CN106823314A - A kind of full-automatic night of trunk-type reclaims golf robot - Google Patents
A kind of full-automatic night of trunk-type reclaims golf robot Download PDFInfo
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- CN106823314A CN106823314A CN201710172017.9A CN201710172017A CN106823314A CN 106823314 A CN106823314 A CN 106823314A CN 201710172017 A CN201710172017 A CN 201710172017A CN 106823314 A CN106823314 A CN 106823314A
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- mobile platform
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- railway carriage
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- passage mechanism
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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
-
- 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
- A63B47/04—Devices for handling or treating balls, e.g. for holding or carrying balls for cleaning balls
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/36—Training appliances or apparatus for special sports for golf
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0605—Decision makers and devices using detection means facilitating arbitration
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
- A63B2047/022—Autonomous machines which find their own way around the playing surface
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
- A63B2102/32—Golf
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/05—Image processing for measuring physical parameters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/17—Counting, e.g. counting periodical movements, revolutions or cycles, or including further data processing to determine distances or speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/70—Measuring or simulating ambient conditions, e.g. weather, terrain or surface conditions
- A63B2220/78—Surface covering conditions, e.g. of a road surface
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/805—Optical or opto-electronic sensors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/74—Miscellaneous features of sport apparatus, devices or equipment with powered illuminating means, e.g. lights
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
A kind of full-automatic night the invention discloses trunk-type reclaims golf robot, including mobile platform and the binocular vision system, upper and lower railway carriage and the collection box that are connected with mobile platform, it is characterised in that：It is additionally provided with mechanism for picking and illuminator, wherein mechanism for picking is located on upper railway carriage, mainly it is made up of minipump, gas-stopping mechanism, vacuum noz(zle), passage mechanism and pillar, the air entry of minipump is connected with passage mechanism, and exhaust outlet is extended to outside railway carriage, and vacuum noz(zle) one end is connected with passage mechanism, the other end is extended outside railway carriage by suction pipe, gas-stopping mechanism is arranged on passage mechanism middle part, and pillar is located at immediately below passage mechanism, and is connected thereto；Illuminator, is arranged on mobile platform front.The apparatus structure is simple, and applicability is wide, low cost, therefore, it is possible to a large amount of making, and widely uses, removal process full automation, it is not necessary to which staff is manipulated, and can save manpower.
Description
Technical field
The invention belongs to retracting device, and in particular to a kind of full-automatic night of trunk-type reclaims golf robot.
Background technology
With the development of robot technology, the purposes of robot is more and more wider, start from traditional industrial circle to it is military,
The field infiltration such as medical treatment, service.People have substantial amounts of golf after playing ball and are scattered on place, by people pick up ball not only tire out but also
It is time-consuming, at the same time, because a series of physical problems that people's laziness is brought gradually cause attention of the people to sports,
If can some service work in sports be given robot to complete, then sports have just reached one kind certainly
Dynamicization plus recreational double effectses.Additionally, golf sports are mostly on daytime, therefore, develop one kind can night from
The robot of dynamic recovery golf has great importance.
The content of the invention
The present invention seeks in view of the shortcomings of the prior art, and the full-automatic night for providing a kind of trunk-type reclaims golf
Ball robot.The apparatus structure is simple, and applicability is wide, low cost, therefore, it is possible to a large amount of making, and widely uses, and reclaims
Journey full automation, it is not necessary to which staff is manipulated, and can save manpower.
To reach above-mentioned purpose, the present invention is adopted the technical scheme that:
A kind of full-automatic night of trunk-type reclaims golf robot, including mobile platform and be connected with mobile platform pair
Mesh vision system, upper and lower railway carriage and collection box, wherein binocular vision system are located at the front portion on mobile platform, binocular vision system
System is made up of two image collecting devices, is connected with intelligence control system by data collecting card, and upper and lower railway carriage is close to binocular vision
Feel system, positioned at the front portion of mobile platform, collection box is arranged on the rear portion of mobile platform, by a rotary shaft and mobile platform
Connection, unlike the prior art：It is additionally provided with：
Mechanism for picking, on upper railway carriage, mainly by minipump, gas-stopping mechanism, vacuum noz(zle), passage mechanism and pillar group
Into the air entry of minipump is connected with passage mechanism, and exhaust outlet is extended to outside railway carriage, and vacuum noz(zle) one end connects with passage mechanism
Connect, the other end is extended outside railway carriage by suction pipe, gas-stopping mechanism is arranged on passage mechanism middle part, under pillar is located at passage mechanism just
Side, and be connected thereto；
Illuminator, is arranged on mobile platform front.
The gas-stopping mechanism is mainly made up of electromagnet, spring, connecting rod, gas shutoff lid and microswitch, and electromagnet is by connecting
Bar is connected with passage mechanism, and spring one end is connected with connecting rod, and the other end is fixed on pillar, and microswitch is arranged on gas shutoff lid
On, gas shutoff lid is located at passage mechanism middle part, and is connected with connecting rod.
The passage mechanism is made up of pipeline, hairbrush, screen cloth and infrared sensor, wherein：Pipeline be divided into the first pipeline with
Second pipe, the first pipeline is connected by suction pipe parallel to ground, its one end with vacuum noz(zle), and the other end is connected with second pipe；
Second pipe exit is downward-sloping, and hairbrush is located at the porch of second pipe, screen cloth and is located at the centre position of second pipe, red
Outer sensor is located at the exit of second pipe, and is connected with electromagnet by connecting rod, and the left side of infrared sensor is transmitting terminal,
Right side is receiving terminal.
The gradient of the second pipe is 30 °.
The illuminator is connected by an embedded OS with control system, is gathered by binocular vision system
The switch of the information control illuminating lamp for arriving and brightness.
Described binocular vision system is located at the front portion on mobile platform, and image collecting device is away from ground 50cm, two dresses
Put at a distance of 50cm, towards the front of mobile platform, focus at mobile platform 100cm.
The course of work of the invention is as follows：
After the completion of whole device initialization, binocular vision system gathers image first, described image is analyzed, the same day
Color is obscure and control system control illuminating lamp makes it be converted to "On" state and be automatically adjusted according to imaging effect when cannot be imaged
Lamplight brightness, gathers image and is analyzed again, manipulator front is retrieved with the presence or absence of golf, if it did not, mobile
By 60 ° of differential counterclockwise rotates, vision system gathers image and analyzes platform again, if mobile platform rotates a circle
Afterwards, vision system does not find the ball that can be picked up still, then device is returned at unloading；If described vision system finds golf
Ball, then will calculate the locus residing for ball, determine whether pickup point, if the order of pickup then is delivered into control system
System, if not then control system controls the motor of left and right two of robot driving device, realizes that robot is directly walked or turned,
Robot is set to move to the corresponding position of golf；Control system control robot starts minipump, makes vacuum pumping
Gas, by ball intake line, when ball collides the microswitch that gas shutoff is covered, vavuum pump is stopped, and electromagnet starts to lead to
Electricity and work, in the presence of magnet pulling force and connecting rod, gas shutoff lid is opened, and ball is fallen in the collection box of mobile platform rear,
When golf is slipped at pipe end, the infrared sensor for exporting both sides is counted, and electromagnet is powered off and is stopped simultaneously,
In the presence of the spring and electromagnet contained spring that are fixed on pillar gas shutoff lid reset, continue to reclaim next ball, when return
Receive golf in case more and more when reaching setting value, robot receives the order that control system sends and then stops pickup
Action, returns to the position specified and voluntarily unloads, and then turns again to court and works on.
The invention has the advantages that：Unlatching and closure state and light of the present invention using control system control illuminating lamp
According to intensity, the information detected here by binocular vision system judges environment, so that illuminating lamp is controlled, can be in dark
The middle work for completing to reclaim golf, the hairbrush in pipeline can remove the dust on ball, screen cloth can filter same ball together by
The rubble for sucking in, plays a part of automated cleaning, while can also make infrared sensor avoid the count difference produced by rubble
It is wrong.The apparatus structure is simple, and applicability is wide, low cost, therefore, it is possible to a large amount of making, and widely uses, and removal process is complete
Automation, it is not necessary to which staff is manipulated, and can save manpower.
Brief description of the drawings
Fig. 1 is overall system view of the present invention；
Fig. 2 is the structural representation of mechanism for picking part of the present invention；
Fig. 3 is computer end control illuminating lamp program flow diagram of the present invention.
In figure：1. the suction pipe of 5. mobile platform of railway carriage 2. binocular vision system, 3. illuminating lamp, 4. times railway carriages 6. is gone up
7. the fine motion of 8. wheel of vacuum noz(zle), 9. collection box, 10. 11. first pipeline of minipump, 12. gas shutoff lid 13. is opened
Close the connecting rod of 14. hairbrush, 15. second pipe, 16. screen cloth, 17. infrared sensor, 18. spring, 19. dustbin 20.
The exhaust outlet of 21. electromagnet, 22. pillar, 23. battery, 24. air entry 25..
Specific embodiment
The present invention is described in further details below with reference to accompanying drawing and specific implementation process：
Embodiment：
As shown in figure 1, a kind of full-automatic night of trunk-type reclaims golf robot, it is by mobile platform 5 and flat with mobile
The binocular vision system 2 of the connection of platform 5, upper railway carriage 1, lower railway carriage 4, mechanism for picking, collection box 9, illuminating lamp 3 are constituted.Mobile platform 5
Be four-wheel drive platform, each wheel 8 is provided with single motor, when controller be connected to movement instruction be when, each
Motor independently adjusts its rotating speed, acceleration and working time according to the instruction of Controller Area Network BUS agreement, moves as described
When platform 5 will turn left, then two, the right movement velocity of wheel 8 is more than two, left side wheel 8, realizes that differential turns left.
Vacuum noz(zle) 7 is made by flexible glue pipeline, and positioned at robot front, top is funnel-form, convenient suction golf,
Rear portion is connected through upper railway carriage 1 with suction pipe 6.Illuminating lamp 3 is connected with intelligence control system, and computer end passes through binocular vision system 2
The information for collecting judges external environment, so that determine unlatching and the closure state of illuminating lamp 3, and it is automatic according to imaging effect
Regulation lamplight brightness.Upper railway carriage 1, lower railway carriage 4 close to binocular vision system 2, positioned at the front portion of mobile platform 5.Collection box 9 is set
At the rear portion of mobile platform 5, it is connected with mobile platform 5 by a rotary shaft.
As shown in Fig. 2 mechanism for picking part of the part for total system, it is upper that whole mechanism for picking sets in Fig. 1
It is from left to right minipump 10, battery 23, passage mechanism, pillar 22, gas-stopping mechanism and dustbin 19 in railway carriage 1.It is logical
Road mechanism is made up of the first pipeline 11, second pipe 15, microswitch 13, hairbrush 14, screen cloth 16 and infrared sensor 17；Gas shutoff
Mechanism is made up of electromagnet 21, connecting rod 20, spring 18 and gas shutoff lid 12.Battery 23 is connected with minipump 10, miniature true
Empty pump 10 is connected by air entry 24 with the first pipeline 11, and exhaust outlet 10 is extended up outside railway carriage 1.Pillar 22 is located at the first pipeline
11 and the underface of the junction of second pipe 15, and it is coupled, play a supportive role.First pipeline 11 leads to parallel to ground
Cross suction pipe 6 to be connected with vacuum noz(zle) 7, play translocation；The exit of second pipe 15 is downward-sloping, inclination angle be 30 °, hairbrush 14 and sieve
Net 16 is arranged in second pipe 15, and hairbrush 14 is located at the porch of second pipe 15, and screen cloth 16 is located at second pipe 15
Centre position, plays cleaning and translocation, and infrared sensor 17 is located at the exit of second pipe 15, by connecting rod 20 and electromagnetism
Iron 21 is connected, and the left side of infrared sensor 17 is transmitting terminal, and right side is receiving terminal, plays count action.Gas-stopping mechanism is located at passage
Mechanism middle part, first pipeline 11 of the linking of gas shutoff lid 12 and second pipe 15, electromagnet 21, spring 18 and gas shutoff lid 12 are and connecting rod
20 connections, the other end of spring 18 is fixed on pillar 22, and microswitch 13 is arranged on gas shutoff lid 12, and dustbin 19 is arranged on
The underface of screen cloth 16.
As shown in figure 3, computer end controls illuminating lamp by the information that binocular vision system is collected, its workflow is：
Step 201：Initialization video camera and unlatching computer end；
Step 202：Video camera obtains image, and reach computer end simultaneously；
Step 203：Histogram equalization processing is done in the brightness of the two images to obtaining, and becomes apparent from image；
Step 204：Binary conversion treatment, removal non-white region are done to white pixel；
Step 205：Corrosion treatment is done to bianry image, white trickle fritter, removal interference is eroded；
Step 206：Expansion process, moderately reduces to big white area；
Step 207：Judge whether imaging, if then skipping to 209 steps, if not then skipping to 208 steps；
Step 208：Lamp state is changed to "ON", 202 steps are back to；
Step 209：Judge intensity of light, then skip to 210 steps by force partially, it is on the weak side, 211 steps are skipped to, it is moderate, skip to 212 steps；
Step 210：Gear is reduced, 202 steps are back to；
Step 211：Rise gear, be back to 202 steps；
Step 212：Profile is proofreaded.
Claims (6)
1. a kind of full-automatic night of trunk-type reclaims golf robot, including mobile platform and is connected with mobile platform
Binocular vision system, upper and lower railway carriage and collection box, wherein binocular vision system are located at the front portion on mobile platform, binocular vision
System is made up of two image collecting devices, is connected with intelligence control system by data collecting card, and upper and lower railway carriage is close to binocular
Vision system, positioned at the front portion of mobile platform, collection box is arranged on the rear portion of mobile platform, flat with mobile by a rotary shaft
Platform is connected, it is characterized in that：It is additionally provided with：
Mechanism for picking, on upper railway carriage, mainly by minipump, gas-stopping mechanism, vacuum noz(zle), passage mechanism and pillar group
Into the air entry of minipump is connected with passage mechanism, and exhaust outlet is extended to outside railway carriage, and vacuum noz(zle) one end connects with passage mechanism
Connect, the other end is extended outside railway carriage by suction pipe, gas-stopping mechanism is arranged on passage mechanism middle part, under pillar is located at passage mechanism just
Side, and be connected thereto；
Illuminator, is arranged on mobile platform front.
2. full-automatic night according to claim 1 reclaim golf robot, it is characterized in that：The gas-stopping mechanism master
To be made up of electromagnet, spring, connecting rod, gas shutoff lid and microswitch, electromagnet is connected by connecting rod with passage mechanism, spring one
End is connected with connecting rod, and the other end is fixed on pillar, and microswitch is arranged on gas shutoff and covers, and gas shutoff lid is located in passage mechanism
Portion, and be connected with connecting rod.
3. full-automatic night according to claim 1 reclaim golf robot, it is characterized in that：The passage mechanism by
Pipeline, hairbrush, screen cloth and infrared sensor composition, wherein：Pipeline is divided into the first pipeline and second pipe, the first pipeline parallel to
Ground, its one end is connected by suction pipe with vacuum noz(zle), and the other end is connected with second pipe；Second pipe exit is downward-sloping,
Hairbrush is located at the porch of second pipe, screen cloth and is located at the centre position of second pipe, and infrared sensor is located at second pipe
Exit, and be connected with electromagnet by connecting rod, the left side of infrared sensor is transmitting terminal, and right side is receiving terminal.
4. full-automatic night according to claim 3 reclaim golf robot, it is characterized in that：The second pipe
Gradient is 30 °.
5. full-automatic night according to claim 1 reclaim golf robot, it is characterized in that：The illuminator is led to
Embedded OS is crossed to be connected with control system, and the information collected by binocular vision system controls the switch of illuminating lamp
And brightness.
6. full-automatic night according to claim 1 reclaim golf robot, it is characterized in that：Described binocular vision
System is located at the front portion on mobile platform, image collecting device away from ground 50cm, two devices at a distance of 50cm, towards mobile platform
Front, focus at mobile platform 100cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710172017.9A CN106823314B (en) | 2017-03-22 | 2017-03-22 | A kind of recycling of full-automatic night golf robot of trunk-type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710172017.9A CN106823314B (en) | 2017-03-22 | 2017-03-22 | A kind of recycling of full-automatic night golf robot of trunk-type |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106823314A true CN106823314A (en) | 2017-06-13 |
| CN106823314B CN106823314B (en) | 2019-06-28 |
Family
ID=59129302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710172017.9A Active CN106823314B (en) | 2017-03-22 | 2017-03-22 | A kind of recycling of full-automatic night golf robot of trunk-type |
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Cited By (5)
| 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 |
| CN108434687A (en) * | 2018-05-11 | 2018-08-24 | 萍乡学院 | Shot game service robot |
| CN109224405A (en) * | 2018-10-16 | 2019-01-18 | 广西科技大学 | A kind of new type auto ball picking robot |
| CN109275410A (en) * | 2018-11-11 | 2019-01-29 | 杭州珑亚珀伟科技有限公司 | Field falls peanut collecting machine and method |
| TWI832780B (en) * | 2023-06-21 | 2024-02-11 | 國立屏東科技大學 | Ball-picking machine |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109331426B (en) * | 2018-12-04 | 2021-01-15 | 吉林师范大学 | Tennis training device and method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN108434687A (en) * | 2018-05-11 | 2018-08-24 | 萍乡学院 | Shot game service robot |
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| CN109275410A (en) * | 2018-11-11 | 2019-01-29 | 杭州珑亚珀伟科技有限公司 | Field falls peanut collecting machine and method |
| TWI832780B (en) * | 2023-06-21 | 2024-02-11 | 國立屏東科技大學 | Ball-picking machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106823314B (en) | 2019-06-28 |
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