CN107185184A - A kind of ball automatic collecting cart based on machine learning - Google Patents
A kind of ball automatic collecting cart based on machine learning Download PDFInfo
- Publication number
- CN107185184A CN107185184A CN201710465797.6A CN201710465797A CN107185184A CN 107185184 A CN107185184 A CN 107185184A CN 201710465797 A CN201710465797 A CN 201710465797A CN 107185184 A CN107185184 A CN 107185184A
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- China
- Prior art keywords
- ball
- container
- machine learning
- collecting cart
- automatic collecting
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Classifications
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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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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of ball automatic collecting cart based on machine learning, belong to athletic equipment field.The device includes container, active direction wheel, driven pulley, vision sensor A, vision sensor B, preposition radar, rearmounted radar, motor A, differential mechanism, electric push rod, groove profile banister brush, containing box, central control unit.The device carries the ball identifying system of intelligence of visually-perceptible, can independently collect ball, people is freed from heavy ball collection work, so as to improve training athlete efficiency.
Description
Technical field
The invention belongs to athletic equipment field, it is related to a kind of ball automatic collecting cart based on machine learning.
Background technology
At present, ball collecting cart is all manually collected to collect manually, it is necessary to utilize, and have impact on the effect of training athlete
Rate.Utility model patent CN205815019 U disclose a kind of auto-manual ball collector, but it is only limitted to a kind of machinery knot
Structure, lacks ball intelligent identifying system, it is impossible to realize ball automatically collecting.
The content of the invention
In view of this, it is an object of the invention to provide a kind of ball automatic collecting cart based on machine learning, realize certainly
It is main to collect ball, solve and how to recognize ball in different distance under complex scene, ten course of action footpaths how are planned automatically, such as
How the mechanical structure of what ball pickup of design, design the technical problem such as be monolithically fabricated of ball autonomous collection system.
To reach above-mentioned purpose, the present invention provides following technical scheme：
A kind of ball automatic collecting cart based on machine learning, including container, active direction wheel, driven pulley, vision are passed
Sensor A, vision sensor B, preposition radar, rearmounted radar, motor A, differential mechanism, electric push rod, groove profile banister brush, storage
Case, central control unit；
The central control unit is located in container, for all Electronic control and Row control；The masters
It is located at the container base to wheel and the driven pulley, the motor A and differential mechanism drive the active direction wheel movement
And steering；The vision sensor A and vision sensor B is located at both sides in front of the container, for perceiving environment；Institute
Preposition radar is stated in front of the container, the rearmounted radar is located at the rear container, for perceiving the packaging
Whether case front and back have shelter；The top junction of the containing box and the container is hinge connection, lower section junction
Connected for axle；The electric push rod is located in front of the container, connects the container and the groove profile banister brush, passes through
Hinge connection mode controls the groove profile banister brush that ball is swept into the containing box.
Further, baffle plate is opened in the containing box bottom provided with automatically controlled, when the ball in the containing box reaches certain amount
Afterwards, the motor B located at top drives rope that the containing box is pulled up into highest point along stopper slot, open it is described it is automatically controlled can
Baffle plate is opened, ball is poured into the container.
Further, the ball hole of the containing box is provided with anti-rollback slope.
Further, the bristle of the groove profile banister brush is elastic bristles.
Further, the perception environment is former by binocular stereo vision to identify ball type by machine learning method
Reason determines the distance of ball.
Further, the automatically controlled folding angle for driving baffle plate towards the container is 30 °~80 °, according to pickup not
Maximum folding angle is adjusted during with ball；Folding powers up adhesive by magnet control, and power-off is then opened under gravity.
Further, the Row control is ball identification and path planning.
Further, the ball identification types include tennis, table tennis, vollyball, golf, basketball, football, croquet,
Handball, ice hockey, baseball, softball, billiard ball, cricket, hockey, water polo, polo, bowling, marble.
The beneficial effects of the present invention are：It is automatic to carry out Intelligent Recognition and collection to ball, so as to improve training athlete
Efficiency.
Brief description of the drawings
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below and carried out
Explanation：
Fig. 1 is schematic structural view of the invention.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
As shown in figure 1, a kind of ball automatic collecting cart based on machine learning, including it is container, active direction wheel, driven
Wheel, vision sensor A, vision sensor B, preposition radar, rearmounted radar, motor A, differential mechanism, electric push rod, groove profile are soft
Hairbrush, containing box, central control unit；
The central control unit is located in container, for all Electronic control and Row control；The masters
It is located at the container base to wheel and the driven pulley, the motor A and differential mechanism drive the active direction wheel movement
And steering；The vision sensor A and vision sensor B is located at both sides in front of the container, for perceiving environment；Institute
Preposition radar is stated in front of the container, the rearmounted radar is located at the rear container, for perceiving the packaging
Whether case front and back have shelter；The top junction of the containing box and the container is hinge connection, lower section junction
Connected for axle；The electric push rod is located in front of the container, connects the container and the groove profile banister brush, passes through
Hinge connection mode controls the groove profile banister brush that ball is swept into the containing box.
Baffle plate is opened in the containing box bottom provided with automatically controlled, after the ball in the containing box reaches certain amount, is located at
The motor B at top drives rope that the containing box is pulled up into highest point along stopper slot, open it is described it is automatically controlled open baffle plate,
Ball is poured into the container.
The ball hole of the containing box is provided with anti-rollback slope.
The bristle of the groove profile banister brush is elastic bristles.
The perception environment determines ball to identify ball type by machine learning method by binocular stereo vision principle
Distance.
The automatically controlled folding angle for driving baffle plate towards the container is 30 °~80 °, is adjusted according to when picking up different balls
Whole maximum folding angle；Folding powers up adhesive by magnet control, and power-off is then opened under gravity.
The Row control is ball identification and path planning.
Further, the ball identification types include tennis, table tennis, vollyball, golf, basketball, football, croquet,
Handball, ice hockey, baseball, softball, billiard ball, cricket, hockey, water polo, polo, bowling, marble.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
Cross above preferred embodiment the present invention is described in detail, it is to be understood by those skilled in the art that can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (8)
1. a kind of ball automatic collecting cart based on machine learning, it is characterised in that：Including container, active direction wheel, driven
Wheel, vision sensor A, vision sensor B, preposition radar, rearmounted radar, motor A, differential mechanism, electric push rod, groove profile are soft
Hairbrush, containing box, central control unit；
The central control unit is located in container, for all Electronic control and Row control；The active direction wheel
It is located at the container base with the driven pulley, the motor A and differential mechanism drive the active direction wheel movement and turned
To；The vision sensor A and vision sensor B is located at both sides in front of the container, for perceiving environment；Before described
Radar is put in front of the container, the rearmounted radar is located at the rear container, for perceiving before the container
Whether rear has shelter；The top junction of the containing box and the container is hinge connection, and lower section junction is axle
Connection；The electric push rod is located in front of the container, connects the container and the groove profile banister brush, passes through hinge
Connected mode controls the groove profile banister brush that ball is swept into the containing box.
2. a kind of ball automatic collecting cart based on machine learning as claimed in claim 1, it is characterised in that：The containing box
Baffle plate is opened in bottom provided with automatically controlled, after the ball in the containing box reaches certain amount, and the motor B located at top, which drives, to be carried
The containing box is pulled up to highest point by drawstring along stopper slot, open it is described it is automatically controlled open baffle plate, ball is poured into the container
It is interior.
3. a kind of ball automatic collecting cart based on machine learning as claimed in claim 1, it is characterised in that：The containing box
Ball hole be provided with anti-rollback slope.
4. a kind of ball automatic collecting cart based on machine learning as claimed in claim 1, it is characterised in that：The groove profile is soft
The bristle of hairbrush is elastic bristles.
5. a kind of ball automatic collecting cart based on machine learning as claimed in claim 1, it is characterised in that：The perception ring
Border determines the distance of ball by binocular stereo vision principle to identify ball type by machine learning method.
6. a kind of ball automatic collecting cart based on machine learning as claimed in claim 1, it is characterised in that：It is described it is automatically controlled can
The folding angle for driving baffle plate towards the container is 30 °~80 °, according to adjustment maximum folding angle when picking up different balls；Open
Close by magnet control, power up adhesive, power-off is then opened under gravity.
7. a kind of ball automatic collecting cart based on machine learning as claimed in claim 1, it is characterised in that：The flow control
It is made as ball identification and path planning.
8. a kind of ball automatic collecting cart based on machine learning as claimed in claim 1, it is characterised in that：The ball knowledge
Other type include tennis, table tennis, vollyball, golf, basketball, football, croquet, handball, ice hockey, baseball, softball, billiard ball,
Cricket, hockey, water polo, polo, bowling, marble.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710465797.6A CN107185184A (en) | 2017-06-19 | 2017-06-19 | A kind of ball automatic collecting cart based on machine learning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710465797.6A CN107185184A (en) | 2017-06-19 | 2017-06-19 | A kind of ball automatic collecting cart based on machine learning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107185184A true CN107185184A (en) | 2017-09-22 |
Family
ID=59878634
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710465797.6A Pending CN107185184A (en) | 2017-06-19 | 2017-06-19 | A kind of ball automatic collecting cart based on machine learning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107185184A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108499055A (en) * | 2018-04-11 | 2018-09-07 | 许昌学院 | A kind of volleyball training vollyball vehicle |
| CN108635782A (en) * | 2018-05-14 | 2018-10-12 | 北京工业大学 | Water polo machine for automatically recovering device people |
| CN108970042A (en) * | 2018-09-02 | 2018-12-11 | 杨智楷 | Indoor intelligent basketball collects cleaning and orientation grenade instrumentation |
| CN109191679A (en) * | 2018-09-29 | 2019-01-11 | 南宁学院 | A kind of folding seat vending machine |
| CN109224405A (en) * | 2018-10-16 | 2019-01-18 | 广西科技大学 | A kind of new type auto ball picking robot |
| CN111481895A (en) * | 2020-05-18 | 2020-08-04 | 华东师范大学附属枫泾中学 | Automatic table tennis ball collecting method, system, storage medium, equipment and device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108499055A (en) * | 2018-04-11 | 2018-09-07 | 许昌学院 | A kind of volleyball training vollyball vehicle |
| CN108635782A (en) * | 2018-05-14 | 2018-10-12 | 北京工业大学 | Water polo machine for automatically recovering device people |
| CN108970042A (en) * | 2018-09-02 | 2018-12-11 | 杨智楷 | Indoor intelligent basketball collects cleaning and orientation grenade instrumentation |
| CN108970042B (en) * | 2018-09-02 | 2020-12-08 | 杨智楷 | Indoor intelligent basketball collecting, cleaning and directional projection device |
| CN109191679A (en) * | 2018-09-29 | 2019-01-11 | 南宁学院 | A kind of folding seat vending machine |
| CN109224405A (en) * | 2018-10-16 | 2019-01-18 | 广西科技大学 | A kind of new type auto ball picking robot |
| CN109224405B (en) * | 2018-10-16 | 2024-02-20 | 广西科技大学 | Novel automatic ball picking robot |
| CN111481895A (en) * | 2020-05-18 | 2020-08-04 | 华东师范大学附属枫泾中学 | Automatic table tennis ball collecting method, system, storage medium, equipment and device |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170922 |