of ball picking up device 11 will not accept to pick up this moment
The signal that ball starts, and remain powered off state voluntarily, prevent main collecting board 31 main, cause burn-down of electric motor.
The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art
For, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications are also
Should be regarded as protection scope of the present invention.
Claims (10)
1. a ball picker of tennis, it is characterised in that: the tennis include car body (1), being arranged on car body (1) is collected
Frame (2) and be arranged on the ball picking up device (3) of car body (1) front end；Described ball picking up device (3) includes at least two
The main collecting board (31) of rectangle, all of main collecting board (31) can rotate around same level rotary shaft, and all of master
Collecting board (31) is around its public horizontal rotating shaft circumference array distribution；In the rotation of described main collecting board (31)
Rising side and be provided with curved baffle (32), when main collecting board (31) rotates rising, it againsts away from the edge of horizontal rotating shaft
Curved baffle (32)；Described curved baffle (32) lower limb ground proximity, top edge is arranged on described tennis and collects frame
(2) at goal mouth.
Ball picker of tennis the most according to claim 1, it is characterised in that: described ball picking up device (3) also includes using
In stoping the tennis assisted collection plate (33) along the rotary shaft axially-movable of described main collecting board (31), described auxiliary is received
Collection plate (33) is arranged on the both sides that described main collecting board (31) rotary shaft is axial.
Ball picker of tennis the most according to claim 2, it is characterised in that: described assisted collection plate (33) is overall
For wedge shape, it is sharper away from the part of described car body (1), and assisted collection plate (33) is away from one end of car body (1)
Outwards bending so that form an entrance being wider than described main collecting board (31) between two assisted collection plates (33).
4. according to the ball picker of tennis described in any one of claim 1-3, it is characterised in that: described car body (1) includes
Car body and four wheels (11), and all of wheel (11) is Mecanum wheel, wheel (11) is by wheel
Motor (12) drives and rotates.
Ball picker of tennis the most according to claim 4, it is characterised in that: on described car body (1) at least two
Wheel is provided with shock-damping structure on (11).
Ball picker of tennis the most according to claim 5, it is characterised in that: described wheel (11) is arranged on described
On the output shaft of wheel electrical machine (12), for being rotationally connected between wheel electrical machine (12) and car body, and wheel electrical machine (12)
It is connected with between car body and has amortisseur (13), the two ends of amortisseur (13) to be respectively hinged at car body and wheel electrical machine
(12) on.
7. according to the ball picker of tennis described in any one of claim 1-3, it is characterised in that: described ball picking up device (3)
Including four main collecting boaries (31).
8. ball picker of tennis control system, it is characterised in that: include the remote control system for sending and receive motor message,
The infrared navigation system from impact point distance also contexture by self navigation way and controller, described remote control can be detected voluntarily
System includes remote controller and for receiving the receiver of remote-control sytem of described remote signal, and described infrared navigation system includes infrared
Detector and and for controlling the gyroscope of steering angle；Described remote control system, infrared navigation system, ball picking up device
And the motion of described car body (1) is controlled by described controller (3).
Ball picker of tennis control system the most according to claim 8, it is characterised in that: also include weight perception system
System, described weight sensory perceptual system includes that being arranged on described tennis collects the weight detecting sensor in frame (2) and setting
Being used on described remote controller reminds tennis to collect the fully loaded display lamp that frame (2) is fully loaded；Described weight sensory perceptual system by
Described controller controls.
Ball picker of tennis control system the most according to claim 8 or claim 9, it is characterised in that: described controller is
STM32F4 single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610524611.5A CN105963936A (en) | 2016-07-05 | 2016-07-05 | Tennis ball pick-up machine and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610524611.5A CN105963936A (en) | 2016-07-05 | 2016-07-05 | Tennis ball pick-up machine and control system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105963936A true CN105963936A (en) | 2016-09-28 |
Family
ID=56953733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610524611.5A Pending CN105963936A (en) | 2016-07-05 | 2016-07-05 | Tennis ball pick-up machine and control system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105963936A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106422226A (en) * | 2016-11-30 | 2017-02-22 | 南京工业职业技术学院 | Remote control ball-picking device |
| CN107007996A (en) * | 2017-05-16 | 2017-08-04 | 中国人民大学附属中学 | A kind of ball serving device for balls sport training |
| CN108525233A (en) * | 2018-04-20 | 2018-09-14 | 天津艾孚森科技发展有限公司 | A kind of basketball collection device for basketball teaching |
| CN109821205A (en) * | 2019-03-29 | 2019-05-31 | 武汉轻工大学 | A kind of tennis is picked up hair equipment and is picked up the control method of hair equipment based on tennis |
| CN110507964A (en) * | 2019-07-26 | 2019-11-29 | 盐城工学院 | A kind of tennis catches ball machine |
| CN111939543A (en) * | 2019-05-17 | 2020-11-17 | 浙江深酷机器人有限公司 | Tennis ball circulating system for tennis court |
| CN114432676A (en) * | 2022-02-22 | 2022-05-06 | 山东大学 | Tennis ball picking machine |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106422226A (en) * | 2016-11-30 | 2017-02-22 | 南京工业职业技术学院 | Remote control ball-picking device |
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| CN107007996B (en) * | 2017-05-16 | 2022-04-19 | 中国人民大学附属中学 | Ball serving device for ball game training |
| CN108525233A (en) * | 2018-04-20 | 2018-09-14 | 天津艾孚森科技发展有限公司 | A kind of basketball collection device for basketball teaching |
| CN108525233B (en) * | 2018-04-20 | 2020-04-07 | 戴志刚 | A basketball collection device for basketball teaching |
| CN109821205A (en) * | 2019-03-29 | 2019-05-31 | 武汉轻工大学 | A kind of tennis is picked up hair equipment and is picked up the control method of hair equipment based on tennis |
| CN111939543A (en) * | 2019-05-17 | 2020-11-17 | 浙江深酷机器人有限公司 | Tennis ball circulating system for tennis court |
| CN111939543B (en) * | 2019-05-17 | 2023-04-07 | 浙江深酷机器人有限公司 | Tennis circulating system for tennis court |
| CN110507964A (en) * | 2019-07-26 | 2019-11-29 | 盐城工学院 | A kind of tennis catches ball machine |
| CN114432676A (en) * | 2022-02-22 | 2022-05-06 | 山东大学 | Tennis ball picking machine |
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Application publication date: 20160928 |