CN108211277B - Intelligent ping-pong ball picking sharing system and using method thereof - Google Patents
Intelligent ping-pong ball picking sharing system and using method thereof Download PDFInfo
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- CN108211277B CN108211277B CN201810012052.9A CN201810012052A CN108211277B CN 108211277 B CN108211277 B CN 108211277B CN 201810012052 A CN201810012052 A CN 201810012052A CN 108211277 B CN108211277 B CN 108211277B
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- trolley
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
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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
- A63B2047/022—Autonomous machines which find their own way around the playing surface
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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
- 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
- A63B2102/16—Table tennis
Abstract
The invention provides an intelligent table tennis ball picking and sharing system which comprises a trolley, a machine vision detection device, a rolling type ball collecting device, a motor transmission device, an obstacle avoiding device, a myRIO central control system, a power supply and an obstacle avoiding device, wherein the machine vision detection device is arranged on the trolley; the machine vision detection device is used for collecting images and sending image information to the myRIO central control system; the rolling ball collecting device is used for collecting the small balls into the rolling ball collecting device and preventing the small balls from falling out; the motor transmission device is used for driving the trolley to move; the obstacle avoidance device is used for avoiding surrounding obstacles to provide guidance for turning the trolley; the table tennis sharing device is used for receiving the small balls collected by the trolley, sequencing the small balls and providing the small balls for a user to use; the myRIO central control system is responsible for controlling the whole sharing system; the invention can pick up some scattered table tennis balls with low gaps and table bottoms, saves labor cost, improves the utilization rate of the table tennis balls and realizes unmanned management of the table tennis room.
Description
Technical Field
The invention relates to a ball picking system, in particular to an intelligent table tennis ball picking sharing system and a using method thereof.
Background
With the gradual popularization and application of automation in various fields at the present stage and the continuous improvement of labor use cost, the shared economy is more and more heated; at present, some table tennis fields have the characteristics of small field, dense table tennis tables and the like; if the ball is under the table, the bending difficulty can occur, and even more, the ball playing of others can be influenced; there is an urgent need for a sharing system capable of intelligently picking up balls to solve the above problems.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent ping-pong ball picking sharing system which can quickly, accurately and reliably detect and collect ping-pong balls, reduce the fatigue of picking the ping-pong balls by frequently bending the balls and put the collected ping-pong balls into a sharing device to realize sharing and a using method thereof.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a sharing system for intelligent picking of table tennis balls comprises:
a trolley;
the machine vision detection device is arranged on the trolley and is used for acquiring images and sending image information to the myRIO central control system;
the rolling ball collecting device is arranged on the trolley and used for collecting the small balls into the trolley and preventing the small balls from falling out;
the motor transmission device is arranged on the trolley and is used for driving the trolley to move;
the obstacle avoidance device is arranged on the trolley and used for avoiding surrounding obstacles so as to provide guidance for steering the trolley;
the table tennis sharing device is used for receiving the small balls collected by the trolley, sequencing the small balls and providing the small balls for a user to use;
the myRIO central control system is arranged on the trolley and is responsible for controlling the whole sharing system;
a power source.
In one embodiment of the invention, the machine vision detection device comprises a camera, a camera on the camera is used for collecting image information of surrounding table tennis balls, the camera is connected to the myRIO central control system through a USB, and the collected image information is sent to the myRIO central control system so as to perform processing and recognition of images.
In one embodiment of the invention, the rolling ball collecting device is in a roller shape and comprises an axis and two rollers, and the two rollers are provided with elastic ropes at equal intervals, so that table tennis balls can enter the collecting device under the gravity of the collecting device and cannot fall out of the collecting device.
In one embodiment of the present invention, the motor transmission device includes two reduction motors and two motor driving plates, the motor driving plates are used for driving the reduction motors, and the reduction motors execute processed electric signals sent from the motor driving plates to realize forward and reverse rotation.
In an embodiment of the invention, the obstacle avoidance device includes infrared sensors disposed on the left and right sides of the trolley and ultrasonic sensors disposed in front of and behind the trolley, and the infrared sensors and the ultrasonic sensors are respectively used for the left and right directional barriers and the front and rear directional barriers.
In one embodiment of the present invention, the table tennis ball sharing apparatus comprises:
the box body is used for storing the sharing ping-pong;
the display screen and the card swiping port are arranged on the box body, and the display screen is used for displaying the two-dimensional code of the payment rental ping-pong and the advertisement of the user;
the motor is arranged in the box body, the tail end of the motor is provided with a poking sheet, and the poking sheet is driven by the motor at the opening of the pipeline in order to prevent the ball storage pipeline from being blocked by too many table tennis balls put in at one time;
the table tennis recoverer is used for pouring the collected table tennis into the table tennis recoverer, and the table tennis recoverer can enable the table tennis to fall into the table tennis storage pipeline;
the table tennis ball storage pipeline is a plastic pipeline with a bending diameter being slightly larger than that of table tennis balls, the included angle between the upper part of the plastic pipeline and the ground is larger, and the included angle between the lower part of the plastic pipeline and the ground is smaller, so that the table tennis balls can be conveniently sequenced and discharged;
the electronic switch is controlled by the singlechip and is communicated with the upper computer, and when the upper computer has a ball outlet signal, a ball is placed to pass through the electronic switch, so that all balls are prevented from flowing into a ball outlet to cause blockage;
an upper computer;
when the electronic switch is turned on to drop a ball, the baffle is opened to release the ball, and when no signal is given, the table tennis ball is blocked and does not drop;
the box body is provided with a ball outlet which is communicated with the ball storage pipeline.
In one embodiment of the invention, the myRIO central control system is an operation core of the whole system, is an embedded real-time system, carries digital and analog ports on board, and can be programmed by labview; processing the received signals from the camera, the infrared sensor and the ultrasonic sensor to make corresponding response; and controlling the motor to perform steering action.
In one embodiment of the invention, a steering engine is arranged below the camera of the camera, and the steering engine controls the elevation angle of the camera so as to acquire ping-pong image information at different angles.
In one embodiment of the invention, a steering engine is arranged below the ultrasonic sensor, and the steering engine controls the elevation angle of the ultrasonic sensor, controls different directions of ultrasonic waves and judges obstacles in different directions.
A using method of a table tennis intelligent ball picking sharing system comprises the following specific steps:
(1) after receiving a ball picking instruction through wireless communication, initializing the system, and controlling a camera of a camera to rotate up and down by a myRIO central control system to enable the camera to form 90 degrees with the ground;
(2) the camera transmits the collected table tennis image information to the myRIO central control system, and the myRIO central control system processes the image information and is used for obtaining the position information of the table tennis in the picture;
(3) after the position information is obtained, the trolley adjusts the trolley according to the position information of the picture so that the trolley head is opposite to the table tennis;
(4) the obstacle avoidance module judges the surrounding environment, and rotates if an obstacle exists until no obstacle exists;
(5) the table tennis ball collecting device moves forward to the table tennis ball position, when the table tennis ball enters the rolling type ball collecting device, counting is carried out, and the next picking process is carried out until the rolling type ball collecting device is full;
(6) and putting the table tennis balls in the rolling type ball collecting device into the table tennis ball sharing device to wait for the use of a user.
In an embodiment of the present invention, a specific method for the myRIO central control system to process the image information is as follows:
(1) carrying out binarization on the received picture information, removing the color of the ping-pong ball, and reserving other color information;
(2) filtering the binarized image to remove small areas which affect the subsequent identification;
(3) carrying out reverse rotation of the binarization area, and leaving the shape information of the table tennis;
(4) and searching circular information in the binary image and obtaining the position information of the ping-pong ball in the picture.
In one embodiment of the invention, the table tennis ball sharing device is used by the following steps:
(1) the motor starts to rotate for 1 minute until the table tennis balls enter the ball storage pipeline or the ball storage pipeline to be full;
(2) a user inputs information through card swiping or a network;
(3) the single chip microcomputer controls the electronic switch and the baffle plate to release a table tennis ball;
(4) the user takes the ball at the ball outlet.
Through the technical scheme, the invention has the beneficial effects that:
the intelligent camera is used for matching with the myRIO internal processing to calculate the deviation angle, and then a fine adjustment instruction is sent to the motor to enable the small ball and the trolley to obtain a proper relative position, so that the ball is picked up; in the process, if the ultrasonic sensor or the infrared sensor detects an obstacle, an obstacle avoidance instruction is preferentially carried out; with the trolley, the manpower resource can be greatly saved; after the sporter finishes playing the table tennis, the sporter only unrestrained, the trolley automatically executes the table tennis picking program after receiving the table tennis picking instruction and sends the collected table tennis to the sharing device for the next use; the system has the characteristics of flexibility, portability, small volume, sharing and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a sharing system according to the present invention;
FIG. 2 is a schematic diagram of a sharing system according to the present invention;
FIG. 3 is a diagram of the internal structure of the table tennis sharing apparatus of the present invention;
FIG. 4 is a flowchart illustrating the operation of the sharing system of the present invention;
the corresponding part names indicated by the numbers and letters in the drawings:
100. the robot comprises a trolley 200, a machine vision detection device 210, a camera 300, a rolling ball collecting device 400, a motor transmission device 410, a speed reducing motor 420, a motor driving plate 500, an obstacle avoidance device 510, an infrared sensor 520, an ultrasonic sensor 600, a table tennis sharing device 610, a box body 620, a display screen 630, a card swiping port 640, a motor 641, a shifting sheet 650, a table tennis recoverer 660, a ball storage pipeline 670, an electronic switch 680, a baffle 690, a ball outlet 700, a myRIO central control system 800, a power supply 900 and a steering engine.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
Referring to fig. 1 to 3, the invention discloses an intelligent ping-pong ball picking and sharing system, which comprises a trolley 100, a machine vision detection device 200 arranged on the trolley, a rolling ball collecting device 300 arranged on the trolley, a motor transmission device 400 arranged on the trolley, an obstacle avoidance device 500 arranged on the trolley, a ping-pong ball sharing device 600, a myRIO central control system 700 arranged on the trolley and a power supply 800.
The machine vision detection device 200 is used for collecting images and sending image information to the myRIO central control system; the rolling ball collecting device 300 is used for collecting the small balls and preventing the small balls from falling out; the motor transmission device 400 is used for driving the trolley to move; the obstacle avoidance device 500 is used for avoiding surrounding obstacles to provide guidance for turning the trolley; the table tennis ball sharing device 600 is used for receiving the small balls collected by the trolley, sequencing the small balls and providing the small balls for a user to use; the myRIO central control system 700 is responsible for controlling the entire shared system.
The machine vision detection device 200 comprises a camera 210, a camera on the camera is used for collecting image information of surrounding table tennis balls, the camera is connected to the myRIO central control system through a USB, and the collected image information is sent to the myRIO central control system so as to perform processing and recognition of images.
The rolling ball collecting device 300 is in a roller shape and comprises an axis and two rollers, and elastic ropes are arranged between the two rollers at intervals of a certain radian and at equal intervals, so that table tennis balls can enter the collecting device under the gravity of the collecting device and cannot fall out of the collecting device; the rolling ball collecting device 300 is a common table tennis ball collecting device, and is not specifically described herein, as long as it can collect the detected table tennis balls.
The motor transmission device 400 comprises two speed reducing motors 410 and two motor driving plates 420, wherein the motor driving plates are used for driving the speed reducing motors so as to be connected to the motors and connected to the myRIO central control system at one side, so that the myRIO central control system can control the rotating speed and the direction of the motors through an I/O port and receive data sent by a motor encoder so as to accurately control the movement of the trolley, such as the steering angle; the forward and reverse rotation of the ball picking robot can be controlled by utilizing the forward and reverse rotation of the two speed reducing motors; the speed reducing motor executes processed electric signals sent from the motor driving board, such as forward rotation and reverse rotation, and sends raster signals back to the motor driving board so as to be sent to the myRIO central control system after being encoded.
The obstacle avoidance device 500 comprises infrared sensors 510 arranged on the left side and the right side of the trolley and ultrasonic sensors 520 arranged in front of and behind the trolley, wherein the infrared sensors 510 and the ultrasonic sensors 520 are respectively used for a left-right direction obstacle and a front-back direction obstacle; the infrared sensor 510 can set the distance of examination through a potentiometer on the infrared sensor and send a signal to the myRIO central control system through an I/O port; the myRIO central control system judges whether an obstacle exists according to the received signal; the ultrasonic sensor 520 is provided with a chip of 32 and an LED nixie tube for displaying distance; the three buttons can be used for setting in which range and sending what signals, and the I/O port is connected with the myRIO central control system and matched with the steering engine 900 below, so that whether obstacles exist in different directions can be detected.
The table tennis sharing device 600 comprises a box body 610, a display screen 620 and a card reading port 630 which are arranged on the box body 610, a motor 640, a table tennis recoverer 650, a ball storage pipeline 660, an electronic switch 670, an upper computer and a baffle plate 680 which are arranged in the box body.
The box body 610 is used for storing shared table tennis, a table tennis outlet 690 is arranged on the box body 610, the table tennis outlet 690 is communicated with the table tennis storage pipeline 660, and the falling table tennis is placed in the table tennis outlet 690, so that a user can conveniently take the table tennis; the display screen 620 is used for displaying the two-dimensional code of the payment rental ping-pong and the advertisement; the brushing mount 630 is used for paying lease fees and entry information of table tennis balls; the end of the motor 640 is provided with a poking piece 641, so as to prevent the ball storage pipeline from being blocked by too much table tennis balls put in at one time, the motor drives the poking piece at the pipeline opening, and when the trolley is fully loaded with balls and returns to the table tennis recoverer during normal operation, the upper computer sends a signal to control the motor to drive the poking piece to operate, thereby solving the problem that the ball storage pipeline is blocked by too much table tennis balls; the table tennis recoverer 650 is used for pouring the collected table tennis balls into a table tennis recoverer, and the table tennis recoverer has a certain angle so that the table tennis balls can fall into the table tennis ball storage pipeline; the ball storage pipeline 660 is a bent plastic pipeline with the diameter being slightly larger than that of table tennis balls, the included angle between the upper part of the ball storage pipeline and the ground is larger, and the included angle between the lower part of the ball storage pipeline and the ground is smaller, so that the table tennis balls can be conveniently sorted and discharged; the electronic switch 670 is controlled by a single chip microcomputer and is communicated with an upper computer, and when the upper computer has a ball outlet signal, a ball is placed to pass through the electronic switch, so that all balls are prevented from flowing into a ball outlet to cause blockage;
when the electronic switch is turned on to drop a ball, the baffle is opened to release the ball, and when no signal is given, the table tennis ball is blocked and is not dropped.
The myRIO central control system 700 is the operation core of the whole system, is an embedded real-time system, carries digital and analog ports on board, and can be programmed through labview; processing the received signals from the camera, the infrared sensor and the ultrasonic sensor to make corresponding response; and controlling the motor to perform steering action.
A steering engine 900 is arranged below the camera of the camera 210, and the steering engine 900 controls the elevation angle of the camera so as to collect image information of the table tennis at different angles; a steering engine 900 is arranged below the ultrasonic sensor 520, the steering engine 900 controls the elevation angle of the ultrasonic sensor 520, controls different directions of ultrasonic waves and judges obstacles in different directions.
The power supply 800 is a 12V rechargeable lithium battery, and as the input voltage range of the myRIO central control system is 12V input, and the motor drive board needs 12V voltage and 5V voltage output, the power supply is respectively connected to the myRIO central control system and the motor drive board, and then 5V power supply output by the myRIO central control system is used for supplying power to 5V equipment such as a steering engine and an infrared sensor.
The working principle of the sharing system of the invention is as follows:
firstly, a camera of the camera approximately judges whether table tennis balls exist or not by changing the elevation angle to 90 degrees vertical to the ground, if not, the positive direction of the trolley is changed for judgment, and if not, the trolley returns to the specified position.
If the table tennis ball is detected, moving the table tennis ball picking robot to the position near the table tennis ball, adjusting the camera to 60 degrees relative to the ground, further detecting, judging whether the table tennis ball is really present or not, if the table tennis ball is detected in error, entering the previous step again, and if the table tennis ball is detected in fact, finely adjusting the angle of the table tennis ball picking robot to enable the table tennis ball to be located at a position which can be passed by the table tennis ball picking robot, so that the table tennis ball can be collected by a collector; when the ball picking action is finished, the first step is entered again to detect whether a ball exists.
In the process, obstacle avoidance is always performed, no matter which action is performed, when the obstacle is detected, the program is firstly hung until the obstacle avoidance is completed, and if no obstacle exists, a normal ball picking process is performed.
The specific use method of the table tennis intelligent ball picking sharing system comprises the following steps:
the conditions of the trolley before use are as follows: the normal advancing direction of the trolley is that the camera is used as a trolley head, the table tennis ball collector is a trolley tail, the height of a chassis of the trolley is more than one table tennis ball diameter, and when the trolley is opened straight and goes past the table tennis ball collector at the tail, the table tennis balls roll in.
(1) Initializing a system, starting to acquire images when the elevation angle of a camera is 90 degrees to the ground when a trolley is opened, and transmitting the images to a myRIO central control system;
(2) the myRIO central control system identifies whether the image contains the table tennis ball, and at the moment, the detection range is large, so that the condition of false detection can occur;
(3) if not, adjusting the direction right in front of the vehicle body to return to the detection of the step (2) again, if all the directions are not available, stopping the program, and if balls exist, adjusting the direction of the robot to approach ping-pong balls;
(4) adjusting the elevation angle of the camera to 60 degrees with the ground;
(5) carrying out image detection again to judge whether a table tennis ball exists;
(6) if not, returning to the step (3), and if so, performing the next step;
(7) finely adjusting the direction of the robot to enable the small balls to pass under the trolley body;
(8) the trolley moves forwards and passes through the table tennis collector at the tail of the trolley to collect the table tennis into the table tennis collector;
(9) returning to the step (3);
(10) whether any step is executed or not is judged whether an obstacle exists;
(11) if the obstacle exists, obstacle avoidance is carried out;
(12) if any one of the infrared sensor and the ultrasonic sensor detects an obstacle, the obstacle is considered to be present;
(13) if only the infrared sensor has an obstacle, the infrared sensor deviates from the side with the obstacle by a small angle;
(14) if the ultrasonic sensor detects that an obstacle exists, namely the obstacle exists right in front, the steering engine below the ultrasonic sensor rotates left and right by 90 degrees to judge whether the obstacle exists;
(15) the trolley turns to the direction without obstacles;
(16) if no obstacle exists, the execution of the ball picking program is resumed;
(17) if the trolley which is full of balls after counting returns to the designated position to wait for recovering the table tennis balls;
(18) the recovered balls are put into the sharing device to wait for the use of the user.
The specific method for the myRIO central control system to identify the image comprises the following steps:
(1) carrying out binarization on the received picture information, removing the color of the ping-pong ball, and reserving other color information;
(2) filtering the binarized image to remove small areas which affect the subsequent identification;
(3) carrying out reverse rotation of the binarization area, and leaving the shape information of the table tennis;
(4) and searching circular information in the binary image and obtaining the position information of the ping-pong ball in the picture.
The sharing system comprises the following specific working steps:
(1) sending a signal to the trolley to load the picked balls into a table tennis recoverer;
(2) the motor starts to rotate for 1 minute until the table tennis balls enter the ball storage pipeline or the ball storage pipeline to be full;
(3) the user enters information by swiping a card or over a network,
(4) electronic valve and baffle controlled by single chip to release a table tennis ball
(5) The user takes the ball at the ball outlet.
The specific operation flow of detecting and collecting the small balls by using the system of the invention is as follows:
step 1), installing a battery, automatically starting the robot, and automatically searching and collecting table tennis balls in the field by the robot;
step 2), if the robot fails, pressing a button on the myRIO to stop emergently;
and 3) ending.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a sharing system is picked up to table tennis intelligence which characterized in that, the sharing system includes:
a trolley;
the machine vision detection device is arranged on the trolley and is used for acquiring images and sending image information to the myRIO central control system;
the rolling ball collecting device is arranged on the trolley and used for collecting the small balls into the trolley and preventing the small balls from falling out;
the motor transmission device is arranged on the trolley and is used for driving the trolley to move;
the obstacle avoidance device is arranged on the trolley and used for avoiding surrounding obstacles so as to provide guidance for steering the trolley;
the obstacle avoidance device comprises infrared sensors arranged on the left side and the right side of the trolley and ultrasonic sensors arranged in front of and behind the trolley, and the infrared sensors and the ultrasonic sensors are respectively used for a left-right direction obstacle and a front-back direction obstacle;
the infrared sensor can set the distance of examination through a potentiometer on the infrared sensor and send a signal to the myRIO central control system through the I/O port; the myRIO central control system judges whether an obstacle exists according to the received signal; the ultrasonic sensor is provided with a 32 chip and an LED nixie tube to display the distance; the three buttons can be used for setting within a certain range to send a certain signal, and the I/O port is connected with the myRIO central control system to be matched with a steering engine below, so that whether obstacles exist in different directions can be detected;
the table tennis sharing device is used for receiving the small balls collected by the trolley, sequencing the small balls and providing the small balls for a user to use;
the table tennis sharing apparatus includes:
the box body is used for storing the sharing ping-pong;
the display screen and the card swiping port are arranged on the box body, and the display screen is used for displaying the two-dimensional code and the advertisement of the payment rental ping-pong;
the motor is arranged in the box body, the tail end of the motor is provided with a poking sheet, and the poking sheet is driven by the motor at the opening of the pipeline in order to prevent the ball storage pipeline from being blocked by too many table tennis balls put in at one time;
the table tennis recoverer is used for pouring the collected table tennis into the table tennis recoverer, and the table tennis recoverer can enable the table tennis to fall into the table tennis storage pipeline;
the table tennis ball storage pipeline is a plastic pipeline with a bending diameter being slightly larger than that of table tennis balls, the included angle between the upper part of the plastic pipeline and the ground is larger, and the included angle between the lower part of the plastic pipeline and the ground is smaller, so that the table tennis balls can be conveniently sequenced and discharged;
the electronic switch is controlled by the singlechip and is communicated with the upper computer, and when the upper computer has a ball outlet signal, a ball is placed to pass through the electronic switch, so that all balls are prevented from flowing into a ball outlet to cause blockage;
an upper computer;
when the electronic switch is turned on to drop a ball, the baffle is opened to release the ball, and when no signal is given, the table tennis ball is blocked and does not drop;
the box body is provided with a ball outlet which is communicated with the ball storage pipeline;
the myRIO central control system is arranged on the trolley and is responsible for controlling the whole sharing system;
a power source;
the machine vision detection device comprises a camera, wherein a steering engine is arranged below a camera of the camera, and the steering engine controls the elevation angle of the camera so as to collect image information of table tennis at different angles;
a steering engine is arranged below the ultrasonic sensor, the steering engine controls the elevation angle of the ultrasonic sensor, different directions of ultrasonic waves are controlled, and obstacles in different directions are used for judgment.
2. The system of claim 1, wherein a camera on the camera is used for collecting image information of surrounding table tennis balls, the camera is connected to the myRIO central control system through a USB, and the collected image information is sent to the myRIO central control system for image processing and recognition.
3. The system of claim 1, wherein the rolling ball collecting device is a roller-type ball collecting device comprising an axle and two rollers, and the two rollers are equally spaced with an elastic rope, so that the table tennis ball can enter the collecting device by the gravity of the collecting device without falling out of the collecting device.
4. The system of claim 1, wherein the motor transmission comprises two speed reduction motors and two motor driving plates, the motor driving plates are used for driving the speed reduction motors, and the speed reduction motors execute processed electric signals sent by the motor driving plates to realize forward and reverse rotation.
5. The system of claim 1, wherein the myRIO central control system is the core of the whole system, is an embedded real-time system, is provided with onboard digital and analog ports, and can be programmed by labview; processing the received signals from the camera, the infrared sensor and the ultrasonic sensor to make corresponding response; and controlling the motor to perform steering action.
6. The use method of the table tennis intelligent ball picking sharing system of any one of claims 1 to 5, characterized in that the specific steps of the use method are as follows:
(1) after receiving a ball picking instruction through wireless communication, initializing the system, and controlling a camera of a camera to rotate up and down by a myRIO central control system to enable the camera to form 90 degrees with the ground;
(2) the camera transmits the collected table tennis image information to the myRIO central control system, and the myRIO central control system processes the image information and is used for obtaining the position information of the table tennis in the picture;
(3) after the position information is obtained, the trolley adjusts the trolley according to the position information of the picture so that the trolley head is opposite to the table tennis;
(4) the obstacle avoidance module judges the surrounding environment, and rotates if an obstacle exists until no obstacle exists;
(5) the table tennis ball collecting device moves forward to the table tennis ball position, when the table tennis ball enters the rolling type ball collecting device, counting is carried out, and the next picking process is carried out until the rolling type ball collecting device is full;
(6) and putting the table tennis balls in the rolling type ball collecting device into the table tennis ball sharing device to wait for the use of a user.
7. The use method of the intelligent ping-pong ball picking and sharing system as claimed in claim 6, wherein the myRIO central control system processes the image information by a specific method comprising:
(1) carrying out binarization on the received picture information, removing the color of the ping-pong ball, and reserving other color information;
(2) filtering the binarized image to remove small areas which affect the subsequent identification;
(3) carrying out reverse rotation of the binarization area, and leaving the shape information of the table tennis;
(4) and searching circular information in the binary image and obtaining the position information of the ping-pong ball in the picture.
8. The use method of the intelligent ping-pong ball picking and sharing system according to claim 6, wherein the use steps of the ping-pong ball sharing device are as follows:
(1) the motor starts to rotate for 1 minute until the table tennis balls enter the ball storage pipeline or the ball storage pipeline to be full;
(2) a user inputs information through card swiping or a network;
(3) the single chip microcomputer controls the electronic switch and the baffle plate to release a table tennis ball;
(4) the user takes the ball at the ball outlet.
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| CN109782753B (en) * | 2018-12-18 | 2022-07-19 | 江汉大学 | Control method of picking device |
| 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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| KR20090052653A (en) * | 2007-11-21 | 2009-05-26 | 이용석 | A robot system for withdrawal golf ball using robot and withdrawal method thereof |
| CN106971470A (en) * | 2016-10-12 | 2017-07-21 | 昆山市玉山镇仕龙设计工作室 | Public ball renting machine |
| CN206152232U (en) * | 2016-11-02 | 2017-05-10 | 张金涵 | Ball car is picked up to intelligence |
| CN106823312B (en) * | 2017-01-10 | 2019-02-05 | 浙江大学 | A kind of intelligent ball collecting robot and its control method |
| CN206644887U (en) * | 2017-02-28 | 2017-11-17 | 中国矿业大学 | Acoustic control intelligent car based on myRIO platforms |
| CN206643905U (en) * | 2017-04-14 | 2017-11-17 | 天津理工大学 | A kind of wheeled multi-robot intelligent ball collecting robot |
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Application publication date: 20180629 Assignee: Benchuang (Shanghai) Technology Service Co.,Ltd. Assignor: Shanghai Polytechnic University Contract record no.: X2021310000050 Denomination of invention: A table tennis intelligent ball picking sharing system and its application method Granted publication date: 20200707 License type: Common License Record date: 20211220 |