CN106581966A - Table tennis ball picking device and automatic photographing device based on same - Google Patents
Table tennis ball picking device and automatic photographing device based on same Download PDFInfo
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- CN106581966A CN106581966A CN201710084575.XA CN201710084575A CN106581966A CN 106581966 A CN106581966 A CN 106581966A CN 201710084575 A CN201710084575 A CN 201710084575A CN 106581966 A CN106581966 A CN 106581966A
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- ball
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- table tennis
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- 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
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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
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Abstract
The invention discloses a table tennis ball picking device, and the device comprises a rack, a displacement mechanism, ball picking mechanisms, a ball collection mechanism, a control mechanism, a photographing mechanism, and a power mechanism. The rack is used for installing all parts. The displacement mechanism is installed at the bottom of the rack, and comprises a first drive motor and a longitudinal traveling wheel in transmission connection with the first drive motor. The displacement mechanism also comprises a second drive motor and a lateral traveling wheel in transmission connection with the second drive motor. The device is provided with two sets of ball picking mechanisms, and the two ball picking mechanisms are respectively disposed at the front and rear ends of the rack in the movement direction of the longitudinal traveling wheel. The ball collection mechanism comprises a ball feeding channel installed at a downstream side of a ball feeding plate, a screw blade disposed in the ball feeding channel, and ball collection frames which are located at two ends of the ball feeding channel. The invention also provides an automatic photographing device based on the above device. The path of the table tennis ball picking device is simplified, and the table tennis ball picking device achieves many functions.
Description
Technical field
The present invention relates to a kind of table tennis ball picker and the automatic shooting device based on the device.
Background technology
The appearance of smart table tennis service robot, table tennis trajectory analysis etc. is carried out using computer, this is a series of
Appearance all enables paddler preferably be taken exercise, and obtains more preferable achievement.Can using professional table tennis balls collecting device
To mitigate the burden that trainer reclaims table tennis, invalid training time during training can be reduced, improve athletic training
Efficiency.
Also there are the table tennis device ball pick-up device of many species, such as manual ball pick-up device and intelligent ball collecting device, intelligent ball collecting device at present
The collection of table tennis can be carried out while sportsman plays ball, is not wasted time.But, existing intelligent ball collecting device one kind is
Remote control class, needs artificially to be remotely controlled, it is still desirable to human intervention, and another kind is the position that table tennis is obtained using camera
Then picked up, but, the recognition capability of camera is limited, picks up efficiency not high.And, existing intelligent ball collecting device valency
Lattice are higher, can only realize ball-picking functions, when not being trained, just lose its value, cause cost performance not high.
The content of the invention
For defect of the prior art, the present invention provides a kind of table tennis ball picker and the automatic bat based on the device
Take the photograph device.
In a first aspect, the invention provides a kind of table tennis ball picker, including
Frame, the frame is to install each part；
Displacement mechanism, institute's displacement mechanism is installed on the bottom of the frame, including the first motor and with described
Longitudinal road wheel that one motor is connected, institute's displacement mechanism also includes the second motor and drives with described second
The horizontal road wheel that motor is connected；
Ball machine structure is picked up, the ball machine structure of picking up there are two sets, be respectively arranged in the frame along longitudinal road wheel movement side
To front-end and back-end, the ball machine structure of picking up includes
One by pingpong collection to dial ball cylinder, and described group of ball cylinder links with the wheel shaft of longitudinal road wheel,
The feeding plate accepted to the table tennis for collecting in described group of ball cylinder with one, the rear end of the feeding plate is articulated with institute
State in frame, the feeding plate links with described group of ball cylinder；
Collection ball machine structure, the collection ball machine structure includes being installed on the release passage of the feeding plate downstream position, is installed on institute
The helical blade and the collection ball frame positioned at the release passage two ends in release passage is stated, the helical blade is rotated and is installed on
In the release passage, the helical blade links with described group of ball cylinder；
Controlling organization, the controlling organization includes
One infrared ray range sensor, the infrared ray range sensor is installed on the both sides for dialling ball cylinder, to examine
The distance between the ball picking up device and body of wall are surveyed,
One control main frame, the signal input part of the control main frame is connected with the infrared ray range sensor, the control
The signal output part of main frame processed controls to connect first motor and second motor respectively；
Photographic unit, the photographic unit includes steering wheel and the camera that is connected with the steering wheel, the steering wheel with it is described
Control main frame is connected using pilot；
Power sector, the power sector includes rechargeable battery, and the rechargeable battery is powered to required part.
In the present invention, as a kind of preferred technical scheme, the horizontal road wheel and longitudinal road wheel walking side
To vertical.
In the present invention, used as a kind of preferred technical scheme, second motor and the horizontal road wheel are installed
On an elevating mechanism, the elevating mechanism and the 3rd motor power connector, the 3rd motor and the control
The signal output part connection of main frame.In general, the elevating mechanism is using the housing for accommodating second motor, it is described
Laterally road wheel is installed on housing using wheel shaft, and with second motor using gear or belt power connector；
Track is provided with the frame, the groove being engaged with the track is offered on the housing, the housing is slidably installed
On the track, meanwhile, the side wall of the housing is provided with tooth bar, and the 3rd motor is utilized and engaged with shown tooth bar
Gear, realization be connected with the housing.
In the present invention, used as a kind of preferred technical scheme, the both sides of described group of ball cylinder are provided with gradual-enlargement type collection ball plate,
And the front end of the gradual-enlargement type collection ball plate flushes with described group of ball cylinder.
In the present invention, used as a kind of preferred technical scheme, the described group of ball cylinder includes the wall that turns of two circles, described to turn wall
Link with longitudinal road wheel, it is described to turn to be provided with one piece group of ball stopper piece between wall, and described group of ball stopper piece is in described turn
The eccentric position of wall.Described group of ball stopper piece is circular arc.
In the present invention, used as a kind of preferred technical scheme, the front end of the feeding plate is provided with arc-shaped end plate, and described
Turn to be provided with the shifting block being engaged with the arc-shaped end plate on wall, when described group of ball stopper piece is dialled in table tennis on the feeding plate
When, the shifting block is stirred and dials up the arc-shaped end plate, and the front end for driving the feeding plate is inclined upwardly.
In the present invention, used as a kind of preferred technical scheme, the both sides of the frame are equipped with vertical slideway, the collection ball
The side of frame offers the slide groove being engaged with the vertical slideway, and the collection ball frame is using the vertical slideway and slide groove
Detachable is plugged in the frame；The two ends of the release passage offer the ball-falling-in port connected with the collection ball frame.
In the present invention, as a kind of preferred technical scheme, the rotating shaft of the rotating shaft of the helical blade and described group of ball cylinder
Using meshed transmission gear.
In the present invention, as a kind of preferred technical scheme, the power sector also include solar panel, it is described too
Positive energy cell panel is installed on the top of the frame, and the rechargeable battery is connected with the solar panel using wire,
And light sensing switch is installed on the wire；The power sector also includes the charging socket being connected with the rechargeable battery,
The charging socket is located at the side of the frame.
On the other hand, the invention provides a kind of automatic shooting device based on the table tennis ball picker, including
The communication module being connected with control main frame communication, described utilization GPRS, WiFi receive the instruction that mobile phone sends,
The control main frame makes corresponding control to steering wheel, the first motor, the second motor, the 3rd motor, completes
Walking and the angular turn of 360 degree of camera；
The sound identification module being connected with control main frame communication, the sound identification module can automatically be received and known
Other phonetic order, the control main frame is made accordingly to steering wheel, the first motor, the second motor, the 3rd motor
Control, complete walk and 360 degree of camera angular turn.
In the present invention, used as a kind of preferred technical scheme, the control main frame is circumscribed with USB interface, can utilize USB
Interface is used as charger.
In the present invention, as a kind of preferred technical scheme, lighting bulb, the illuminating lamp are installed on the camera
Pauli is electrically connected with a switch and the rechargeable battery.
In the present invention, used as a kind of preferred technical scheme, the control main frame is connected with MP3 decoding player, and institute
Stating MP3 decoding player can read the data of the USB interface.
Due to using above technical scheme, the invention has the advantages that：
The present invention includes displacement mechanism, and institute's displacement mechanism is installed on the bottom of the frame, including the first motor
And the longitudinal road wheel being connected with first motor, institute's displacement mechanism also include the second motor and with institute
The horizontal road wheel that the second motor is connected is stated, second motor and the horizontal road wheel are installed on one liter
On descending mechanism, the elevating mechanism and the 3rd motor power connector, the 3rd motor and the control main frame
Signal output part connects.Based on this structure, the present invention can realize the vertical and horizontal displacement of ball picking up device, will pick up course of action footpath
Simplify, it is to avoid general intelligent ball collecting device camera obtains the positional information inaccurate problem of table tennis.Certainly, this
It is bright also can to aid in picking up ball using camera.
The ball machine structure of picking up of the present invention has two sets, is respectively arranged in the frame before longitudinal road wheel moving direction
End and rear end, it is described to pick up ball machine structure including one pingpong collection is dialled into ball cylinder, described group of ball cylinder and the longitudinal direction walking
The wheel shaft linkage of wheel, and a feeding plate accepted to the table tennis for collecting in described group of ball cylinder, the rear end hinge of the feeding plate
It is connected in the frame, the feeding plate link with described group of ball cylinder, wherein, the described group of ball cylinder turns wall including two circles,
The wall that turns links with longitudinal road wheel, described to turn to be provided between wall at one piece group of ball stopper piece, and described group of ball stopper piece
In the eccentric position for turning wall.Based on above structure, the present invention will pick up the simplification of ball mechanism action, using longitudinal road wheel
Linkage directly drives dials the rotation of ball cylinder, has saved a set of spcific power equipment, reduces cost, meanwhile, synchronism is higher, without the need for
Additionally it is controlled, using the ball stopper piece of dialling of arc dialling in for table tennis is realized, improves efficiency, and, super along longitudinal direction
During the operation of front, the ball machine structure of picking up of front end works, and when reverse direction operation, the ball machine structure of picking up of rear end works, thus unlike passing
Easily there is the dead angle for picking up ball when turning in the ball pick-up device of system.
The described group of ball cylinder of the present invention includes the wall that turns of two circles, and the wall that turns links with longitudinal road wheel, institute
State and turn to be provided with one piece group of ball stopper piece between wall, and described group of ball stopper piece is in the eccentric position for turning wall.Described group of ball stopper
Piece is circular arc, and the front end of the feeding plate is provided with arc-shaped end plate, and described turns to be provided with wall and the arc-shaped end plate phase
The shifting block of cooperation, when described group of ball stopper piece is dialled in table tennis on the feeding plate, the shifting block stir dial up it is described
Arc-shaped end plate, the front end for driving the feeding plate is inclined upwardly.Based on this structure, when dial ball stopper piece table tennis is dialled in it is described
When on feeding plate, feeding plate can there is the working condition that a front end raises up under the drive for dialling ball cylinder, feed what is collected on plate
Table tennis will be entered in release passage, realize the conveying to table tennis, and simple structure, maintenance cost is low, and efficiency is higher.
The collection ball machine structure of the present invention includes being installed on the release passage of the feeding plate downstream position, is installed on the release
Helical blade and the collection ball frame positioned at the release passage two ends in passage, the helical blade is rotated and is installed on described sending
In ball passage, the helical blade links with described group of ball cylinder, and in the both sides of the frame vertical slideway, the collection ball are equipped with
The side of frame offers the slide groove being engaged with the vertical slideway, and the collection ball frame is using the vertical slideway and slide groove
Detachable is plugged in the frame；The two ends of the release passage offer the ball-falling-in port connected with the collection ball frame.Base
In above structure, the present invention can realize collecting the detachable installation of ball frame, after a collection ball frame has been expired, then directly take
Under, as Ball for training, and other collection ball frames are directly changed on device, not delaying training uses, and improves efficiency；And
Release passage two ends are respectively provided with collection ball frame, and when device is longitudinally running towards some direction, club collects wherein side
Collection ball frame, and device opposite direction it is longitudinally running when, table tennis can collect the collection ball inframe of opposite side.
The controlling organization of the present invention includes an infrared ray range sensor, and the infrared ray range sensor is installed on described
The both sides of ball cylinder are dialled, to detect the distance between the ball picking up device and body of wall, a control main frame, the letter of the control main frame
Number input is connected with the infrared ray range sensor, and the signal output part of the control main frame controls respectively connection described the
One motor and second motor.Based on above structure, the present invention can be detected in infrared ray range sensor
The distance between ball picking up device and body of wall are reached after setting value, control the second motor motor operation, drive laterally walking
Wheel carries out row displacement, after displacement setting value (a machine body position), then controls the operation of the first motor, realizes ball picking up device
Longitudinally reciprocal movement, it is achieved thereby that picking up the setting in course of action footpath；The path for being additionally, since setting is fixed very much, and sportsman exists
During training, it is also possible to very easily avoid, it is to avoid collide with ball picking up device；Certainly, camera of the invention also can be obtained
Image information, to guarantee that the ball picking up device does not bump against with object.
The present invention provide the automatic shooting device based on the table tennis ball picker, including with the control main frame communication
The communication module of connection, described utilization GPRS, WiFi receive the instruction that mobile phone sends, and the control main frame is driven to steering wheel, first
Dynamic motor, the second motor, the 3rd motor make corresponding control, complete to walk and the angle of 360 degree of camera turns
It is dynamic；The sound identification module being connected with control main frame communication, the sound identification module can automatically receive and identify language
Sound is instructed, and the control main frame makes corresponding control to steering wheel, the first motor, the second motor, the 3rd motor
System, completes the angular turn walked with 360 degree of camera.Based on this structure, user can be using mobile phone, voice to the dress
Put and send instruction, so as to the motion and the rotation of camera of control device, realize convenient shooting, especially, in table tennis instruction
When practicing, athletic action can be taken, be corrected with facilitating, if using traditional video camera, not only needing increase volume
Outer cost, and angle is difficult to adjust when shooting, and adopt the automatic shooting device of the present invention to can be realized as filming apparatus
Convenient motion, adjustment, also cause whole device function more diversified.Meanwhile, the present invention is also integrated with charger, illumination
The functions such as lamp, MP3 broadcastings.
Description of the drawings
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to concrete
The accompanying drawing to be used needed for embodiment or description of the prior art is briefly described.In all of the figs, similar element
Or part is typically identified by similar reference.In accompanying drawing, each element or part might not draw according to actual ratio.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of elevating mechanism of the present invention；
Fig. 3 is the structural representation that the present invention picks up spherical state；
Fig. 4 is the structural representation that the present invention receives spherical state；
Fig. 5 is the structural representation of present invention collection ball machine structure；
Fig. 6 is the structural representation of present invention feeding plate；
Fig. 7 is the structural representation of arc-shaped end plate；
Fig. 8 is the principle schematic of embodiment two；
Reference：1- frames；2- longitudinal directions road wheel；The horizontal road wheels of 3-；4- dials ball cylinder；401- turns wall；402- dials ball
Catch；403- shifting blocks；Shifting block 403；5- feeds plate；6- release passages；7- helical blades；8- collection ball frames；9- cameras；10- shells
Body；11- tooth bars；12- gears；13- control main frames；14- communication modules；15- sound identification modules；16- infrared ray Distance-sensings
Device；17- mobile phones；18- steering wheels；19-USB interfaces；20-MP3 decoding players；21- sliding pins；22- arc tracks；23- solar energy
Cell panel.
Specific embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Technical scheme is clearly illustrated, therefore is only used as example, and the protection model of the present invention can not be limited with this
Enclose.
As shown in figure 1, a kind of table tennis ball picker, including frame 1, displacement mechanism, pick up ball machine structure, collection ball machine structure, control
Mechanism processed, photographic unit and power sector, wherein frame 1 can bases to install each part of the above, those skilled in the art
The concrete shape for selecting frame 1 is needed, such as in the present embodiment, selection frame 1 is square framework, outside encirclement is chlamydate
Form.Displacement mechanism is installed on the bottom of frame 1, including the first motor and the longitudinal direction that is connected with the first motor
Road wheel 2, the first motor and longitudinal road wheel 2 can select common drive shaft form to connect, and will not be described here, and indulge
It is used for realizing longitudinal walking to road wheel 2, when table tennis is collected, longitudinal road wheel 2 works, driving means lengthwise rows
Walk realization and pick up ball；After ball picking up device longitudinally moves to certain position, need to carry out transverse shifting, to collect the table tennis in next path
Pang ball, therefore, in the present invention, displacement mechanism also includes the second motor and the lateral line being connected with the second motor
Wheel 3 is walked, the second motor and horizontal road wheel 3 are equally connected from common drive shaft form, also do not repeated.But,
Inventor in experiments it is found that horizontal road wheel 3 is vertical with longitudinal direction of travel of road wheel 2, longitudinal road wheel 2 and laterally walking
Wheel 3 can be disturbed, and through repetition test, inventor devises following structure (as shown in Figure 2)：Second motor and horizontal stroke
It is installed on an elevating mechanism to road wheel 3, elevating mechanism and the 3rd motor power connector, the 3rd motor and control
The signal output part connection of main frame.In the present embodiment, elevating mechanism is using the housing 10 for accommodating the second motor, laterally walking
Wheel 3 is installed on housing 10 using wheel shaft, and with the second motor using gear 12 or belt power connector；In frame 1
Track is provided with, the groove being engaged with track is offered on housing 10, housing 10 is slidably mounted on track, meanwhile, housing
10 side wall is provided with tooth bar 11, and the 3rd motor is utilized and the meshed gears 12 of tooth bar 11, realizes connecting with the transmission of housing 10
Connect.So, the present invention can realize the vertical and horizontal displacement of ball picking up device, will pick up the simplification of course of action footpath, it is to avoid general
Intelligent ball collecting device camera obtains the inaccurate problem of positional information of table tennis.
The ball machine structure of picking up of the present invention is set to two sets, is respectively arranged in frame 1 along the front end of the moving direction of longitudinal road wheel 2
And rear end, that is to say, that when running towards front, the ball machine structure of picking up of front end works ball picking up device, and ball is picked up in realization, and picks up ball dress
Put when running towards rear, the ball machine structure of picking up of rear end works, and herein, front-end and back-end are primarily to clearly pick up ball machine structure position
In frame 1 along two ends of the moving direction of longitudinal road wheel 2.For more specifically, ball machine structure is picked up including one rattling
What ball was collected dials ball cylinder 4 and to the feeding plate 5 by the table tennis undertaking that ball cylinder 4 is collected is dialled, and dials ball cylinder 4 with longitudinal road wheel
2 wheel shaft linkage, wherein, that dials that ball cylinder 4 includes two circles turns wall 401, turns wall 401 and links with longitudinal direction road wheel 2, linkage
Concrete structure can adopt the gear or belt transmission of routine, will not be described here, and two turn to be provided with one piece between wall 401
Ball stopper piece 402 is dialled, and dials eccentric position of the ball stopper piece 402 in wall 401 is turned, it is circular arc to dial ball stopper piece 402, is turning wall 401
During rotation, dial ball stopper piece 402 also can concomitant rotation, formed a thumb wheel form, table tennis can be stirred with progressive opposite direction,
And make table tennis just enter feeding plate 5 on, feed plate 5 rear end be articulated with frame 1, and with the edge energy of release passage 6
Enough seamlessly transit so that table tennis can be dropped into smoothly in release passage 6 from feeding plate 5, feed plate 5 and dial ball cylinder 4
Dynamic, in more detail, the front end for feeding plate 5 is provided with arc-shaped end plate, and turns to be provided with what is be engaged with arc-shaped end plate on wall 401
Shifting block 403, when group ball stopper piece 402 is dialled in table tennis on feeding plate 5, shifting block 403 is stirred and dials up arc-shaped end plate, is driven
The front end of feeding plate 5 is inclined upwardly, so that table tennis is rolled in release passage 6 along feeding plate 5, the structure of arc-shaped end plate
As shown in fig. 7, for an arc being bent upwards, using the arc-shaped end plate table tennis, Er Qieneng not only can be effectively kept in
Enough facilitate the contact and disengaging of shifting block and feeding plate 5, reduce both abrasions so that the front end of feeding plate 5 can when falling
Slowly fall along arc-shaped end plate bottom surface.The present invention will pick up the simplification of ball mechanism action, and the linkage using longitudinal road wheel is direct
Drive and dial the rotation of ball cylinder, saved a set of spcific power equipment, reduce cost, meanwhile, synchronism is higher, without the need for additionally carrying out
Control, using the ball stopper piece of dialling of arc dialling in for table tennis is realized, improves efficiency, and, along the advanced side's operation in longitudinal direction
When, the ball machine structure of picking up of front end works, and when reverse direction operation, the ball machine structure of picking up of rear end works, thus unlike traditional picks up ball
Easily there is the dead angle for picking up ball when turning in device.As shown in figure 3, state diagram when ball action is picked up for the present invention, now, dials ball stopper
Piece 402 backward stirs table tennis, and feeds plate 5 and be not affected by stirring for shifting block, that is, front end is downward-sloping, table tennis
Ball can be dialed to smoothly on feeding plate 5；As shown in figure 4, the schematic diagram for receiving spherical state for the present invention, now, dials ball stopper
Piece 402 smoothly dials to table tennis on feeding plate 5, the moment departed from ball, and shifting block 403 is also turned to and feeding plate
The position of the arc-shaped end plate contact of 5 front ends, shifting block is rotated further with turning wall, so as to stir arc-shaped end plate, drives feeding plate 5
Front end is inclined upwardly, table tennis along feeding plate 5 roll backward, fall into and roll in release passage 6, and shifting block with turn wall continue
Rotate, when shifting block departs from the arc-shaped end plate of feeding plate 5 front end, feed plate 5 and fall in the Action of Gravity Field lower front end of itself, recover to
Pick up state during ball.Go round and begin again, complete to pick up ball action.In the same manner, it is also so work that other set picks up ball machine structure.Such as Fig. 6 institutes
Show, in order to be further ensured that structural stability, while also avoid feeding when plate 5 falls be easily damaged, therefore in the both sides of frame
The arc track 22 of feeding plate 5 is provided with, the both sides for feeding plate 5 are utilized respectively a sliding pin 21 in arc track 22, rise
To rock-steady structure, while also functioning to certain cushioning effect.Gradual-enlargement type collection ball plate can be provided with the both sides for dialling ball cylinder 4, it is attached
The structure not shown in figure.
As shown in figure 5, collection ball machine structure includes being installed on the release passage 6 of the feeding downstream position of plate 5, is installed on release passage
Helical blade 7 and the collection ball frame 8 positioned at the two ends of release passage 6 in 6, helical blade 7 is rotated and is installed in release passage 6,
Helical blade 7 links with ball cylinder 4 is dialled, it is more detailed for, the rotating shaft of helical blade 7 utilizes gear 12 with the rotating shaft for dialling ball cylinder 4
Engaged transmission, the both sides of frame 1 are equipped with vertical slideway, and the side for collecting ball frame 8 offers the slideway being engaged with vertical slideway
Groove, collection ball frame 8 is plugged in frame 1 using vertical slideway and slide groove detachable, and collection ball frame 8 be able to can be accommodated using T-shaped
More tablees tennis, for clearer expression in accompanying drawing, only illustrate a cuboid framework, the two ends of release passage 6
Offer the ball-falling-in port connected with collection ball frame 8.This makes it possible to realize the detachable installation of collection ball frame, when one ball frame is collected
After having expired, then directly remove, as Ball for training, and other collection ball frames directly changed on device, not delaying training uses,
Improve efficiency；And it is respectively provided with collection ball frame, when device is longitudinally running towards some direction, club at release passage two ends
Collect the collection ball frame of wherein side, and device opposite direction it is longitudinally running when, the rotating shaft of helical blade 7 and the rotating shaft for dialling ball cylinder 4
Using the engaged transmission of gear 12, helical blade 7 also can backwards rotation, table tennis can collect the collection ball inframe of opposite side.
The controlling organization of the present invention includes an infrared ray range sensor 16 and a control main frame 13, wherein, infrared ray away from
The both sides for dialling ball cylinder 4 are installed on from sensor, to detect the distance between ball picking up device and body of wall, the signal of control main frame 13
Input is connected with infrared ray range sensor 16, the signal output part of control main frame control to connect respectively the first motor and
Second motor.The distance that the present invention can be detected between ball picking up device and body of wall in infrared ray range sensor reaches and sets
After definite value, the second motor motor operation is controlled, drive horizontal road wheel to carry out row displacement, displacement setting value (
Machine body position) after, then the operation of the first motor is controlled, the longitudinally reciprocal movement of ball picking up device is realized, it is achieved thereby that picking up ball
The setting in path, program those skilled in the art in control main frame 13 can be set as needed；It is additionally, since setting
Path fix very much, sportsman training when, it is also possible to very easily avoid, it is to avoid collide with ball picking up device；Certainly, originally
The camera of invention can also obtain image information, to guarantee that the ball picking up device does not bump against with object.The photographic unit of the present invention
Including steering wheel and the camera 9 being connected with steering wheel, steering wheel is connected with control main frame using pilot；It is provided with camera 9
Lighting bulb, lighting bulb is electrically connected with using a switch and rechargeable battery.Power sector includes rechargeable battery (in figure not
Illustrate), rechargeable battery is powered to required part, and power sector also includes solar panel 23, and solar panel 23 is pacified
Top loaded on frame 1, rechargeable battery is connected with solar panel using wire, and light sensing switch is provided with wire,
Light sensing switch can be opened under light conditions so that solar panel 23 is rechargeable battery charging, certainly, chargeable
Battery can also be provided with power management module, prevent from overcharging；Power sector also includes the charging socket being connected with rechargeable battery,
Charging socket is located at the side of frame 1, can realize that 220V's is commercial power charged using charging socket.
Embodiment two
A kind of automatic shooting device based on the table tennis ball picker, as shown in figure 8, including as described in embodiment one
Table tennis ball picker, the language for also including the communication module 14 being connected with the communication of control main frame 13 and being connected with control main frame communication
Sound identification module 15, communication module 14 receives the instruction that mobile phone 17 sends, control main frame 13 pairs using GPRS antenna, WiFi antennas
Steering wheel 18, the first motor, the second motor, the 3rd motor make corresponding control, complete walking and camera 9
360 degree of angular turns；Sound identification module 15 can automatically receive and identify phonetic order, control main frame to steering wheel 18,
One motor, the second motor, the 3rd motor make corresponding control, complete the 360 degree of angles walked with camera 9
Degree is rotated.In addition, control main frame is circumscribed with usb 19, can be used as charger by the use of usb 19.Control main frame
12 are connected with MP3 decoding player 20, and MP3 decoding player can read the data of USB interface.User can adopt hand
Machine, voice send instruction to the device, so as to the motion and the rotation of camera of control device, realize convenient shooting, especially
It is, in table tennis training, athletic action can be taken, is corrected with facilitating, if using traditional video camera, no
But need to increase extra cost, and angle is difficult to adjust when shooting, and just can be real using the automatic shooting device of the present invention
Show convenient motion, the adjustment of filming apparatus, also cause whole device function more diversified.Meanwhile, the present invention is also integrated with
The functions such as charger, illuminating lamp, MP3 broadcastings.
Finally it should be noted that：Various embodiments above only to illustrate technical scheme, rather than a limitation；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, either which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, do not make the essence disengaging various embodiments of the present invention technology of appropriate technical solution
The scope of scheme, it all should cover in the middle of the claim of the present invention and the scope of specification.
Claims (10)
1. a kind of table tennis ball picker, it is characterised in that include
Frame, the frame is to install each part；
Displacement mechanism, institute's displacement mechanism is installed on the bottom of the frame, including the first motor and drives with described first
Longitudinal road wheel that dynamic motor is connected, institute's displacement mechanism also include the second motor and with second motor
The horizontal road wheel being connected；
Ball machine structure is picked up, the ball machine structure of picking up there are two sets, be respectively arranged in the frame along longitudinal road wheel moving direction
Front-end and back-end, the ball machine structure of picking up includes
One by pingpong collection to dial ball cylinder, and described group of ball cylinder links with the wheel shaft of longitudinal road wheel,
And the feeding plate accepted to the table tennis for collecting in the described group of ball cylinder, the rear end of the feeding plate is articulated with described
In frame, the feeding plate links with described group of ball cylinder；
Collection ball machine structure, the collection ball machine structure includes being installed on the release passage of the feeding plate downstream position, is installed on described sending
Helical blade and the collection ball frame positioned at the release passage two ends in ball passage, the helical blade rotation is installed on described
In release passage, the helical blade links with described group of ball cylinder；
Controlling organization, the controlling organization includes
One infrared ray range sensor, the infrared ray range sensor is installed on the both sides for dialling ball cylinder, to detect
The distance between ball picking up device and body of wall are stated,
And a control main frame, the signal input part of the control main frame is connected with the infrared ray range sensor, the control
The signal output part of main frame processed controls to connect first motor and second motor respectively；
Photographic unit, the photographic unit includes steering wheel and the camera being connected with the steering wheel, the steering wheel and the control
Host computer pilot connects；
And power sector, the power sector includes rechargeable battery, and the rechargeable battery powers to required part.
2. a kind of table tennis ball picker according to claim 1, it is characterised in that the horizontal road wheel and described vertical
It is vertical to road wheel direction of travel.
3. a kind of table tennis ball picker according to claim 2, it is characterised in that second motor and described
Laterally road wheel is installed on an elevating mechanism, the elevating mechanism and the 3rd motor power connector, the 3rd driving
Motor is connected with the signal output part of the control main frame.
4. a kind of table tennis ball picker according to claim 1, it is characterised in that described group of ball cylinder includes two circles
Turn wall, it is described to turn wall and longitudinal road wheel linkage, it is described turn to be provided with one piece between wall dial ball stopper piece, and described group of ball
Catch is in the eccentric position for turning wall.
5. a kind of table tennis ball picker according to claim 1, it is characterised in that the front end of the feeding plate is provided with
Arc-shaped end plate, and it is described turn to be provided with the shifting block being engaged with the arc-shaped end plate on wall, when described group of ball stopper piece is by table tennis
When dialling on the feeding plate, the shifting block is stirred and dials up the arc-shaped end plate, drives the front end of the feeding plate upwards
Incline.
6. a kind of table tennis ball picker according to claim 1, it is characterised in that the both sides of the frame are equipped with perpendicular
Straight slideway, the side of the collection ball frame offers the slide groove being engaged with the vertical slideway, and the collection ball frame is using described
Vertically slideway and slide groove detachable are plugged in the frame；The two ends of the release passage offer and the collection ball frame
The ball-falling-in port of connection.
7. a kind of table tennis ball picker according to claim 1, it is characterised in that the power sector also includes the sun
Energy cell panel, the solar panel is installed on the top of the frame, the rechargeable battery and the solar cell
Plate is connected using wire, and is provided with light sensing switch on the wire；The power sector also includes and the rechargeable battery
The charging socket of connection, the charging socket is located at the side of the frame.
8. automatic shooting device, it is characterised in that include the table tennis ball picker as described in any one of claim 1-7, also
Including
The communication module being connected with control main frame communication, described utilization GPRS, WiFi receive the instruction that mobile phone sends, described
Control main frame makes corresponding control to steering wheel, the first motor, the second motor, the 3rd motor, completes walking
With 360 degree of angular turn of camera；
The sound identification module being connected with control main frame communication, the sound identification module can automatically receive and identify language
Sound is instructed, and the control main frame makes corresponding control to steering wheel, the first motor, the second motor, the 3rd motor
System, completes the angular turn walked with 360 degree of camera.
9. automatic shooting device according to claim 8, it is characterised in that the control main frame is circumscribed with USB interface, energy
Enough used as charger by the use of USB interface.
10. automatic shooting device according to claim 8, it is characterised in that the control main frame is connected with MP3 decoding and broadcasts
Device is put, and the MP3 decoding player can read the data of the USB interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710084575.XA CN106581966B (en) | 2017-02-16 | 2017-02-16 | A kind of table tennis ball picker and the automatic shooting device based on the device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710084575.XA CN106581966B (en) | 2017-02-16 | 2017-02-16 | A kind of table tennis ball picker and the automatic shooting device based on the device |
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| CN106581966A true CN106581966A (en) | 2017-04-26 |
| CN106581966B CN106581966B (en) | 2018-09-25 |
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| CN201710084575.XA Expired - Fee Related CN106581966B (en) | 2017-02-16 | 2017-02-16 | A kind of table tennis ball picker and the automatic shooting device based on the device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107219849A (en) * | 2017-05-23 | 2017-09-29 | 北京理工大学 | A kind of multipath picks up ball and pitching robot control system |
| CN107875598A (en) * | 2017-12-28 | 2018-04-06 | 苏州花坞信息科技有限公司 | A kind of automatic table tennis picker based on artificial intelligence |
| CN108159660A (en) * | 2018-01-18 | 2018-06-15 | 济南毕昇信息科技有限公司 | A kind of automatic table tennis ball picking machine |
| CN109157813A (en) * | 2018-10-10 | 2019-01-08 | 昆明理工大学 | A kind of ball recycling machine people |
| CN109821204A (en) * | 2019-03-15 | 2019-05-31 | 辽宁科技大学 | A kind of collection ball ball picking up device |
| CN111359173A (en) * | 2020-04-14 | 2020-07-03 | 高琦 | Ball picking machine |
| CN112999622A (en) * | 2021-04-15 | 2021-06-22 | 无锡职业技术学院 | Automatic table tennis ball picking machine |
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| CN201823250U (en) * | 2010-09-18 | 2011-05-11 | 广州番禺职业技术学院 | Automatic tennis ball picker by remote control |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107875598A (en) * | 2017-12-28 | 2018-04-06 | 苏州花坞信息科技有限公司 | A kind of automatic table tennis picker based on artificial intelligence |
| CN108159660A (en) * | 2018-01-18 | 2018-06-15 | 济南毕昇信息科技有限公司 | A kind of automatic table tennis ball picking machine |
| CN109157813A (en) * | 2018-10-10 | 2019-01-08 | 昆明理工大学 | A kind of ball recycling machine people |
| CN109157813B (en) * | 2018-10-10 | 2023-11-21 | 昆明理工大学 | Ball recovery robot |
| CN109821204A (en) * | 2019-03-15 | 2019-05-31 | 辽宁科技大学 | A kind of collection ball ball picking up device |
| CN111359173A (en) * | 2020-04-14 | 2020-07-03 | 高琦 | Ball picking machine |
| CN112999622A (en) * | 2021-04-15 | 2021-06-22 | 无锡职业技术学院 | Automatic table tennis ball picking machine |
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|---|---|
| CN106581966B (en) | 2018-09-25 |
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