CN109675269A - A kind of intelligent tennis ball collecting cart based on camera identification technology - Google Patents
A kind of intelligent tennis ball collecting cart based on camera identification technology Download PDFInfo
- Publication number
- CN109675269A CN109675269A CN201910047012.2A CN201910047012A CN109675269A CN 109675269 A CN109675269 A CN 109675269A CN 201910047012 A CN201910047012 A CN 201910047012A CN 109675269 A CN109675269 A CN 109675269A
- Authority
- CN
- China
- Prior art keywords
- collecting cart
- assembly
- car body
- tennis
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
-
- 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
- A63B2102/02—Tennis
-
- 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
- A63B2220/806—Video cameras
Abstract
The present invention relates to automatic collecting net ball technical fields, refer in particular to a kind of intelligent tennis ball collecting cart based on camera identification technology, the identification of color and shape is collected tennis by camera, including collecting cart car body and storage assembly, collecting cart car body is equipped with collection assembly, intelligent recognition component, running assembly, driving assembly and central processing unit, driving assembly drives running assembly traveling, intelligent recognition component, which passes through Image Acquisition and is transmitted to central processing unit, to be identified, central processing unit control driving assembly and collection assembly are collected and store to tennis, storage assembly is removably connected on collecting cart car body.The present invention uses such structure setting, it can be while influencing tennis player, convenient, accurately crawl collecting field ground tennis falling sphere can especially be collected into and ensconce under stool and the tennis on wall side, it is flexibly small and exquisite, and collection part may be implemented and store the fractionation of part.
Description
Technical field
The present invention relates to automatic collecting net ball technical fields, refer in particular to a kind of intelligent tennis ball receipts based on camera identification technology
Collect vehicle, the identification of color and shape is collected tennis by camera.
Background technique
Currently, existing tennis collecting robot is divided into two kinds: one is the collectors of human assistance, and one is realize certainly
The tennis collecting robot people of dynamicization or tennis collecting cart.The collector of human assistance relies on mainly using manpower as power resources
Staff pushes or pulls on the collection that machine carries out tennis on sportsman or court, although it is big to collect area, is easy to appear leakage
Ball phenomenon has the shortcomings that the ball under wall side ball and rest stool can not be collected, and figure is larger, collection part and storage
Part connects firmly together.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of, and the intelligent tennis ball based on camera identification technology is collected
Vehicle, which, which can realize, grabs tennis using mechanical arm and gripper, flexibly small and exquisite, and tennis is not only overcome to be attached to wall side
Or it ensconces under resting chair and is difficult to the problem of collecting, and collection part may be implemented and store the fractionation of part.
To achieve the goals above, the technical solution that the present invention applies is as follows:
A kind of intelligent tennis ball collecting cart based on camera identification technology, including collecting cart car body and storage assembly are collected
Vehicle car body is equipped with collection assembly, intelligent recognition component, running assembly, driving assembly and central processing unit, driving assembly driving
Running assembly traveling, intelligent recognition component, which passes through Image Acquisition and is transmitted to central processing unit, to be identified, central processing unit control
Driving assembly and collection assembly processed are collected and store to tennis, and storage assembly is removably connected on collecting cart car body.
Furthermore, the tail portion of the collecting cart car body is equipped with hook, and storage assembly includes opening and closing type box-shaped tennis
Storage bin, opening and closing type box-shaped tennis storage bin are correspondingly connected to the tail position of collecting cart car body by hook.
Furthermore, the collection assembly includes that manpower design gripper, gripper folding steering engine, left mechanical arm are parallel
The parallel steering engine of steering engine, right mechanical arm, left mechanical arm, right mechanical arm and rotary components, manpower design gripper are opened with gripper
It closes steering engine to be correspondingly arranged, left mechanical arm is correspondingly arranged with the parallel steering engine of left mechanical arm, right mechanical arm and the parallel steering engine of right mechanical arm
It is correspondingly arranged, left mechanical arm and right mechanical arm are articulated on rotary components, and rotary components are rotatable to be set on collecting cart car body.
Furthermore, the intelligent recognition component includes camera, and camera is equipped with image information sensor.
Furthermore, the running assembly include include set on collecting cart vehicle body left side left wheel one and left wheel two
And the right idler wheel one on the right side of collecting cart car body and right idler wheel two, left wheel one and left wheel two are coaxially connected, right idler wheel
One is coaxially connected with right idler wheel two, and driving assembly includes left motor and right motor, and left wheel one and left wheel two pass through left motor
Driving, right idler wheel one pass through right motor driven with right idler wheel two.
Furthermore, the central processing unit includes single-chip microcontroller, and single-chip microcontroller one end is connected to intelligent recognition component, monolithic
The machine other end is connected to driving assembly and collection assembly.
Furthermore, the vehicle commander of the collecting cart car body is about 0.3m, vehicle width is about 0.2m, overall height is 0.2~0.3m.
The invention has the advantages that:
The present invention uses such structure setting, can be while not influencing tennis player, convenient, accurately crawl
The tennis falling sphere of collecting field ground, can especially be collected into ensconce stool under and wall side tennis, flexibly it is small and exquisite.
Detailed description of the invention
Fig. 1 is overall structure schematic top plan view of the present invention；
Fig. 2 is collecting cart car body right view；
Fig. 3 is collecting cart car body left view；
Fig. 4 is present invention acquisition and collection flow chart.
1. manpower designs gripper；2. camera；4. gripper opens and closes steering engine；5. the parallel steering engine one of mechanical arm；6. mechanical
The parallel steering engine two of arm；8. opening and closing type box-shaped tennis storage bin；9. hook；10. collecting cart car body；11. left mechanical arm；12. right
Mechanical arm；13. left wheel one；14. left wheel two；15. right idler wheel one；16. right idler wheel two；17. left motor；18. right motor；
19. rotary components.
Specific embodiment
Technical solution of the present invention is illustrated with embodiment with reference to the accompanying drawing.
As shown in Figures 1 to 4, a kind of intelligent tennis ball collecting cart based on camera identification technology of the present invention, including
Collecting cart car body 10 and storage assembly, collecting cart car body 10 are equipped with collection assembly, intelligent recognition component, running assembly, driving
Component and central processing unit, driving assembly drive running assembly traveling, using such structure setting, are driven by driving assembly
Front and back traveling and the left and right turning function of running assembly；Intelligent recognition component by Image Acquisition and be transmitted to central processing unit into
Row identification, using such structure setting, tennis information is acquired by recognizer component, and be transported to central processing unit into
Row intelligent recognition, central processing unit control driving assembly and collection assembly are collected and store to tennis, using such knot
Structure setting controls driving assembly by central processing unit and judges the functions such as direction, course changing control and speed control, and passes through collection
Component is collected and stores to tennis；Storage assembly is removably connected on collecting cart car body 10, using such structure
The fractionation, it can be achieved that collection assembly and storage assembly of collecting cart car body 10 is set, and practicability is stronger.
More specifically, the tail portion of the collecting cart car body 10 is equipped with hook 9, and storage assembly includes opening and closing type box-shaped net
Ball storage bin 8, opening and closing type box-shaped tennis storage bin 8 are correspondingly connected to the tail position of collecting cart car body 10 by hook 9.It adopts
With such structure setting, by hook 9 as the connection between collecting cart car body 10 and opening and closing type box-shaped tennis storage bin,
The fractionation of the collection assembly and storage assembly of collecting cart car body 10 can be achieved, practicability is stronger.
More specifically, the collection assembly includes that manpower designs gripper 1, gripper folding steering engine 4, left mechanical arm simultaneously
The parallel steering engine 6 of row steering engine 5, right mechanical arm, left mechanical arm 11, right mechanical arm 12 and rotary components 19, manpower design gripper 1
With gripper folding steering engine 4 be correspondingly arranged, by gripper open and close steering engine 4 control manpower design gripper 1 folding, it can be achieved that
Grab the movement of tennis movement with release tennis, left mechanical arm 11 is correspondingly arranged with the parallel steering engine 5 of left mechanical arm, right mechanical arm 12 and
The parallel steering engine 6 of right mechanical arm is correspondingly arranged, and left mechanical arm 11 and right mechanical arm 12 are articulated on rotary components 19, rotary components 19
It is rotatable to be set on collecting cart car body 10.The rotation that left mechanical arm 11 is controlled by the parallel steering engine 5 of left mechanical arm, passes through right machine
The parallel steering engine 6 of tool arm controls the rotation of right mechanical arm 12, it can be achieved that manpower design gripper 1 is with the vehicle body of collecting cart car body 10
Benchmark can arbitrarily adjust angle and rotation, convenient for the tennis for being attached to the tennis on wall side or ensconcing under resting chair is collected,
It is convenient for for the tennis being collected into being put into opening and closing type box-shaped tennis storage bin 8 simultaneously.
In practical application, manpower design gripper 1 of the present invention is mainly used for collecting tennis, and manpower is used to set
Meter, can be convenient for some corners of collection or the tennis of other more difficult collections, and collection rate is higher, more precisely, leakage is effectively avoided to receive, collected
Less than the case where occur.
More specifically, the intelligent recognition component includes camera 2, and camera 2 is equipped with image information sensor.It adopts
With such structure setting, the collection of image is carried out to the position of tennis by visual information processor.
In practical application, image information sensor of the present invention use CMOS, by CMOS realize Image Acquisition with
Processing.
More specifically, the running assembly include include set on the left side of collecting cart car body 10 left wheel 1 with roll left
Take turns 2 14 and right idler wheel 1 and right idler wheel 2 16 set on 10 right side of collecting cart car body, left wheel 1 and left wheel 2 14
Coaxially connected, right idler wheel 1 and right idler wheel 2 16 are coaxially connected, and driving assembly includes left motor 17 and right motor 18, left wheel
One 13 are driven with left wheel 2 14 by left motor 17, and right idler wheel 1 is driven with right idler wheel 2 16 by right motor 18.Using
Such structure setting, by the different idler wheel of different motor controls, thus realize by left side roller and right roller it
Between differential realize turning function.Such as: it is as left when the rolling speed of left side roller is less than the rolling speed of right roller
Turning is as turned right when the rolling speed of left side roller is greater than the rolling speed of right roller.
More specifically, the central processing unit includes single-chip microcontroller, and single-chip microcontroller one end is connected to intelligent recognition component, monolithic
The machine other end is connected to driving assembly and collection assembly.Using such structure setting, when single-chip microcontroller receives intelligent recognition group
Behind the tennis position of part feedback, control driving assembly judges the functions such as direction, course changing control and speed control, and passes through collection group
Part is collected and stores to tennis.
In practical application, single-chip microcontroller of the present invention controls collecting cart car body by using classical pid control algorithm
10 reach steady quick effect, detailed process on tennis court are as follows: give steering engine output quantity according to tennis court information, use
The actual speed of encoders monitor intelligent vehicle gives the intelligent vehicle speed of service, deployed position formula PID further according to tennis court information
Algorithm adjusts the revolving speed of driving assembly, can be realized the quick response of motor.
More specifically, the vehicle commander of the collecting cart car body 10 is about 0.3m, vehicle width is about 0.2m, overall height be 0.2~
0.3m.Using such structure setting, the vehicle body of collecting cart car body 10 is integrally smaller, and light and small tennis collecting cart can quickly certainly
It is shuttled in tennis court by ground.
The above technical solution in the embodiment of the present invention is described, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, within these are all belonged to the scope of protection of the present invention.
Claims (7)
1. a kind of intelligent tennis ball collecting cart based on camera identification technology, including collecting cart car body (10) and storage assembly,
Be characterized in that: the collecting cart car body (10) is equipped with collection assembly, intelligent recognition component, running assembly, driving assembly in
Central processor, the driving component drive running assembly traveling, and the intelligent recognition component passes through Image Acquisition and is transmitted to
Central processor is identified that the central processing unit control driving assembly and collection assembly are collected and store to tennis, institute
Storage assembly is stated removably to be connected on collecting cart car body (10).
2. a kind of intelligent tennis ball collecting cart based on camera identification technology according to claim 1, it is characterised in that: institute
The tail portion for stating collecting cart car body (10) is equipped with hook (9), and the storage assembly includes opening and closing type box-shaped tennis storage bin (8),
The opening and closing type box-shaped tennis storage bin (8) is correspondingly connected to the tail position of collecting cart car body (10) by hook (9).
3. a kind of intelligent tennis ball collecting cart based on camera identification technology according to claim 1, it is characterised in that: institute
Stating collection assembly includes manpower design gripper (1), gripper folding steering engine (4), the parallel steering engine of left mechanical arm (5), right machinery
The parallel steering engine of arm (6), left mechanical arm (11), right mechanical arm (12) and rotary components (19), the manpower design gripper (1)
It is correspondingly arranged with gripper folding steering engine (4), the left mechanical arm (11) is correspondingly arranged with the parallel steering engine of left mechanical arm (5), institute
It states right mechanical arm (12) to be correspondingly arranged with the parallel steering engine of right mechanical arm (6), the left mechanical arm (11) and right mechanical arm (12) are cut with scissors
It is connected on rotary components (19), the rotary components (19) are rotatable to be set on collecting cart car body (10).
4. a kind of intelligent tennis ball collecting cart based on camera identification technology according to claim 1, it is characterised in that: institute
Stating intelligent recognition component includes camera (2), and the camera (2) is equipped with image information sensor.
5. a kind of intelligent tennis ball collecting cart based on camera identification technology according to claim 1, it is characterised in that: institute
Stating running assembly and including includes left wheel one (13) on the left of collecting cart car body (10) and left wheel two (14) and be set to
Right idler wheel one (15) and right idler wheel two (16) on the right side of collecting cart car body (10), the left wheel one (13) and left wheel two (14)
Coaxially connected, the right idler wheel one (15) and right idler wheel two (16) are coaxially connected, the driving component include left motor (17) with
Right motor (18), the left wheel one (13) and left wheel two (14) are driven by left motor (17), the right idler wheel one (15)
It is driven with right idler wheel two (16) by right motor (18).
6. a kind of intelligent tennis ball collecting cart based on camera identification technology according to claim 1, it is characterised in that: institute
Stating central processing unit includes single-chip microcontroller, and described single-chip microcontroller one end is connected to intelligent recognition component, the single-chip microcontroller other end connection
In driving assembly and collection assembly.
7. a kind of intelligent tennis ball collecting cart based on camera identification technology according to claim 1, it is characterised in that: institute
The vehicle commander for stating collecting cart car body (10) is about 0.3m, vehicle width is about 0.2m, overall height is 0.2~0.3m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910047012.2A CN109675269A (en) | 2019-01-18 | 2019-01-18 | A kind of intelligent tennis ball collecting cart based on camera identification technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910047012.2A CN109675269A (en) | 2019-01-18 | 2019-01-18 | A kind of intelligent tennis ball collecting cart based on camera identification technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109675269A true CN109675269A (en) | 2019-04-26 |
Family
ID=66193570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910047012.2A Pending CN109675269A (en) | 2019-01-18 | 2019-01-18 | A kind of intelligent tennis ball collecting cart based on camera identification technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109675269A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204050856U (en) * | 2014-09-25 | 2014-12-31 | 临沂大学 | Automatic ball collecting vehicle |
| CN107137890A (en) * | 2016-09-27 | 2017-09-08 | 五邑大学 | A kind of intelligent tennis ball pickup robot based on image recognition |
| CN207593774U (en) * | 2017-12-07 | 2018-07-10 | 浙江理工大学 | One kind can tracking can avoidance material pick-and-place carrier loader |
-
2019
- 2019-01-18 CN CN201910047012.2A patent/CN109675269A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204050856U (en) * | 2014-09-25 | 2014-12-31 | 临沂大学 | Automatic ball collecting vehicle |
| CN107137890A (en) * | 2016-09-27 | 2017-09-08 | 五邑大学 | A kind of intelligent tennis ball pickup robot based on image recognition |
| CN207593774U (en) * | 2017-12-07 | 2018-07-10 | 浙江理工大学 | One kind can tracking can avoidance material pick-and-place carrier loader |
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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: 20190426 |