CN106823314B - A kind of recycling of full-automatic night golf robot of trunk-type - Google Patents
A kind of recycling of full-automatic night golf robot of trunk-type Download PDFInfo
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- CN106823314B CN106823314B CN201710172017.9A CN201710172017A CN106823314B CN 106823314 B CN106823314 B CN 106823314B CN 201710172017 A CN201710172017 A CN 201710172017A CN 106823314 B CN106823314 B CN 106823314B
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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
The invention discloses a kind of full-automatic nights of trunk-type to recycle golf robot, including mobile platform and the binocular vision system being connect with mobile platform, upper and lower railway carriage and recycling bins, it is characterized by: being additionally provided with mechanism for picking and lighting system, wherein mechanism for picking is located on upper railway carriage, mainly by minipump, gas-stopping mechanism, vacuum noz(zle), passage mechanism and pillar composition, the air entry of minipump is connected with passage mechanism, exhaust outlet extends to outside railway carriage, vacuum noz(zle) one end is connect with passage mechanism, the other end is extended outside railway carriage by suction pipe, gas-stopping mechanism is arranged in the middle part of passage mechanism, pillar is located at immediately below passage mechanism, and it is connected thereto；Lighting system is arranged immediately ahead of mobile platform.The apparatus structure is simple, and applicability is wide, low cost, therefore can largely make, and be widely used, and removal process is fully automated, and does not need manpower manipulation, can save manpower.
Description
Technical field
The invention belongs to recyclable devices, and in particular to a kind of recycling of full-automatic night golf robot of trunk-type.
Background technique
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 fields infiltration such as medical treatment, service.People have a large amount of golf after playing ball and are scattered on place, by people pick up ball not only tire out but also
Time-consuming, at the same time, since a series of physical problems of people's laziness bring gradually cause attention of the people to sports,
If robot can be given service work some in sports to complete, sports have just reached one kind certainly
Dynamicization plus recreational double effects.In addition, golf sports are mostly on daytime, therefore, develop one kind can night from
The robot of dynamic recycling golf has great importance.
Summary of the invention
Object of the present invention is in view of the deficiencies of the prior art, and provide a kind of recycling of the full-automatic night golf of trunk-type
Ball robot.The apparatus structure is simple, and applicability is wide, low cost, therefore can largely make, and be widely used, and recycles
Journey is fully automated, and is not needed manpower manipulation, can be saved manpower.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of full-automatic night of trunk-type recycles golf robot, including mobile platform and connect with mobile platform
Binocular vision system, upper and lower railway carriage and recycling bins, wherein binocular vision system is located at the front on mobile platform, binocular vision
Feel system is made of two image collecting devices, is connect by data collecting card with intelligence control system, and upper and lower railway carriage is close to double
Mesh vision system, positioned at the front of mobile platform, the rear portion of mobile platform is arranged in recycling bins, passes through a rotary shaft and movement
Platform connection, unlike the prior art: it is additionally provided with:
Mechanism for picking is located on upper railway carriage, mainly by minipump, gas-stopping mechanism, vacuum noz(zle), passage mechanism and pillar
Composition, the air entry of minipump are connected with passage mechanism, and exhaust outlet extends to outside railway carriage, vacuum noz(zle) one end and passage mechanism
Connection, the other end are extended outside railway carriage by suction pipe, and gas-stopping mechanism is arranged in the middle part of passage mechanism, and pillar is being located at passage mechanism just
Lower section, and be connected thereto；
Lighting system is arranged immediately ahead of mobile platform.
The gas-stopping mechanism is mainly made of electromagnet, spring, connecting rod, gas shutoff lid and microswitch, and electromagnet passes through company
Bar is connect with passage mechanism, and spring one end is connect with connecting rod, and the other end is fixed on pillar, and microswitch is arranged in gas shutoff lid
On, gas shutoff lid is located in the middle part of passage mechanism, and connect with connecting rod.
The passage mechanism is made of pipeline, hairbrush, sieve and infrared sensor, in which: pipeline be divided into first pipe with
Second pipe, first pipe are parallel to ground, and one end is connected to by suction pipe with vacuum noz(zle), and the other end is connected to second pipe；
Second pipe exit tilts down, and hairbrush is located at the inlet of second pipe, sieve is located at the middle position of second pipe, red
Outer sensor is located at the exit of second pipe, and is connect by connecting rod with electromagnet, and the left side of infrared sensor is transmitting terminal,
Right side is receiving end.
The gradient of the second pipe is 30 °.
The lighting system is connected by an embedded OS with control system, is acquired by binocular vision system
The switch of the information control headlamp arrived and brightness.
The binocular vision system is located at the front on mobile platform, and image collecting device is away from ground 50cm, two dresses
It sets at a distance of 50cm, the front towards mobile platform focuses at mobile platform 100cm.
The course of work of the invention is as follows:
After the completion of whole device initialization, binocular vision system acquires image first, analyzes the image,
Control system control headlamp makes it be converted to "On" state and automatic according to imaging effect when can not be imaged when the colour of sky is obscure
Lamplight brightness is adjusted, image is acquired again and is analyzed, retrieved with the presence or absence of golf in front of manipulator, if not provided,
Mobile platform rotates counterclockwise 60 ° by differential, and vision system acquires image again and analyzes, if mobile platform rotates
After a week, vision system does not find the ball that can be picked up still, then device returns at unloading；If the vision system finds Gao Er
Husband's ball will then calculate spatial position locating for ball, judge whether it is pickup point, if the order of pickup is then transmitted to control
System, if not the then driving motor of left and right two of control system control robot driving device, realizes that robot directly walks or turns
It is curved, so that robot is moved to the corresponding position of golf；Control system controls robot and starts minipump, makes vacuum pump
Air-breathing, by ball intake line, when ball collides the microswitch that gas shutoff covers, vacuum pump stops working, and electromagnet starts
It is powered and works, under the action of magnet pulling force and connecting rod, gas shutoff lid is opened, and ball falls on mobile platform rear recycling bins
Interior, when golf slips at pipe end, the infrared sensor for exporting two sides is counted, and electromagnet powers off stopping work simultaneously
Make, gas shutoff lid resets under the action of the spring and electromagnet contained spring being fixed on pillar, continue to recycle next ball,
When the golf in recycling bins is more and more reaches setting value, the order that robot receives control system sending then stops
Picking action returns to specified position and voluntarily unloads, then turns again to court and work on.
The present invention has the advantage that unlatching and closed state and light of the present invention using control system control headlamp
According to intensity, environment is judged by the information that binocular vision system detects here, so that headlamp is controlled, it can be in dark
The middle work for completing recycling golf, the hairbrush in pipeline can remove the dust on ball, sieve can filter same ball together by
The rubble sucked in plays the role of automated cleaning, while infrared sensor can also be made to avoid the count difference generated by rubble
It is wrong.The apparatus structure is simple, and applicability is wide, low cost, therefore can largely make, and be widely used, and removal process is complete
Automation does not need manpower manipulation, can save manpower.
Detailed description of the invention
Fig. 1 is overall system view of the present invention；
Fig. 2 is the structural schematic diagram of mechanism for picking part of the present invention；
Fig. 3 is computer end control headlamp program flow diagram of the present invention.
In figure: lower 5. mobile platform of railway carriage, 6. suction pipe of 2. binocular vision system of railway carriage, 3. headlamp 4. on 1.
7. 12. gas shutoff lid of vacuum noz(zle) 8. wheel, 9. recycling bins, 10. minipump, 11. first pipe, 13. fine motion is opened
Close 14. hairbrush, 15. second pipe, 16. sieve, 17. infrared sensor, 18. spring, 19. dustbin, 20. connecting rod
21. 24. air entry of electromagnet 22. pillar, 23. battery, 25. exhaust outlet.
Specific embodiment
The present invention is described in further details below with reference to attached drawing and specific implementation process:
Embodiment:
As shown in Figure 1, a kind of trunk-type full-automatic night recycle golf robot, by mobile platform 5 and with shifting
Binocular vision system 2, upper railway carriage 1, lower railway carriage 4, mechanism for picking, recycling bins 9, the headlamp 3 of the connection of moving platform 5 are constituted.It is mobile
Platform 5 is four-wheel drive platform, each wheel 8 is provided with individual driving motor, when controller be connected to movement instruction be when,
Each motor independently adjusts its revolving speed, acceleration and working time according to the instruction of Controller Area Network BUS agreement, such as described
When mobile platform 5 will turn left, then the movement velocity of two wheels 8 in the right is greater than two, left side wheel 8, realizes that differential turns left.
Vacuum noz(zle) 7 is made by flexible glue pipeline, is located at immediately ahead of robot, and top is funnel-form, facilitates sucking golf,
Rear portion passes through upper railway carriage 1 and is connected with suction pipe 6.Headlamp 3 is connected with intelligence control system, and computer end passes through binocular vision system 2
Collected information judges external environment, to determine unlatching and the closed state of headlamp 3, and automatic according to imaging effect
Adjust lamplight brightness.Upper railway carriage 1, lower railway carriage 4 are close to binocular vision system 2, positioned at the front of mobile platform 5.Recycling bins 9 are arranged
At the rear portion of mobile platform 5, it is connect by a rotary shaft with mobile platform 5.
As shown in Fig. 2, the part is the mechanism for picking part of total system, entire mechanism for picking is arranged in upper 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 of first pipe 11, second pipe 15, microswitch 13, hairbrush 14, sieve 16 and infrared sensor 17；Gas shutoff
Mechanism is made of electromagnet 21, connecting rod 20, spring 18 and gas shutoff lid 12.Battery 23 is connect with minipump 10, miniature true
Sky pump 10 is connected by air entry 24 with first pipe 11, and exhaust outlet 25 extends up outside railway carriage 1.Pillar 22 is located at first pipe
11 and 15 junction of second pipe underface, and it is coupled, play a supportive role.First pipe 11 is parallel to ground, and leads to
It crosses suction pipe 6 to be connected to vacuum noz(zle) 7, plays translocation；15 exit of second pipe tilts down, and inclination angle is 30 °, hairbrush 14 and sieve
Net 16 is arranged in second pipe 15, and hairbrush 14 is located at the inlet of second pipe 15, and sieve 16 is located at second pipe 15
Middle position, plays cleaning and translocation, infrared sensor 17 are located at the exit of second pipe 15, pass through connecting rod 20 and electromagnetism
Iron 21 connects, and the left side of infrared sensor 17 is transmitting terminal, and right side is receiving end, plays count action.Gas-stopping mechanism is located at channel
In the middle part of mechanism, gas shutoff lid 12 is connected first pipe 11 and second pipe 15, and electromagnet 21, spring 18 and gas shutoff lid 12 are and connecting rod
20 connections, the other end of spring 18 are fixed on pillar 22, and microswitch 13 is arranged on gas shutoff lid 12, and the setting of dustbin 19 exists
The underface of sieve 16.
As shown in figure 3, computer end controls headlamp by the collected information of binocular vision system, workflow is:
Step 201: initialization video camera and unlatching computer end；
Step 202: video camera obtains image simultaneously, and reaches computer end；
Step 203: histogram equalization processing being done to the brightness of the two images of acquisition, is more clear image；
Step 204: binary conversion treatment being done to white pixel, removes non-white region；
Step 205: corrosion treatment being done to bianry image, erodes the subtle fritter of white, removal interference；
Step 206: expansion process moderately restores big white area；
Step 207: judging whether to be imaged, if then skipping to 209 steps, if not then skipping to 208 steps；
Step 208: lamp state being changed to "ON", is back to 202 steps；
Step 209: judge intensity of light, then skips 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: reducing gear, be back to 202 steps；
Step 211: rising gear, be back to 202 steps；
Step 212: shape check and correction.
Claims (6)
1. a kind of full-automatic night of trunk-type recycles golf robot, it is connect including mobile platform and with mobile platform
Binocular vision system, upper and lower railway carriage and recycling bins, wherein binocular vision system is located at the front on mobile platform, binocular vision
System is made of two image collecting devices, is connect by data collecting card with intelligence control system, and upper and lower railway carriage is close to binocular
Vision system, positioned at the front of mobile platform, the rear portion of mobile platform is arranged in recycling bins, flat by a rotary shaft and movement
Platform connection, it is characterized in that: being additionally provided with:
Mechanism for picking is located on upper railway carriage, mainly by minipump, gas-stopping mechanism, vacuum noz(zle), passage mechanism and pillar group
At the air entry of minipump is connected with passage mechanism, and exhaust outlet extends to outside railway carriage, and vacuum noz(zle) one end and passage mechanism connect
It connects, the other end is extended outside railway carriage by suction pipe, and gas-stopping mechanism is arranged in the middle part of passage mechanism, under pillar is located at passage mechanism just
Side, and be connected thereto；
Lighting system is arranged immediately ahead of mobile platform.
2. full-automatic night according to claim 1 recycles golf robot, it is characterized in that: the gas-stopping mechanism master
It to be made of electromagnet, spring, connecting rod, gas shutoff lid and microswitch, electromagnet is connect by connecting rod with passage mechanism, spring one
End is connect with connecting rod, and the other end is fixed on pillar, and microswitch setting is covered in gas shutoff, and gas shutoff lid is located in passage mechanism
Portion, and connect with connecting rod.
3. full-automatic night according to claim 1 recycles golf robot, it is characterized in that: the passage mechanism by
Pipeline, hairbrush, sieve and infrared sensor composition, in which: pipeline is divided into first pipe and second pipe, and first pipe is parallel to
Ground, one end are connected to by suction pipe with vacuum noz(zle), and the other end is connected to second pipe；Second pipe exit tilts down,
Hairbrush is located at the inlet of second pipe, sieve is located at the middle position of second pipe, and infrared sensor is located at second pipe
Exit, and connect by connecting rod with electromagnet, the left side of infrared sensor is transmitting terminal, and right side is receiving end.
4. full-automatic night according to claim 3 recycles golf robot, it is characterized in that: the second pipe
Gradient is 30 °.
5. full-automatic night according to claim 1 recycles golf robot, it is characterized in that: the lighting system is logical
It crosses embedded OS to be connected with control system, and controls the switch of headlamp by the collected information of binocular vision system
And brightness.
6. full-automatic night according to claim 1 recycles golf robot, it is characterized in that: the binocular vision
System is located at the front on mobile platform, and image collecting device is away from ground 50cm, and two devices are at a distance of 50cm, towards mobile platform
Front, focus at mobile platform 100cm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710172017.9A 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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| Application Number | Priority Date | Filing Date | Title |
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| CN201710172017.9A 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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| CN106823314B true CN106823314B (en) | 2019-06-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109331426A (en) * | 2018-12-04 | 2019-02-15 | 吉林师范大学 | A kind of athletic training tennis is for ball and speed of swing monitoring device and its method |
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| 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 |
| CN108434687B (en) * | 2018-05-11 | 2023-11-03 | 萍乡学院 | Service robot for shot game |
| CN109224405B (en) * | 2018-10-16 | 2024-02-20 | 广西科技大学 | Novel automatic ball picking robot |
| CN109275410B (en) * | 2018-11-11 | 2020-11-24 | 山东常美机械制造有限公司 | Peanut picking machine and method falling in field |
| TWI832780B (en) * | 2023-06-21 | 2024-02-11 | 國立屏東科技大學 | Ball-picking machine |
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| US8920101B2 (en) * | 2011-09-14 | 2014-12-30 | Luck Stone Corporation | Tennis ball collection device |
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| KR20060000267A (en) * | 2004-06-28 | 2006-01-06 | 유영은 | Device for collecting tennis balls |
| CN102166406A (en) * | 2011-02-16 | 2011-08-31 | 桂林电子科技大学 | Intelligent aspirating type automatic ball picking cart |
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| CN106823314A (en) | 2017-06-13 |
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