CN106621240A - Intelligent vehicle system capable of picking up balls automatically - Google Patents
Intelligent vehicle system capable of picking up balls automatically Download PDFInfo
- Publication number
- CN106621240A CN106621240A CN201611246990.2A CN201611246990A CN106621240A CN 106621240 A CN106621240 A CN 106621240A CN 201611246990 A CN201611246990 A CN 201611246990A CN 106621240 A CN106621240 A CN 106621240A
- Authority
- CN
- China
- Prior art keywords
- table tennis
- motion
- picking
- balls
- dolly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
Abstract
The invention discloses an intelligent vehicle system capable of picking up balls automatically. The system comprises a vehicle, a table tennis ball identification module, a motion control module, a ball picking device, a table tennis container and the like. The vehicle is a motion platform of the system and can automatically move under the control of the motion control module; the table tennis ball identification module is composed of a camera and an image processing module, and position information of a table tennis ball is provided for the motion control module; the motion control module controls the motion direction and speed of the vehicle according to the position information of the table tennis ball; an absorbing device is arranged in front of the ball picking device and generates attractive force through an exhaust motor to absorb table tennis balls within the absorbing device range, and the ball picking function is achieved; the table tennis ball container stores picked table tennis balls, and when the table tennis balls reach a certain number, the table tennis balls can be discharged at the set area. According to the system, the positions of the table tennis balls in the area can be found, automatic picking can be achieved, the physical power of athletes picking up the balls is greatly relieved, the time of the athletes picking up the balls is greatly shortened, high efficiency and convenience are achieved, and operation is easy.
Description
Technical field
The present invention relates to the practical application of electronic product and computer technology application field, more particularly to intelligent carriage control
Field, specifically a kind of automatically picking up balls intelligent car systems.
Background technology
Paddler needs to use substantial amounts of table tennis when practising a ball game, and plays winged table tennis and is scattered in around place,
After certain amount is run up to, ability centralized collection, the method for usually ball being picked up using hand sweeping, and it is one that ball is picked up in hand sweeping
The work that item is wasted time and energy.If developing a kind of automatically picking up balls intelligent apparatus, it is possible to achieve the positioning of table tennis, Automatic-searching,
Receive and unload, then can provide great convenience to table tennis training.
The content of the invention
The purpose of the present invention is to overcome above-mentioned problems of the prior art, there is provided a kind of automatically picking up balls intelligent carriage system
System, can judge place information around, determine the position of table tennis and reach automatically at table tennis, be examined by take-up means
Table tennis is taken in table tennis container, and to setting regions unloading.
The technical scheme is that：A kind of automatically picking up balls intelligent car systems, including dolly, the dolly is provided with table tennis
Pang ball identification module, motion-control module, ball picking up device and table tennis container；It is intelligently little that the dolly is used as automatically picking up balls
The motion platform of car system, the drive system of dolly passes through to receive the motion control signal that the motion-control module is transmitted,
And moved accordingly according to the motion control signal；The motion-control module is carried according to the table tennis identification module
For table tennis positional information, control dolly the direction of motion and movement velocity, dolly is moved towards at table tennis place；
And the table tennis piling height signal transmitted according to the table tennis container controls trolley travelling and enters to the region for setting
Row unloading.The table tennis identification module is used to recording the positional information of table tennis, and please the positional information is passed to into fortune
Dynamic control module；The ball picking up device is used to pick table tennis, and sends the table tennis for being picked to the table tennis receiving
Device；The table tennis container is used to receive the table tennis that the ball picking up device is picked, when the table tennis for being accommodated piles up high
When degree reaches setting value, by detected table tennis piling height signal transmission the motion-control module is given.
It is preferred that the table tennis identification module includes camera and image processing module；The camera is located at dolly
Leading flank, and be connected with image processing module signal, described image processing module is connected with motion-control module signal；It is described
Camera is used to obtain the pictorial information comprising table tennis around place, and the pictorial information is passed to into described image process mould
Block；Described image processing module is used to process the pictorial information that the camera is transmitted, so as to the position for obtaining table tennis is believed
Breath, and the positional information is passed to into motion-control module.
It is preferred that the motion-control module transmits the positional information of the table tennis for coming in acquisition image processing module
Afterwards, determine motion path and drive moving of car, reach near table tennis；When the motion-control module receives the table tennis
Container transmit come when accommodating up to the signal of table tennis quantity of setting, control trolley travelling to set region carry out
Unloading.
It is preferred that the ball picking up device includes the absorber located at dolly leading flank lower end, the absorber and pipeline
One end is connected, and the other end of pipeline is connected with exhausting motor, and the pipeline is provided with controlling switch door, the right side of controlling switch door
Side is adjacent pipeline backstop, the lower upright entrance to the table tennis container of the controlling switch door.
It is preferred that the controlling switch door includes door body and the control door motor being connected with door body axle, the control door
Motor is connected with motion-control module signal.
It is preferred that the opening of the absorber front end is rectangular opening, and a long side of rectangular opening is parallel to the ground and paste
Closely.
It is preferred that the table tennis container includes the accommodating chamber in the middle part of dolly, the top of the accommodating chamber is arranged
There is the entrance of the table tennis container；The madial wall of the accommodating chamber is provided with for detecting that table tennis piles up the photoelectricity of signal
Transceiver；The optoelectronic transceivers are connected with the motion-control module signal.
Beneficial effects of the present invention：In the embodiment of the present invention, there is provided a kind of automatically picking up balls intelligent car systems, the system is adopted
With double MCU system, wherein single-chip microcomputer one mainly completes image recognition tasks, determines the position of table tennis；Single-chip microcomputer two is main
The motion of control intelligent carriage and ball picking up device pick table tennis process automatically；Can be communicated between two single-chip microcomputers,
Coordinate moving of car and pick table tennis process.Its innovative point is specifically included：
1st, dolly, Computer Image Processing, ball picking up device etc. are integrated into into a system, complete automatic ball-picking task, it is real
Integrated innovation is showed.
2nd, by trolley in combination with table tennis identification module, realize controlling dolly according to the positional information of table tennis
Movement locus, reaches near table tennis.
3rd, negative pressure is produced using the exhausting motor exhausting at ball picking up device rear portion, table tennis is drawn by pipeline, reach pipeline
Before backstop, exhausting motor stops, and control door is opened, and table tennis falls into container, and control door is closed, and realizes automatically picking up balls purpose.
The present invention it can be found that region in table tennis position and realize pick automatically, significantly reduce sportsman and pick up spheroid
Power and time consumption, it is efficiently convenient, it is simple to operate.
Description of the drawings
Fig. 1 is the system block diagram of the present invention；
Fig. 2 is the side schematic view of the present invention；
Fig. 3 is the front schematic view of the present invention；
Fig. 4 is the workflow diagram of the image processing module of the present invention；
Fig. 5 is the workflow diagram of the motion-control module of the present invention.
Description of reference numerals：
1st, table tennis；2nd, absorber；3rd, main support；4th, camera；5th, pipeline；6th, support of pipelines；7th, controlling switch door；8、
Pipeline backstop；9th, entrance；10th, exhausting motor；11st, optoelectronic transceivers；12nd, table tennis container；13rd, container draw-in groove；14th, it is little
Car；15th, control system circuit case.
Specific embodiment
Below in conjunction with the accompanying drawings, a specific embodiment of the present invention is described in detail, it is to be understood that of the invention
Protection domain do not limited by specific embodiment.
As shown in Figure 1, Figure 2 and Figure 3, a kind of automatically picking up balls intelligent car systems, its feature are embodiments provided
It is, including dolly 14 that the dolly 14 is provided with table tennis identification module, motion-control module, ball picking up device and table tennis
Ball container 12；On the main support 3 in trolley, table tennis container 12 is in main support 3 for wherein ball picking up device.
The dolly 14 is used as the motion platform of automatically picking up balls intelligent car systems, and the drive system of dolly 14 is by receiving the motion
The motion control signal that control module is transmitted, and moved accordingly according to the motion control signal；The motion control
The positional information of the table tennis 1 that module is provided according to the table tennis identification module, control dolly 14 the direction of motion and
Movement velocity, makes dolly 14 move towards at the place of table tennis 1；And the table tennis transmitted according to the table tennis container 12
1 piling height signal control dolly 14 runs to the region of setting and is unloaded.The table tennis identification module is used to record table tennis
The positional information of pang ball 1, and please the positional information passed to into motion-control module；The ball picking up device is used to pick table tennis
Ball 1, and send the table tennis 1 for being picked to the table tennis container 12；The table tennis container 12 is used to receive institute
The table tennis 1 that ball picking up device is picked is stated, when the piling height of table tennis 1 for being accommodated reaches setting value, will be detected
The piling height signal transmission of table tennis 1 gives the motion-control module.
Further, the table tennis identification module includes camera 4 and image processing module；The camera 4 is located at
The leading flank of dolly 14, and be connected with image processing module signal, described image processing module connects with motion-control module signal
Connect；The camera 4 is used to obtain the pictorial information comprising table tennis 1 around place, and the pictorial information is passed to described
Image processing module；Described image processing module is used to process the pictorial information that the camera 4 is transmitted, so as to be rattled
The positional information of ball 1, and the positional information is passed to into motion-control module.
Further, the motion-control module transmits the position letter of the table tennis 1 for coming in acquisition image processing module
After breath, determine motion path and drive dolly 14 to move, reach near table tennis 1；Described in receiving when the motion-control module
Table tennis container 12 transmit come when accommodating up to the signal of the quantity of table tennis 1 of setting, control dolly 14 is run to setting
Fixed region is unloaded.
Further, the ball picking up device includes the absorber 2 located at the leading flank lower end of dolly 14, the absorber 2 with
One end of pipeline 5 is connected, and the other end of pipeline 5 is connected with exhausting motor 10, and the pipeline 5 is provided with controlling switch door 7, control
The right side of switch gate processed 7 is adjacent pipeline backstop 8, and the lower Founder of the controlling switch door 7 is to the table tennis container 12
Entrance 9；The pipeline 5 is by support of pipelines 6 on main support 3.
Further, the controlling switch door 7 includes door body and the control door motor being connected with door body axle, the control
Door motor is connected with motion-control module signal.The motion-control module is laid in the control system circuit case in trolley
In 15.
Further, the opening of the front end of the absorber 2 is rectangular opening, and a long side of rectangular opening is parallel to the ground simultaneously
Press close to.
Further, the table tennis container 12 includes the accommodating chamber located at the middle part of dolly 14, the top of the accommodating chamber
Portion is provided with the entrance 9 of the table tennis container, and table tennis container 12 is by the container draw-in groove in trolley
13 are connected in trolley.The madial wall of the accommodating chamber is provided with for detecting that table tennis 1 piles up the optoelectronic transceiver of signal
Device 11；The optoelectronic transceivers 11 are connected with the motion-control module signal.
The present invention dolly for system motion platform, can under the control of motion-control module autonomous；Table tennis
Ball identification module is made up of camera and image processing module, there is provided the positional information of table tennis is to motion-control module；Motion
Control module controls the direction of motion, the speed of dolly according to the positional information of table tennis；Set absorber before ball picking up device, and by
Exhausting motor produces suction, and the table tennis in the range of absorber is sucked, and realizes ball-picking functions；Table tennis container storage is picked
Table tennis, when reaching certain amount, can arrive setting region unloading.The present invention image processing module can using STM32,
The stronger single-chip microcomputer of the functions such as ARM7, adds peripheral necessary circuit (power circuit, clock circuit, reset circuit etc.), composition
Minimum system, referring to Fig. 4, image processing module is processed the image information that camera is sent, by target identification
Table tennis is picked out, the locality and distance of table tennis is determined, information is delivered to into control system.Described image processing module is whole
Body composition and power circuit, clock circuit, reset circuit etc. are prior art module and circuit, will not be described here.Fortune
Dynamic control module can add peripheral necessary circuit (power circuit, clock using stronger single-chip microcomputers of function such as STM32, ARM7
Circuit, reset circuit etc.), constitute minimum system.The positional information that image processing module is sent, is converted to control letter
Number, drive system is sent to, dolly associated motor and steering wheel are rotated, band motor car wheel rotation makes dolly advance by direction, is close to
Table tennis.After close table tennis, motion-control module starts exhausting motor, produces suction, and table tennis is drawn to before pipeline backstop,
Exhausting motor suspends；Motion-control module starting control door motor, opens control door, and table tennis is fallen in container, control control
Door motor closing control door, flow chart is as shown in Figure 5.The motion-control module is monolithically fabricated and power circuit, clock electricity
Road, reset circuit etc. are prior art module and circuit, will not be described here.The drive system its structure is also existing skill
Art, drive system is made up of drive circuit, steering wheel, motor and four-wheel, and motor and four-wheel make dolly advance, steering wheel control
Dolly direct of travel processed, their coherent signal is sent by motion-control module.The present invention's picks up ball system including absorber, pipe
Road, pipeline backstop, exhausting motor, control door, control door motor, wherein exhausting motor and control door motor are rotated, stopped by transporting
Dynamic control module control.
In sum, automatically picking up balls intelligent car systems provided by the present invention, including dolly, table tennis identification module,
Motion-control module, ball picking up device, table tennis container etc.；Dolly adopts DC motor Driver, true by table tennis identifying system
Motion orientation and position, move under control of the control system in athletic ground, and by ball picking up device table tennis is picked, real
Existing automatically picking up balls.Dolly for system motion platform, can under the control of motion-control module autonomous；Table tennis is recognized
Module is made up of camera and image processing module, there is provided the positional information of table tennis is to motion-control module；Motion control mould
Root tuber controls the direction of motion, the speed of dolly according to the positional information of table tennis；Absorber is set before ball picking up device, and by exhausting electricity
Machine produces suction, and the table tennis in the range of absorber is sucked, and realizes ball-picking functions；The table tennis that table tennis container storage is picked
Ball, table tennis is piled up when reaching setting height, can arrive the region unloading of setting.Wherein obtained around place comprising table tennis by camera
The picture of pang ball, by image processing module process, obtains the positional information of table tennis.After table tennis positional information is obtained, really
Determine motion path, drive moving of car, reach near table tennis；When receiving the signal that table tennis container is filled, unloading is returned to
Area.The suction of table tennis is produced by the exhausting motor of device tail end, is connected with front end absorber by pipeline；Front end absorber
Contribute to expanding suction and pick up ball scope；Controlling switch door is arranged for holding pipeline inner suction, exhausting motor, backstop, control door
Collaboration is placed in table tennis in container.When table tennis in table tennis container is stacked into certain altitude, photosignal passes to control
System processed, control dolly returns to unloading area, realizes unloading.The vehicle-mounted camera of the present invention obtains surrounding place picture, by it
The image identification system at the place of single-chip microcomputer one is passed to, the position of table tennis is determined；Positional information passes to the intelligence of the composition of single-chip microcomputer two
Energy trolley control system, sends movement instruction, drives dolly to reach near table tennis, starts ball picking up device, and table tennis is picked automatically
Ball, in being placed in table tennis container；When table tennis is filled in container, dolly returns to the unloading of unloading area.The design is using double
SCM system, wherein single-chip microcomputer one mainly complete image recognition tasks, determine the position of table tennis；The major control of single-chip microcomputer two
The motion of intelligent carriage and ball picking up device pick table tennis process automatically；Can be communicated between two single-chip microcomputers, be coordinated
Moving of car and pick table tennis process.
The system adopts double MCU system, wherein single-chip microcomputer one mainly to complete image recognition tasks, determine table tennis
Position；The motion of the major control intelligent carriage of single-chip microcomputer two and ball picking up device pick table tennis process automatically；Two single-chip microcomputers
Between can be communicated, coordinate moving of car and to pick table tennis process.Its innovative point is specifically included：
1st, dolly, Computer Image Processing, ball picking up device etc. are integrated into into a system, complete automatic ball-picking task, it is real
Integrated innovation is showed.
2nd, by trolley in combination with table tennis identification module, realize controlling dolly according to the positional information of table tennis
Movement locus, reaches near table tennis.
3rd, negative pressure is produced using the exhausting motor exhausting at ball picking up device rear portion, table tennis is drawn by pipeline, reach pipeline
Before backstop, exhausting motor stops, and control door is opened, and table tennis falls into container, and control door is closed, and realizes automatically picking up balls purpose.
The present invention it can be found that region in table tennis position and realize pick automatically, significantly reduce sportsman and pick up spheroid
Power and time consumption, it is efficiently convenient, it is simple to operate.
Disclosed above is only several specific embodiments of the present invention, but, the embodiment of the present invention is not limited to this, appoints
What what those skilled in the art can think change should all fall into protection scope of the present invention.
Claims (7)
1. a kind of automatically picking up balls intelligent car systems, it is characterised in that including dolly (14), the dolly (14) is provided with table tennis
Ball identification module, motion-control module, ball picking up device and table tennis container (12)；The dolly (14) is as automatically picking up balls
The motion platform of intelligent car systems, the drive system of dolly (14) is by receiving the motion that the motion-control module is transmitted
Control signal, and moved accordingly according to the motion control signal；
The positional information of the table tennis (1) that the motion-control module is provided according to the table tennis identification module, controls little
The direction of motion and movement velocity of car (14), makes dolly (14) move towards at table tennis (1) place；And according to the table tennis
Table tennis (1) piling height signal control dolly (14) that ball container (12) is transmitted runs to the region of setting and is unloaded
Carry.
The table tennis identification module is used to recording the positional information of table tennis (1), and please the positional information is passed to into fortune
Dynamic control module；
The ball picking up device is used to pick table tennis (1), and sends the table tennis for being picked (1) to the table tennis container
(12)；
The table tennis container (12) for receiving the table tennis (1) that the ball picking up device is picked, when the table tennis for being accommodated
When ball (1) piling height reaches setting value, by detected table tennis (1) piling height signal transmission the motion control is given
Module.
2. a kind of automatically picking up balls intelligent car systems as claimed in claim 1, it is characterised in that the table tennis identification module
Including camera (4) and image processing module；The camera (4) located at dolly (14) leading flank, and with image procossing mould
Block signal connects, and described image processing module is connected with motion-control module signal；
The camera (4) passes to the pictorial information for obtaining the pictorial information comprising table tennis (1) around place
Described image processing module；
Described image processing module is used to process the pictorial information that the camera (4) is transmitted, so as to obtain table tennis (1)
Positional information, and the positional information is passed to into motion-control module.
3. a kind of automatically picking up balls intelligent car systems as claimed in claim 2, it is characterised in that the motion-control module exists
After obtaining the positional information that image processing module transmits the table tennis (1) for coming, determine motion path and drive dolly (14) to transport
It is dynamic, reach near table tennis (1)；Next receiving is transmitted when the motion-control module receives the table tennis container (12)
When reaching the signal of table tennis (1) quantity of setting, control dolly (14) runs to the region of setting and is unloaded.
4. a kind of automatically picking up balls intelligent car systems as claimed in claim 1, it is characterised in that the ball picking up device includes setting
In the absorber (2) of dolly (14) leading flank lower end, the absorber (2) is connected with one end of pipeline (5), pipeline (5)
The other end is connected with exhausting motor (10), and the pipeline (5) is provided with controlling switch door (7), the right side phase of controlling switch door (7)
Neighbour has pipeline backstop (8), the lower upright entrance (9) to the table tennis container (12) of the controlling switch door (7).
5. a kind of automatically picking up balls intelligent car systems as claimed in claim 4, it is characterised in that the controlling switch door (7)
Including door body and the control door motor being connected with door body axle, the control door motor is connected with motion-control module signal.
6. a kind of automatically picking up balls intelligent car systems as claimed in claim 4, it is characterised in that absorber (2) front end
Opening be rectangular opening, and a long side of rectangular opening is parallel to the ground and press close to.
7. a kind of automatically picking up balls intelligent car systems as claimed in claim 1, it is characterised in that the table tennis container
(12) include the accommodating chamber in the middle part of dolly (14), the entrance of the table tennis container is provided with the top of the accommodating chamber
(9)；The madial wall of the accommodating chamber is provided with for detecting that table tennis (1) piles up the optoelectronic transceivers (11) of signal；The light
Electric transceiver (11) is connected with the motion-control module signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611246990.2A CN106621240A (en) | 2016-12-29 | 2016-12-29 | Intelligent vehicle system capable of picking up balls automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611246990.2A CN106621240A (en) | 2016-12-29 | 2016-12-29 | Intelligent vehicle system capable of picking up balls automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106621240A true CN106621240A (en) | 2017-05-10 |
Family
ID=58836988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611246990.2A Pending CN106621240A (en) | 2016-12-29 | 2016-12-29 | Intelligent vehicle system capable of picking up balls automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106621240A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107185184A (en) * | 2017-06-19 | 2017-09-22 | 重庆邮电大学 | A kind of ball automatic collecting cart based on machine learning |
| KR20180018469A (en) * | 2017-12-19 | 2018-02-21 | 주식회사 알에프에이 | Device for golf ball retrieving |
| CN109489427A (en) * | 2017-09-09 | 2019-03-19 | 中冶长天国际工程有限责任公司 | A kind of material particles automatic absorption device and its absorption process |
| CN109745677A (en) * | 2019-02-15 | 2019-05-14 | 东南大学 | A kind of multi-functional tennis picks up ball machine |
| CN110632926A (en) * | 2019-09-24 | 2019-12-31 | 汕头大学 | Dolly for picking up spherical objects |
| CN111672075A (en) * | 2020-06-22 | 2020-09-18 | 江苏经贸职业技术学院 | Robot is picked up to sports training tennis |
| CN114681878A (en) * | 2022-04-27 | 2022-07-01 | 南京科技职业学院 | Table tennis collecting device for sports training |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201799072U (en) * | 2010-08-10 | 2011-04-20 | 刘峰 | Automatic ping-pong ball picking device |
| CN202822649U (en) * | 2012-10-19 | 2013-03-27 | 广东工业大学 | Robot for picking up ball automatically |
| CN103345252A (en) * | 2013-07-15 | 2013-10-09 | 兰州理工大学 | Intelligent ball-picking robot system and ball-picking method thereof |
| CN204319675U (en) * | 2014-12-08 | 2015-05-13 | 苏州建设交通高等职业技术学校 | Smart table tennis collector |
-
2016
- 2016-12-29 CN CN201611246990.2A patent/CN106621240A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201799072U (en) * | 2010-08-10 | 2011-04-20 | 刘峰 | Automatic ping-pong ball picking device |
| CN202822649U (en) * | 2012-10-19 | 2013-03-27 | 广东工业大学 | Robot for picking up ball automatically |
| CN103345252A (en) * | 2013-07-15 | 2013-10-09 | 兰州理工大学 | Intelligent ball-picking robot system and ball-picking method thereof |
| CN204319675U (en) * | 2014-12-08 | 2015-05-13 | 苏州建设交通高等职业技术学校 | Smart table tennis collector |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107185184A (en) * | 2017-06-19 | 2017-09-22 | 重庆邮电大学 | A kind of ball automatic collecting cart based on machine learning |
| CN109489427A (en) * | 2017-09-09 | 2019-03-19 | 中冶长天国际工程有限责任公司 | A kind of material particles automatic absorption device and its absorption process |
| KR20180018469A (en) * | 2017-12-19 | 2018-02-21 | 주식회사 알에프에이 | Device for golf ball retrieving |
| KR101873226B1 (en) | 2017-12-19 | 2018-07-04 | 주식회사 알에프에이 | Device for golf ball retrieving |
| CN109745677A (en) * | 2019-02-15 | 2019-05-14 | 东南大学 | A kind of multi-functional tennis picks up ball machine |
| CN110632926A (en) * | 2019-09-24 | 2019-12-31 | 汕头大学 | Dolly for picking up spherical objects |
| CN111672075A (en) * | 2020-06-22 | 2020-09-18 | 江苏经贸职业技术学院 | Robot is picked up to sports training tennis |
| CN111672075B (en) * | 2020-06-22 | 2021-03-16 | 江苏经贸职业技术学院 | Robot is picked up to sports training tennis |
| CN114681878A (en) * | 2022-04-27 | 2022-07-01 | 南京科技职业学院 | Table tennis collecting device for sports training |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106621240A (en) | Intelligent vehicle system capable of picking up balls automatically | |
| CN100513095C (en) | Intellectual moving robot for picking up ball | |
| CN103558853B (en) | Can automatic lifting AGV control system under free path | |
| CN207061041U (en) | A kind of chassis based on the driving of automatic logistics dolly | |
| CN107019883A (en) | A kind of tennis automatically picking up balls robot of machine vision | |
| CN207429620U (en) | Intelligence picks up tennis robot | |
| CN106823314B (en) | A kind of recycling of full-automatic night golf robot of trunk-type | |
| CN109847292A (en) | A kind of tennis Shou Qiu robot with visual identity function | |
| CN207950512U (en) | A kind of automatic seeking ball collection arrangement of view-based access control model identification | |
| CN104784900A (en) | Tennis pickup machine operation trajectory control and ultrasonic tennis finding system and method | |
| CN108654025B (en) | Intelligent table tennis ball picking and serving mother-son robot and working method thereof | |
| CN105833484A (en) | Wireless charging intelligent tennis ball picking trolley and control method thereof | |
| CN207785820U (en) | Power-assisted tennis training picks up lifting truck | |
| CN109107120A (en) | A kind of tennis court automatically picking up balls robot | |
| CN110640759A (en) | Full-automatic garbage picking robot | |
| CN108211277A (en) | A kind of table tennis intelligent ball collecting shared system and its application method | |
| CN206688225U (en) | A kind of amphibious toy car | |
| CN112604247B (en) | Robot is collected to tennis | |
| Perera et al. | Development of a Vision Aided Automated Ball Retrieving Robot for Tennis Training Sessions | |
| CN206881041U (en) | A kind of ball picking robot | |
| CN205073616U (en) | Badminton is picked up football shirt and is put | |
| CN207014347U (en) | A kind of novel traffic bores recycling machine people | |
| CN210057332U (en) | Golf range working robot based on global positioning system | |
| CN111589073A (en) | Autonomous movement ball picking machine | |
| CN208244047U (en) | Blanket type picking up table tennis mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |