CN106581966B - A kind of table tennis ball picker and the automatic shooting device based on the device - Google Patents
A kind of table tennis ball picker and the automatic shooting device based on the device Download PDFInfo
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- CN106581966B CN106581966B CN201710084575.XA CN201710084575A CN106581966B CN 106581966 B CN106581966 B CN 106581966B CN 201710084575 A CN201710084575 A CN 201710084575A CN 106581966 B CN106581966 B CN 106581966B
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- ball
- driving motor
- table tennis
- rack
- traveling wheel
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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
A kind of table tennis ball picker, including rack, displacement mechanism, ball machine structure, collection ball machine structure, control mechanism, photographic unit and power sector are picked up, rack is for installing each component；Displacement mechanism is installed on the bottom of rack, including the first driving motor and longitudinal traveling wheel for being sequentially connected with the first driving motor, and displacement mechanism further includes the second driving motor and the lateral traveling wheel that is sequentially connected with the second driving motor；Picking up ball machine structure has two sets, the front-end and back-end of rack traveling wheel moving direction along longitudinal direction are respectively arranged in, collection ball machine structure includes the release channel for being installed on feeding plate downstream position, the helical blade being installed in release channel and the collection ball frame positioned at release channel both ends.Invention also provides the automatic shooting devices based on the device.The present invention simplifies the path of table tennis ball picker, while the multifunction of realization device.
Description
Technical field
The present invention relates to a kind of table tennis ball picker and based on the automatic shooting device of the device.
Background technology
The appearance of smart table tennis service robot carries out table tennis trajectory analysis etc. using computer, this is a series of
Appearance all enables paddler preferably to be taken exercise, and obtains better achievement.It can using professional table tennis balls collecting device
To mitigate the burden that trainer recycles table tennis, invalid training time when can reduce trained, the training of sportsman is improved
Efficiency.
Also there are the table tennis device ball pick-up device of many types, such as manual ball pick-up device and intelligent ball collecting device, intelligent ball collecting device at present
The collection that table tennis can be carried out while sportsman plays ball, does not waste time.But existing intelligent ball collecting device one kind is
It is remotely controlled class, needs artificially to be remotely controlled, it is still desirable to which human intervention, another kind are the positions for obtaining table tennis using camera
Then it is picked up, still, the recognition capability of camera is limited, and it is not high to pick up efficiency.Moreover, existing intelligent ball collecting device valence
Lattice are relatively high, can only realize ball-picking functions, when without training, just lose its value, cause cost performance not high.
Invention content
For the defects in 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 present invention provides a kind of table tennis ball pickers, including
Rack, the rack is for installing each component；
Displacement mechanism, institute's displacement mechanism are installed on the bottom of the rack, including the first driving motor and with described
Longitudinal traveling wheel that one driving motor is sequentially connected, institute's displacement mechanism further include the second driving motor and are driven with described second
The lateral traveling wheel of motor drive connection；
Ball machine structure is picked up, the ball machine structure of picking up there are two sets, is respectively arranged in the rack along longitudinal traveling wheel side of movement
To front-end and back-end, the ball machine structure of picking up includes
One by pingpong collection for dialling ball cylinder, and the wheel shaft of described group of ball cylinder and longitudinal traveling wheel links,
The rear end of the feeding plate accepted with a table tennis for collecting described group of ball cylinder, the feeding plate is articulated with institute
It states in rack, the feeding plate links with described group of ball cylinder；
Collect ball machine structure, the collection ball machine structure includes the release channel for being installed on the feeding plate downstream position, is installed on institute
State the helical blade in release channel and the collection ball frame positioned at release channel both ends, the helical blade rotational installation in
In the release channel, the helical blade links with described group of ball cylinder；
Control mechanism, the control mechanism include
One infrared ray range sensor, the infrared ray range sensor is installed on the both sides for dialling ball cylinder, for examining
The distance between the ball picking up device and wall are surveyed,
The signal input part of one control host, the control host is connected with the infrared ray range sensor, the control
The signal output end of host processed controls respectively connects first driving motor and second driving motor；
Photographic unit, the photographic unit include steering engine and the camera that is connect with the steering engine, the steering engine with it is described
Control the connection of host computer pilot；
Power sector, the power sector include rechargeable battery, and the rechargeable battery is powered to required component.
In the present invention, as a kind of perferred technical scheme, the transverse direction traveling wheel and longitudinal traveling wheel walking side
To vertical.
In the present invention, as a kind of perferred technical scheme, second driving motor and the lateral traveling wheel installation
In on an elevating mechanism, the elevating mechanism and third driving motor be connected by power, the third driving motor and the control
The signal output end of host connects.In general, the elevating mechanism is using the shell for accommodating second driving motor, it is described
Lateral traveling wheel is installed on using wheel shaft on shell, and utilizes gear or belt be connected by power with second driving motor；
It is provided with track in the rack, offers on the shell and is slidably installed with the matched groove of the track, the shell
In on the track, meanwhile, the side wall of the shell is equipped with rack, and the third driving motor with shown rack using engaging
Gear, realize with the shell be sequentially connected.
In the present invention, as a kind of perferred technical scheme, the both sides of described group of ball cylinder are both provided with gradual-enlargement type collection ball plate,
And the front end of the gradual-enlargement type collection ball plate is flushed with described group of ball cylinder.
In the present invention, as a kind of perferred technical scheme, the described group of ball cylinder include two it is circular turn wall, it is described to turn wall
It links with longitudinal traveling 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 and turns
The eccentric position of wall.Described group of ball stopper piece is arc-shaped.
In the present invention, as a kind of perferred technical scheme, the front end of the feeding plate is provided with arc-shaped end plate, and described
Turn to be provided on wall with the matched shifting block of the arc-shaped end plate, when described group of ball stopper piece dials in table tennis on the feeding plate
When, the shifting block, which is stirred, dials up the arc-shaped end plate, and the front end of the feeding plate is driven to tilt upwards.
In the present invention, as a kind of perferred technical scheme, the both sides of the rack are equipped with vertical slideway, the collection ball
The side of frame is offered utilizes the vertical slideway and slide groove with the vertical matched slide groove of slideway, the collection ball frame
Detachable is plugged in the rack；The both ends in the release channel offer the ball-falling-in port being connected to the collection ball frame.
In the present invention, as a kind of perferred technical scheme, the shaft of the shaft of the helical blade and described group of ball cylinder
Utilize gear engaged transmission.
In the present invention, as a kind of perferred technical scheme, the power sector further includes solar panel, it is described too
Positive energy solar panel is installed on the top of the rack, and the rechargeable battery is connect with the solar panel using conducting wire,
And light sensing switch is installed on the conducting wire；The power sector further includes the charging socket being connect with the rechargeable battery,
The charging socket is located at the side of the rack.
On the other hand, the present invention provides a kind of automatic shooting devices based on the table tennis ball picker, including
The communication module being connect with the control host communication, the communication module receive mobile phone using GPRS, WiFi and send out
The instruction sent, the control host make accordingly steering engine, the first driving motor, the second driving motor, third driving motor
The angular turn of 360 degree of walking and camera is completed in control；
The sound identification module being connect with the control host communication, the sound identification module can receive and know automatically
Other phonetic order, the control host make accordingly steering engine, the first driving motor, the second driving motor, third driving motor
Control, complete walking and 360 degree of camera angular turn.
In the present invention, as a kind of perferred technical scheme, the control host is circumscribed with USB interface, can utilize USB
Interface is used as charger.
In the present invention, as a kind of perferred technical scheme, lighting bulb, the headlamp are installed on the camera
Pauli is electrically connected with a switch with the rechargeable battery.
In the present invention, as a kind of perferred technical scheme, the control host is connected with MP3 decoding player, and institute
The data of the USB interface can be read by stating MP3 decoding player.
Due to using the technology described above, the invention has the advantages that：
The present invention includes displacement mechanism, and institute's displacement mechanism is installed on the bottom of the rack, including the first driving motor
With the longitudinal traveling wheel being sequentially connected with first driving motor, institute's displacement mechanism further include the second driving motor and with institute
The lateral traveling wheel of the second driving motor drive connection is stated, second driving motor and the lateral traveling wheel are installed on one liter
On descending mechanism, the elevating mechanism and third driving motor be connected by power, the third driving motor and the control host
Signal output end 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 diameter
Simplify, avoids the problem that general intelligent ball collecting device camera obtains the location information inaccuracy of table tennis.Certainly, this hair
It is bright to utilize camera that can also assist picking up ball.
The ball machine structure of picking up of the present invention has two sets, is respectively arranged in the rack before longitudinal traveling wheel moving direction
End and rear end, the ball machine structure of picking up includes one for pingpong collection to be dialled ball cylinder, and the described group of ball cylinder longitudinal is walked with described
The feeding plate that the wheel shaft of wheel links and a table tennis for collecting described group of ball cylinder is accepted, the rear end hinge of the feeding plate
Be connected in the rack, the feeding plate links with the described group of ball cylinder, wherein described group of ball cylinder include two it is circular turn wall,
The wall that turns links with longitudinal traveling wheel, described to turn to be provided with one piece group of ball stopper piece between wall, and at described group of ball stopper piece
In the eccentric position for turning wall.Based on the above structure, the present invention will pick up the simplification of ball mechanism action, utilize longitudinal traveling wheel
Linkage, which directly drives, dials the rotation of ball cylinder, has saved a set of spcific power equipment, has reduced cost, meanwhile, synchronism is stronger, is not necessarily to
It is additionally controlled, realizes dialling in for table tennis using the ball stopper piece of dialling of arc, improve efficiency, moreover, along longitudinal super
When front is run, the work of ball machine structure is picked up in front end, and when reverse direction operation, the work of ball machine structure is picked up in rear end, thus unlike passing
The ball pick-up device of system is easy the presence of the dead angle for picking up ball when turning to.
The described group of ball cylinder of the present invention include two it is circular turn wall, the wall that turns links with longitudinal traveling wheel, institute
It states and is provided with one piece group of ball stopper piece between turning wall, and described group of ball stopper piece is in the eccentric position for turning wall.Described group of ball stopper
Piece is arc-shaped, and the front end of the feeding plate is provided with arc-shaped end plate, and described turns to be provided on wall and the arc-shaped end plate phase
The shifting block of cooperation, when described group of ball stopper piece dials in table tennis on the feeding plate, the shifting block stir dial up it is described
Arc-shaped end plate drives the front end of the feeding plate to tilt upwards.It is described when dialling ball stopper piece by table tennis and dialling in based on this structure
When feeding on plate, the working condition that a front end raises up can occur under the drive for dialling ball cylinder in feeding plate, be collected on feeding plate
Table tennis will enter in release channel, realize the conveying to table tennis, simple in structure, maintenance cost is low, and efficiency is higher.
The collection ball machine structure of the present invention includes the release channel for being installed on the feeding plate downstream position, is installed on the release
Helical blade in channel and the collection ball frame positioned at release channel both ends, the helical blade rotational installation are sent in described
In ball channel, the helical blade links with described group of ball cylinder, and vertical slideway, the collection ball are equipped in the both sides of the rack
The side of frame is offered utilizes the vertical slideway and slide groove with the vertical matched slide groove of slideway, the collection ball frame
Detachable is plugged in the rack；The both ends in the release channel offer the ball-falling-in port being connected to the collection ball frame.Base
In the above structure, the present invention can realize the detachable installation of collection ball frame, and ball frame is collected when one has expired and then directly taken
Under, as Ball for training, and other collection ball frames are directly replaced on device, do not delay trained use, improve efficiency；And
Release channel both ends are respectively provided with collection ball frame, and when device is longitudinally running towards some direction, club is collected into wherein side
Collect ball frame, and when device negative direction is longitudinally running, table tennis can be collected into the collection ball frame of the other side.
The control mechanism of the present invention includes an infrared ray range sensor, and the infrared ray range sensor is installed on described
The both sides for dialling ball cylinder, for detecting the distance between the ball picking up device and wall, a control host, the letter of the control host
Number input terminal is connected with the infrared ray range sensor, and the signal output end of the control host control respectively connects described the
One driving motor and second driving motor.Based on the above structure, the present invention can be detected in infrared ray range sensor
After the distance between ball picking up device and wall reach setting value, the second driving motor motor operation is controlled, drives laterally walking
It takes turns and carries out row displacement, after displacement setting value (a machine body position), then control the operation of the first driving motor, realize ball picking up device
Longitudinally reciprocal movement, to realize the setting for picking up course of action diameter；Moreover, because the path of setting is very fixed, sportsman exists
When training, it also can very easily avoid, avoid colliding with ball picking up device；Certainly, camera of the invention can also obtain
Image information, to ensure that the ball picking up device does not bump against with object.
Automatic shooting device provided by the invention based on the table tennis ball picker, including with the control host communication
The communication module of connection, the communication module receive the instruction that mobile phone is sent using GPRS, WiFi, and the control host is to rudder
Machine, the first driving motor, the second driving motor, third driving motor make corresponding control, complete 360 degree of walking and camera
Angular turn；The sound identification module being connect with the control host communication, the sound identification module can receive automatically
And identifying phonetic order, the control host makes steering engine, the first driving motor, the second driving motor, third driving motor
Corresponding control, completes the angular turn of 360 degree of walking and camera.Based on this structure, mobile phone, language may be used in user
Sound sends out instruction to the device, to the movement of control device and the rotation of camera, realizes and easily shoots, especially,
When table tennis training, the action of sportsman can be taken, is corrected with facilitating, if using traditional video camera, not only needed
Angle is difficult to adjust when increasing extra cost, and shooting, and automatic shooting device using the present invention can be realized as
Filming apparatus facilitates movement, adjustment, but also whole device function is more diversified.Meanwhile the present invention is also integrated with charging
The functions such as device, headlamp, MP3 broadcastings.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar reference numeral.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of elevating mechanism of the present invention；
Fig. 3 is the structural schematic diagram that the present invention picks up spherical state；
Fig. 4 is the structural schematic diagram that the present invention receives spherical state；
Fig. 5 is the structural schematic diagram of present invention collection ball machine structure；
Fig. 6 is the structural schematic diagram of present invention feeding plate；
Fig. 7 is the structural schematic diagram of arc-shaped end plate；
Fig. 8 is the principle schematic of embodiment two；
Reference numeral：1- racks；The longitudinal directions 2- traveling wheel；3- transverse direction traveling wheels；4- dials ball cylinder；401- turns wall；402- dials ball
Catch；403- shifting blocks；Shifting block 403；5- feeds plate；6- release channel；7- helical blades；8- collection ball frames；9- cameras；10- shells
Body；11- racks；12- gears；13- controls host；14- communication modules；15- sound identification modules；16- infrared ray Distance-sensings
Device；17- mobile phones；18- steering engines；19-USB interfaces；20-MP3 decoding players；21- sliding pins；22- arc tracks；23- solar energy
Solar panel.
Specific implementation mode
The embodiment of technical solution of the present invention is described in detail below in conjunction with attached drawing.Following embodiment is only used for
Clearly illustrate technical scheme of the present invention, therefore be only used as example, and the protection model of the present invention cannot be limited with this
It encloses.
As shown in Figure 1, a kind of table tennis ball picker, including rack 1, displacement mechanism, pick up ball machine structure, collection ball machine structure, control
For installing above each component, those skilled in the art can basis for mechanism, photographic unit and power sector processed, wherein rack 1
The concrete shape of selection rack 1 is needed, such as in the present embodiment, selects rack 1 chlamydate for square frame, external encirclement
Form.Displacement mechanism is installed on the bottom of rack 1, including the first driving motor and the longitudinal direction with the drive connection of the first driving motor
Traveling wheel 2, the first driving motor can select common drive shaft form to connect with longitudinal traveling wheel 2, and this will not be repeated here, indulges
It is used for realizing longitudinal walking to traveling wheel 2, when being collected table tennis, longitudinal traveling wheel 2 works, and driving device is longitudinal
Walking, which is realized, picks up ball；After ball picking up device longitudinally moves to certain position, need to carry out transverse shifting, to collect next path
Table tennis, therefore, in the present invention, displacement mechanism further includes the second driving motor and the transverse direction that is sequentially connected with the second driving motor
Traveling wheel 3, the second driving motor are equally selected common drive shaft form to connect, are not also repeated with lateral traveling wheel 3.But
Be, inventor in experiments it is found that, lateral traveling wheel 3 is vertical with longitudinal 2 direction of travel of traveling wheel, longitudinal traveling wheel 2 and laterally
Traveling wheel 3 can interfere, and by repetition test, inventor devises following structure (as shown in Figure 2)：Second driving motor
Be installed on an elevating mechanism with lateral traveling wheel 3, elevating mechanism and third driving motor be connected by power, third driving motor with
Control the signal output end connection of host.In the present embodiment, elevating mechanism is using the shell 10 for accommodating the second driving motor, laterally
Traveling wheel 3 is installed on using wheel shaft on shell 10, and utilizes gear 12 or belt be connected by power with the second driving motor；Rack
It is provided with track on 1, offers on shell 10 and is slidably mounted on track with the matched groove of track, shell 10, meanwhile, shell
The side wall of body 10 is equipped with rack 11, and third driving motor, which is utilized, to be driven with 11 meshed gears 12 of rack, realization with shell 10
Connection.In this way, the present invention can realize the vertical and horizontal displacement of ball picking up device, the simplification of course of action diameter will be picked up, is avoided general
Intelligent ball collecting device camera obtain table tennis location information inaccuracy problem.
The ball machine structure of picking up of the present invention is set as two sets, is respectively arranged in the front end of 2 moving direction of traveling wheel along longitudinal direction of rack 1
The rear end and, that is to say, that for ball picking up device when being run towards front, the work of ball machine structure is picked up in front end, and ball is picked up in realization, and picks up ball dress
It sets when being run towards rear, the work of ball machine structure is picked up in rear end, and herein, front-end and back-end are primarily to clearly pick up ball machine structure position
In two ends of 2 moving direction of traveling wheel along longitudinal direction of rack 1.For more specifically, ball machine structure is picked up including one for that will rattle
What ball was collected dials the feeding plate 5 that ball cylinder 4 and one is used to dial the table tennis undertaking that ball cylinder 4 is collected, and dials ball cylinder 4 and longitudinal traveling wheel
2 wheel shaft linkage, wherein dial ball cylinder 4 include two it is circular turn wall 401, turn wall 401 and link with longitudinal traveling wheel 2, linkage
Conventional gear or belt transmission may be used in concrete structure, and this will not be repeated here, and two turn to be provided with one piece between wall 401
Ball stopper piece 402 is dialled, and dials ball stopper piece 402 and is in the eccentric position for turning wall 401, it is arc-shaped to dial ball stopper piece 402, is turning wall 401
When rotation, dialling ball stopper piece 402 can also rotate therewith, and form a thumb wheel form, the negative direction that table tennis can march forward is stirred,
And make table tennis just enter feeding plate 5 on, feeding plate 5 rear end be articulated in rack 1, and with the edge energy in release channel 6
It enough seamlessly transits so that table tennis can smoothly drop into release channel 6 from feeding plate 5, feeding plate 5 and group ball cylinder 4
Dynamic, in more detail, the front end of feeding plate 5 is provided with arc-shaped end plate, and turns to be provided on wall 401 and be matched with arc-shaped end plate
Shifting block 403, when dialling ball stopper piece 402 and dialling in table tennis on feeding plate 5, shifting block 403, which is stirred, dials up arc-shaped end plate,
The front end of feeding plate 5 is driven to tilt upwards, so that table tennis is rolled into along feeding plate 5 in release channel 6, arc-shaped end plate
Structure not only can effectively keep in table tennis as shown in fig. 7, for an arc panel being bent upwards using the arc-shaped end plate, and
And shifting block can be facilitated and feed the contact and disengaging of plate 5, reduce the abrasion of the two so that when the front end of feeding plate 5 falls
It can slowly fall along arc-shaped end plate bottom surface.The present invention will pick up the simplification of ball mechanism action, utilize the linkage of longitudinal traveling wheel
It directly drives and dials the rotation of ball cylinder, saved a set of spcific power equipment, reduced cost, meanwhile, synchronism is stronger, without additional
It is controlled, realizes dialling in for table tennis using the ball stopper piece of dialling of arc, improve efficiency, moreover, along longitudinal advanced side
When operation, the work of ball machine structure is picked up in front end, and when reverse direction operation, the work of ball machine structure is picked up in rear end, thus unlike traditional
Ball pick-up device is easy the presence of the dead angle for picking up ball when turning to.As shown in figure 3, state diagram when ball action is picked up for the present invention, at this point, dialling
Ball stopper piece 402 stirs table tennis backward, and feeds plate 5 and be not affected by stirring for shifting block, that is, front end tilts down,
Table tennis can be dialed to smoothly on feeding plate 5；As shown in figure 4, the schematic diagram of spherical state is received for the present invention, at this point, dialling
Ball stopper piece 402 by table tennis smoothly dial to feeding plate 5 on, with ball be detached from moment, shifting block 403 also turn to
Feed the position of the arc-shaped end plate contact of plate 5 front end, shifting block is rotated further with turning wall, to stir arc-shaped end plate, is driven and is fed
The front end for entering plate 5 tilts upwards, table tennis along feeding plate 5 roll backward, fall into and roll into release channel 6, and shifting block with
Turn wall to be rotated further, when shifting block is detached from the arc-shaped end plate of 5 front end of feeding plate, feeding plate 5 is under the gravity lower front end of itself
It falls, restores to state when picking up ball.In cycles, it completes to pick up ball action.Similarly, it is also such work that other set, which picks up ball machine structure,
Make.As shown in fig. 6, in order to further ensure structural stability, while also avoiding being easily damaged when the feeding whereabouts of plate 5, therefore
The both sides of rack are provided with the arc track 22 of feeding plate 5, and the both sides of feeding plate 5 are utilized respectively a sliding pin 21 and are mounted on arc
In track 22, rock-steady structure is played, while also functioning to certain cushioning effect.It can be provided with flaring in the both sides for dialling ball cylinder 4
Formula collection ball plate, it is attached to be not shown in figure the structure.
As shown in figure 5, collection ball machine structure includes the release channel 6 for being installed on feeding 5 downstream position of plate, is installed on release channel
Helical blade 7 in 6 and the collection ball frame 8 positioned at 6 both ends of release channel, the rotational installation of helical blade 7 in release channel 6,
Helical blade 7 links with ball cylinder 4 is dialled, and for more detailed, the shaft of helical blade 7 utilizes gear 12 with the shaft for dialling ball cylinder 4
The both sides of engaged transmission, rack 1 are equipped with vertical slideway, and the side of collection ball frame 8 offers and the matched slideway of vertical slideway
Slot, collection ball frame 8 are plugged in using vertical slideway and slide groove detachable in rack 1, and T-type may be used in collection ball frame 8, can accommodate
More tablees tennis only illustrate a cuboid framework, the both ends in release channel 6 for clearer expression in attached drawing
Offer the ball-falling-in port being connected to collection ball frame 8.This makes it possible to the detachable installations for realizing collection ball frame, collect ball frame when one
Expire and then directly removed, as Ball for training, and has directly replaced other collection ball frames on device, do not delay trained use,
Improve efficiency；And it is respectively provided with collection ball frame, when device is longitudinally running towards some direction, club at release channel both ends
It is collected into the collection ball frame of wherein side, and when device negative direction is longitudinally running, the shaft of helical blade 7 and the shaft for dialling ball cylinder 4
Using the engaged transmission of gear 12, helical blade 7 also can backwards rotation, table tennis can be collected into the collection ball frame of the other side.
The present invention control mechanism include an infrared ray range sensor 16 and one control host 13, wherein infrared ray away from
It is installed on the both sides for dialling ball cylinder 4 from sensor, for detecting the distance between ball picking up device and wall, controls the signal of host 13
Input terminal is connected with infrared ray range sensor 16, control host signal output end control respectively connection the first driving motor and
Second driving motor.The present invention can reach at a distance from infrared ray range sensor detects ball picking up device between wall to be set
After definite value, the second driving motor motor operation is controlled, lateral traveling wheel is driven to carry out row displacement, displacement setting value (one
Machine body position) after, then the operation of the first driving motor is controlled, it realizes the longitudinally reciprocal movement of ball picking up device, ball is picked up to realize
The setting in path, the program those skilled in the art controlled in host 13 can set as needed；Moreover, because setting
Path it is very fixed, sportsman also can very easily avoid in training, avoid colliding with ball picking up device；Certainly, originally
The camera of invention can also obtain image information, to ensure that the ball picking up device does not bump against with object.The photographic unit of the present invention
The camera 9 being connect including steering engine and with steering engine, steering engine are connect with control host computer pilot；It is equipped on camera 9
Lighting bulb, lighting bulb are electrically connected using a switch with rechargeable battery.Power sector include rechargeable battery (in figure not
Show), rechargeable battery is powered to required component, and power sector further includes solar panel 23, and solar panel 23 is pacified
Top loaded on rack 1, rechargeable battery is connect with solar panel using conducting wire, and light sensing switch is equipped on conducting wire,
Light sensing switch can be opened under light conditions so that solar panel 23 charges for rechargeable battery, certainly, chargeable
Battery can also be provided with power management module, prevent from overcharging；Power sector further includes the charging socket being connect with rechargeable battery,
Charging socket is located at the side of rack 1, and the commercial power charged of 220V may be implemented 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 further includes the communication module 14 connected with the control communication of host 13 and the language being connect with control host communication
Sound identification module 15, communication module 14 receive the instruction that mobile phone 17 is sent using GPRS antenna, WiFi antennas, and control host 13 is right
Steering engine 18, the first driving motor, the second driving motor, third driving motor make corresponding control, complete walking and camera 9
360 degree of angular turns；Sound identification module 15 can receive and identify phonetic order automatically, and control host is to steering engine 18, the
One driving motor, the second driving motor, third driving motor make corresponding control, complete walking and camera 9 360 degree
Angular turn.In addition, control host is circumscribed with usb 19, can be used using usb 19 as charger.Control master
Machine 12 is connected with MP3 decoding player 20, and MP3 decoding player can read the data of USB interface.User may be used
Mobile phone, voice send out instruction to the device, to the movement of control device and the rotation of camera, realize convenient shooting, especially
It is, in table tennis training, can take the action of sportsman, be corrected with facilitating, if using traditional video camera,
Angle is difficult to adjust when not only needing to increase extra cost, and shooting, and automatic shooting device using the present invention can
Realize filming apparatus facilitates movement, adjustment, but also whole device function is more diversified.Meanwhile the present invention also integrates
Charger, headlamp, MP3 such as play at the functions.
Finally it should be noted that：The above various embodiments is only used to illustrate the technical scheme of the present invention, rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover in the claim of the present invention and the range of specification.
Claims (10)
1. a kind of table tennis ball picker, which is characterized in that including
Rack, the rack is for installing each component；
Displacement mechanism, institute's displacement mechanism are installed on the bottom of the rack, including the first driving motor and are driven with described first
Longitudinal traveling wheel of dynamic motor drive connection, institute's displacement mechanism further include the second driving motor and with second driving motor
The lateral traveling wheel of drive connection；
Ball machine structure is picked up, the ball machine structure of picking up there are two sets, is respectively arranged in the rack along longitudinal traveling wheel moving direction
Front-end and back-end, the ball machine structure of picking up include
One by pingpong collection for dialling ball cylinder, and the wheel shaft of described group of ball cylinder and longitudinal traveling wheel links,
And the feeding plate that a table tennis for collecting described group of ball cylinder is accepted, the rear end for feeding plate are articulated with described
In rack, the feeding plate links with described group of ball cylinder；
Collect ball machine structure, the collection ball machine structure includes the release channel for being installed on the feeding plate downstream position, is installed on described send
Helical blade in ball channel and the collection ball frame positioned at release channel both ends, the helical blade rotational installation is in described
In release channel, the helical blade links with described group of ball cylinder；
Control mechanism, the control mechanism include
One infrared ray range sensor, the infrared ray range sensor is installed on the both sides for dialling ball cylinder, for detecting
The distance between ball picking up device and wall are stated,
And one control host, it is described control host signal input part be connected with the infrared ray range sensor, the control
The signal output end of host processed controls respectively connects first driving motor and second driving motor；
Photographic unit, the photographic unit include steering engine and the camera that is connect with the steering engine, the steering engine and the control
Host computer pilot connects；
And power sector, the power sector include rechargeable battery, the rechargeable battery is powered to required component.
2. a kind of table tennis ball picker according to claim 1, which is characterized in that the transverse direction traveling wheel and described vertical
It is vertical to traveling wheel direction of travel.
3. a kind of table tennis ball picker according to claim 2, which is characterized in that second driving motor and described
Lateral traveling wheel is installed on an elevating mechanism, the elevating mechanism and third driving motor be connected by power, the third driving
Motor is connect with the signal output end of the control host.
4. a kind of table tennis ball picker according to claim 1, which is characterized in that described group of ball cylinder includes two circles
Turn wall, the wall that turns links with longitudinal traveling wheel, 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 4, which is characterized in that the front end of the feeding plate is provided with
Arc-shaped end plate, and it is described turn to be provided on wall with the matched shifting block of the arc-shaped end plate, when described group of ball stopper piece is by table tennis
When dialling on the feeding plate, the shifting block, which is stirred, dials up the arc-shaped end plate, drives the front end of the feeding plate upward
It tilts.
6. a kind of table tennis ball picker according to claim 1, which is characterized in that the both sides of the rack are equipped with perpendicular
Straight slideway, the side of the collection ball frame offer with the vertical matched slide groove of slideway, described in collection ball frame utilization
Vertical slideway and slide groove detachable are plugged in the rack；The both ends in the release channel 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, which is characterized in that the power sector further includes the sun
Energy solar panel, the solar panel are installed on the top of the rack, the rechargeable battery and the solar cell
Plate is connected using conducting wire, and is equipped with light sensing switch on the conducting wire；The power sector further includes and the rechargeable battery
The charging socket of connection, the charging socket are located at the side of the rack.
8. automatic shooting device, which is characterized in that including such as claim 1-7 any one of them table tennis ball picker, also
Including
The communication module being connect with the control host communication, the communication module receive what mobile phone was sent using GPRS, WiFi
Instruction, the control host make corresponding control to steering engine, the first driving motor, the second driving motor, third driving motor,
Complete the angular turn of 360 degree of walking and camera；
The sound identification module being connect with the control host communication, the sound identification module can receive and identify language automatically
Sound instructs, and the control host makes corresponding control to steering engine, the first driving motor, the second driving motor, third driving motor
System completes the angular turn of 360 degree of walking and camera.
9. automatic shooting device according to claim 8, which is characterized in that the control host is circumscribed with USB interface, energy
Enough used using USB interface as charger.
10. automatic shooting device according to claim 9, which is characterized in that the control host is connected with MP3 decoding and broadcasts
Device is put, and the MP3 decoding player can read the data of the USB interface.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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 |
Publications (2)
| Publication Number | Publication Date |
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| CN106581966A CN106581966A (en) | 2017-04-26 |
| CN106581966B true 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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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107219849B (en) * | 2017-05-23 | 2020-04-07 | 北京理工大学 | Multi-way ball picking and serving robot control system |
| CN107875598B (en) * | 2017-12-28 | 2020-10-30 | 苏州边际智能科技有限公司 | Automatic table tennis ball picking machine based on artificial intelligence |
| CN108159660B (en) * | 2018-01-18 | 2019-11-29 | 温州市亿皇五金制品有限公司 | A kind of automatic table tennis ball picking machine |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04170970A (en) * | 1990-11-01 | 1992-06-18 | Mitsubishi Heavy Ind Ltd | Method and vehicle for collecting ball |
| CN101439227A (en) * | 2007-11-23 | 2009-05-27 | 富准精密工业(深圳)有限公司 | Robot for picking up table tennis |
| KR101233055B1 (en) * | 2010-08-27 | 2013-02-13 | 이수완 | The collecting apparatus of ball |
| 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 |
| CN204996080U (en) * | 2015-09-16 | 2016-01-27 | 陈加华 | Table tennis picker |
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2017
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