CN112156436B - Table tennis ball picking device and table tennis ball picking method for ball picking robot - Google Patents
Table tennis ball picking device and table tennis ball picking method for ball picking robot Download PDFInfo
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- CN112156436B CN112156436B CN202010589823.8A CN202010589823A CN112156436B CN 112156436 B CN112156436 B CN 112156436B CN 202010589823 A CN202010589823 A CN 202010589823A CN 112156436 B CN112156436 B CN 112156436B
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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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- 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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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
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Abstract
A table tennis ball picking device and a table tennis ball picking method for a ball picking robot are provided, wherein the table tennis ball picking device comprises a bottom plate, a steering engine, a cam, a roller, a ball picking basket, a limiting guide rail, a sliding block and an elastic wire; the two opposite sides of the ball picking basket are provided with sliding blocks which can slide along limiting guide rails arranged on the bottom plate, the bottom plate is provided with a channel which can enable the ball picking basket to move, the other two opposite sides of the ball picking basket are provided with rotatable rollers which are in sliding contact with the cam, the cam can be driven to rotate by a steering engine arranged on the bottom plate, and the bottom of the ball picking basket is provided with a plurality of elastic wires side by side. The ping-pong ball picking method can be used for a ball picking robot provided with the ping-pong ball picking device, and the 'spiral descending ball picking method' of picking balls while spinning solves the problem of ball picking failure caused by ball blocking during falling of a ball picking basket. The ball picking device is simple in structure, safe and stable, can complete the picking task of multiple table tennis balls, shortens the ball picking time and complexity, and improves the ball picking efficiency and reliability by the ball picking method.
Description
Technical Field
The invention belongs to the technical field of sports equipment, and particularly relates to a table tennis ball picking device and a table tennis ball picking method for a ball picking robot.
Background
Table tennis is a very popular sport. In the process of table tennis training, a large amount of table tennis balls are scattered on the ground, and then the collection of the scattered table tennis balls becomes a difficult task. At present, a plurality of table tennis ball picking robots exist, wherein the ball picking mode comprises a mechanical hand type picking mode, a cylinder suction type picking mode and the like, but the picking modes have the problems of being not exquisite enough in structure, not high in cost performance, low in ball picking efficiency, poor in safety and stability and the like, and the requirement for picking the table tennis balls cannot be well met.
In the prior art, the utility model discloses a table tennis ball pickup device, application number CN201821178905.8, grant notice number CN208660270U, grant notice day 2019.03.29. The device comprises a supporting frame with universal wheels at the bottom, wherein an air cylinder is erected on the supporting frame and is connected with a ball picking box. The cylinder drives the ball picking box to move up and down, and the elastic strip at the bottom of the ball picking box picks up the table tennis because the table tennis is propped open. The device also needs manual operation, and the degree of automation is not high.
The utility model discloses an intelligence table tennis pickup apparatus, application number CN201820145296.X, grant notice number CN207886611U, grant notice day 2018.09.21. The device determines the position of the table tennis through the image sensor, and uses the air suction pipe to suck the table tennis into the table tennis storage box after the device moves to the table tennis position. However, the device can only pick up one ball at a time, the efficiency is low, and the device collects the table tennis balls through the air suction pipe, and impurities and garbage which are lighter than the table tennis balls can be collected, such as paper scraps, ash layers and the like on the ground, so that additional sorting tasks are brought.
The invention discloses a full-automatic table tennis ball picking vehicle, which has an application number CN201711334559.8, an authorization notice number CN108031082B and an authorization notice date 2019.09.10. The ultrasonic obstacle avoidance device comprises a ball picking assembly, a ball transporting assembly, a collecting assembly, an ultrasonic obstacle avoidance sensor and a driving assembly device which are arranged on a vehicle body. However, the ball picking assembly and the ball dribbling assembly have complex structures, so that the manufacturing cost of the machine is higher and the efficiency is low.
A table tennis ball picking mobile robot based on machine vision and a control method thereof are disclosed in application No. CN201811253670.9, publication No. CN109333549A, and publication No. 2019-02-15. The coordinate of the table tennis to be picked and found is sent to the mechanical arm control module, and the table tennis is used for picking up the table tennis and placing the table tennis in the table tennis storage module through the mechanical arm control module; the power supply module is used for supplying power; and the ball storage module is used for storing the picked table tennis balls. The manipulator that the device adopted picks up the ball needs very high positioning accuracy, and can only carry out single ball and pick up, and it is high to other modules such as location, picks up the ball efficiency and is lower.
Disclosure of Invention
The invention provides a table tennis ball picking device and a table tennis ball picking method for a table tennis ball picking robot, which aim to overcome the defects of the prior art and rely on the table tennis ball picking robot.
The technical scheme of the invention is as follows:
the invention provides a table tennis ball picking device for a ball picking robot, which comprises a bottom plate, a steering engine, a cam, a roller, a ball picking basket, a limiting guide rail, a sliding block and an elastic wire. The two opposite sides of the ball picking basket are provided with sliding blocks which can slide along limiting guide rails arranged on the bottom plate, the bottom plate is provided with a channel enabling the ball picking basket to move, the other two opposite sides of the ball picking basket are provided with rotatable rollers which are in sliding contact with the cams, the cams can be driven to rotate by steering engines arranged on the bottom plate, two sides of the bottom of the ball picking basket are provided with a plurality of side-by-side elastic lines, and the distance between every two adjacent elastic lines is smaller than the diameter of a table tennis ball.
The table tennis ball picking device drives the ball picking basket to move up and down through the cam and the sliding block mechanism. In the downward movement process of the ball picking basket, the table tennis can automatically open two adjacent elastic threads under the action of pressure so as to extrude the table tennis into the ball picking basket; in the process of upward movement of the ball picking basket, because the table tennis is lighter and the elasticity of the elastic lines is smaller, the gap between the elastic lines is smaller than the diameter of the table tennis, and the table tennis moves upward along with the ball picking basket, thereby completing the picking work of the table tennis.
The invention also specially designs a table tennis ball picking method for the ball picking robot for the ball picking device, which comprises the following steps: the original rotary motion of the ball picking robot and the synchronous descending motion of the ball picking basket 5 enable the ball picking basket 5 to present a spiral descending track relative to the ground where the table tennis ball 20 is located, after the ball picking basket falls to a certain degree, the elastic lines are contacted with the table tennis ball, the spiral descending of the ball picking basket can continuously change the relative contact positions of the elastic lines and the table tennis ball, the table tennis ball is forced to automatically extrude into the ball picking basket from the gap between two adjacent elastic lines, and the table tennis ball picking is completed. The method can effectively solve the problem that the picking of the table tennis fails because a certain elastic line is just above the table tennis (especially in the process of picking the multiple balls) when the ball picking basket falls.
Compared with the prior art, the invention has the beneficial effects that:
1. the table tennis picking device drives the cam and the roller through the steering engine, the slide block is restricted by the limiting guide rail to enable the ball picking basket to move up and down, and the table tennis picking device is simple in mechanical structure, safe, stable and high in cost performance. In the table tennis ball picking process, the table tennis balls scattered on the ground are only required to be positioned below the ball picking basket, and the accurate positions of the table tennis balls are not required to be known.
2. The invention designs a ball picking control method of a spiral descending ball picking method, solves the problem of ball picking failure caused by ball jamming in the falling process of the ball picking basket, and the experiment shows that the success rate of the ball picking basket is improved by 30 percent compared with the common ball picking method, thereby improving the ball picking reliability and the ball picking efficiency.
Drawings
FIG. 1 is a perspective view of a table tennis ball picking apparatus of the present invention;
FIG. 2 is a view of the ball picking basket at the highest position;
FIG. 3 is a view showing a ball picking state with the ball picking basket at the lowest position;
FIG. 4 is a diagram showing a table tennis ball picked up by the ball picking basket;
FIG. 5 is a perspective view of the ball pick robot;
fig. 6 is a rear view of the ball pick-up robot.
Detailed Description
1. Regarding the table tennis ball picking device:
as shown in fig. 1, the table tennis ball picking device comprises a bottom plate 1, a steering engine 2, a cam 3, a roller 4, a ball picking basket 5, a limiting guide rail 6, a sliding block 7 and an elastic wire 8; the two opposite sides of the ball picking basket 5 are provided with the sliding blocks 7, the sliding blocks 7 can slide along the limit 6, the moving platform 10 is provided with a channel enabling the ball picking basket 5 to move, the other two opposite sides of the ball picking basket 5 are provided with the rotatable idler wheels 4, the idler wheels 4 are in sliding contact with the cam 3, the cam 3 can be driven by the steering engine 2 to rotate, the two sides of the bottom of the ball picking basket 5 are provided with a plurality of elastic lines 8 side by side, and the distance between every two adjacent elastic lines 8 is smaller than the diameter of a table tennis ball.
Two rows of positioning holes 9 which are uniformly formed are formed in the two sides of the bottom of the ball picking basket 5 and used for installing elastic wires 8;
the position of the elastic wire 8 arranged in the positioning hole 9 is adjustable. So set up, adjust the elastic line distance to reach optimum picking up effect.
The elastic thread 8 is less elastic and may be selected to be a carbon thread.
The table tennis ball picking device drives the ball picking basket 5 to move up and down through the cam 3 and the sliding block 7. In the downward movement process of the ball picking basket 5, the table tennis automatically props up two adjacent carbon threads under the action of pressure so as to extrude the two carbon threads into the ball picking basket 5; in the process of upward movement of the ball picking basket 5, because the table tennis is lighter, the elasticity of the carbon wires is smaller, the gap between the carbon wires is smaller than the diameter of the table tennis, and the table tennis moves upward along with the ball picking basket, thereby completing the picking work of the table tennis.
The table tennis ball picking device can complete the picking task of a single table tennis ball or a plurality of table tennis balls, shortens the ball picking time and the complexity, improves the table tennis ball picking efficiency, has a simple structure, does not have the safety problem, and has obvious advantages compared with the existing manual or automatic table tennis ball picking device. The table tennis ball picking device can be arranged on table tennis ball picking equipment such as a table tennis ball automatic picking robot and an artificial table tennis ball picking vehicle, and realizes the high-efficiency picking of table tennis balls.
2. Regarding the table tennis ball picking process:
as shown in fig. 2-4, the table tennis ball picking device is divided into three stages in one table tennis ball picking cycle:
a descending stage: when the table tennis ball 20 is found to be positioned below the ball picking basket 5, the steering engine 2 drives the cam 3 to rotate clockwise (seen from the cam direction), and the ball picking basket 5 starts to descend from the highest point due to the action of gravity and changes from the position shown in fig. 2 to the position shown in fig. 3;
a stopping stage: after the steering engine rotates to a certain angle, the ball picking basket 5 is close to the ground, the table tennis ball 20 extrudes through the gap between the carbon wires under the action of the gravity of the ball picking basket 5, the ball picking basket finishes picking up the table tennis ball 20, and the table tennis ball is stopped at the position shown in figure 3;
and (3) a rising stage: after the table tennis ball 20 is picked up, the steering engine 2 drives the cam 3 to rotate anticlockwise (seen from the cam direction), and the ball picking basket 5 rises to the highest point under the action of the rotation of the cam 3, and reaches the position shown in fig. 4 from the position shown in fig. 3. The table tennis ball picking device will then repeat the above-described stages each time a ball picking operation is required.
3. Regarding the ball picking robot:
as shown in fig. 5-6, the table tennis ball picking device applied to the ball picking robot comprises a moving platform 10, a light supplement lamp 11, a camera 12, an ultrasonic ranging module 13, a power module 14, a control module 15, a side guide wheel 16, a coaming 17, a ball guide plate 18 and the table tennis ball picking device 19.
The mobile platform 10 is driven by four-wheel direct current motors; the coaming 17 is arranged under the ball picking basket 5, the coaming 17 is fixed on the lower surface of the mobile platform 10, a table tennis inlet is formed in one side of the coaming 17, the upper surface of the mobile platform 10 above the table tennis inlet is provided with a camera 12 for detecting table tennis balls and an ultrasonic ranging module 13 for avoiding obstacles, the platform 10 is further provided with a power module 14 and a control module 15 for controlling the steering engine 2 and the mobile platform 10, the signal output ends of the camera 12 and the ultrasonic ranging module 13 are respectively electrically connected with the signal input end of the control module 15, and the power module 12 supplies power to the steering engine 2, the mobile platform 10, the camera 12, the ultrasonic ranging module 13 and the control module 15.
Two ball guide plates 18 are arranged on the lower surface of the moving platform 10 at the entrance of the table tennis, and the two ball guide plates 18 are arranged in a horn shape. The coaming 17 can be a U-shaped baffle. The ball guide plate 18 guides the table tennis ball into the U-shaped baffle. In addition, a side guide wheel 16 is designed, the ball picking robot further comprises side guide wheels 16, and the side guide wheels 16 are rotatably arranged at four corners of the upper surface of the moving platform 10. The side guide wheels 16 are provided to prevent side impacts when the mobile platform 10 is moving and to assist in steering the mobile platform 10.
And a light supplement lamp 11 is arranged on the upper surface of the mobile platform 10 above the table tennis inlet. The accuracy of identifying the table tennis by the camera 12 is improved by supplementing light through the light supplementing lamp 11. The camera 12 detects the position and the distance of the table tennis ball in real time, the ultrasonic ranging module 13 detects whether an obstacle exists in the front of the robot, the obstacle is transmitted to the control module 15 by the camera and the control module 15 controls the mobile platform 10 to avoid the obstacle and adjust the direction of the table tennis ball picking robot in real time, so that the table tennis ball picking robot moves towards the direction of the table tennis ball, the table tennis ball 20 enters the U-shaped baffle plate through the ball guide plate 18, and finally the control module 15 controls the table tennis ball picking device and the mobile platform 10 to pick the table tennis ball in the U-shaped baffle plate by adopting a method of 'picking the table tennis ball while rotating'.
4. Regarding the "spiral descent ball picking method":
another embodiment provides a table tennis ball picking method for a ball picking robot, comprising the steps of:
step S1: the control module 15 controls the mobile platform 10 to rotate in place, and the camera 12 detects whether table tennis balls exist around the mobile platform 10;
step S2: if the camera 12 detects a ping-pong ball, the process goes to step S3, and if the rotation angle of the mobile platform 10 reaches a preset angle, the process goes to step S6;
step S3: the camera 12 sends the coordinate and distance information of the target table tennis to the control module 15 in real time, and the control module 15 controls the mobile platform 10 to move towards the target table tennis according to the information, so that the target table tennis enters the apron 17 from the table tennis inlet, and the step S4 is performed;
if the ultrasonic ranging module 13 detects that there is an obstacle in front during the movement of the mobile platform 10, the information is sent to the control module 15, and the process goes to step S1;
step S4: "spiral descending ball picking method" for picking up balls while spinning:
the ball picking basket 5 descends, the control module 15 controls the steering engine to drive the cam 3 to rotate, the cam 3 is in contact with the roller 4, the ball picking basket 5 is controlled to descend from the highest point along the limiting guide rail 6, meanwhile, the mobile platform 10 rotates in situ,
the ball picking basket 5 stops moving, after the steering engine 2 rotates for a certain angle, the ball picking basket 5 is close to the ground, and under the action of gravity of the ball picking basket 5, the table tennis is squeezed through the gap between the elastic threads 8, so that the table tennis is picked;
the ball picking basket 5 moves upwards, after the table tennis is picked, the steering engine drives the cam 3 to rotate reversely, the ball picking basket 5 moves upwards along the limiting guide rail 6 under the action of the rotation of the cam 3, meanwhile, the moving platform 10 rotates reversely on the spot, and the ball picking basket 5 rises to the highest point; then, when the ball picking robot needs to pick balls each time, the table tennis ball picking device repeats the process;
step S5: the rotation angle of the mobile platform 10 is set to zero, and the process goes to step S1;
step S6: the moving platform 10 moves forward by a preset distance, if the ultrasonic ranging module 13 detects that an obstacle exists in front during the moving, the information is sent to the control module 15, the moving platform 10 is controlled to stop moving, the step S1 is executed, and the above steps are repeated to complete the table tennis ball picking.
In step S4, a "spiral descent ball picking method" is adopted: that is, in the falling process of the ball picking basket 5, the mobile platform 10 rotates clockwise (from top to bottom) in situ, the ball picking basket 5 presents a spiral falling state relative to the ground where the table tennis ball 20 is located, after the ball picking basket 5 falls to a certain degree, the carbon threads contact with the table tennis ball 20, the spiral falling of the ball picking basket 5 can continuously change the relative contact positions of the carbon threads and the table tennis ball 20, the table tennis ball 20 is forced to be automatically squeezed into the ball picking basket from the gap between two adjacent carbon threads, and the ball picking reliability is improved. In the process of lifting the ball picking basket 5, the mobile platform 10 rotates in place anticlockwise (seen from bottom to top), and the orientation of the mobile platform 10 is unchanged before and after ball picking.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (1)
1. A table tennis ball picking method for a ball picking robot is characterized in that a table tennis ball picking device combined with the table tennis ball picking method comprises a bottom plate (1), a steering engine (2), a cam (3), a roller (4), a ball picking basket (5), a limiting guide rail (6), a sliding block (7) and an elastic wire (8); the two opposite sides of the ball picking basket (5) are provided with sliding blocks (7), the sliding blocks (7) can slide along limiting guide rails (6) arranged on the bottom plate (1), the bottom plate (1) is provided with a channel capable of enabling the ball picking basket (5) to move, the other two opposite sides of the ball picking basket (5) are provided with rotatable rollers (4), the rollers (4) are in sliding contact with the cam (3), the cam (3) can be driven to rotate by a steering engine (2) arranged on the bottom plate (1), two sides of the bottom of the ball picking basket (5) are provided with a plurality of side-by-side elastic wires (8), and the distance between every two adjacent elastic wires (8) is smaller than the diameter of a table tennis ball;
the method is characterized in that: the table tennis ball picking method comprises the following steps: the original rotation motion of the ball picking robot and the synchronous descending motion of the ball picking basket (5) enable the ball picking basket (5) to present a spiral descending track relative to the ground where the table tennis (20) is located, after the ball picking basket (5) falls to a certain degree, the elastic thread (8) is in contact with the table tennis (20), the spiral descending of the ball picking basket (5) can continuously change the relative contact positions of the elastic thread (8) and the table tennis (20), the table tennis (20) is forced to be automatically squeezed into the ball picking basket (5) from the gap between two adjacent elastic threads (8), and the table tennis (20) is picked.
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| CN202010589823.8A CN112156436B (en) | 2020-06-24 | 2020-06-24 | Table tennis ball picking device and table tennis ball picking method for ball picking robot |
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| CN202010589823.8A CN112156436B (en) | 2020-06-24 | 2020-06-24 | Table tennis ball picking device and table tennis ball picking method for ball picking robot |
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| CN112156436B true CN112156436B (en) | 2021-12-07 |
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| CN202315159U (en) * | 2011-10-08 | 2012-07-11 | 孔子轩 | Table tennis ball universal collection box |
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| CN107569830A (en) * | 2017-10-24 | 2018-01-12 | 赵国华 | A kind of automatic table tennis ball picking car |
| CN207980326U (en) * | 2018-01-03 | 2018-10-19 | 阜阳师范学院 | A kind of mechanical equipment with pickup and arrangement function for table tenning ball servicing machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108014463B (en) * | 2017-12-12 | 2019-05-03 | 新昌县大市聚镇万艺机械厂 | Shuttlecock recycles place automatically |
| CN209405624U (en) * | 2019-01-07 | 2019-09-20 | 天津利克奥德乒乓智能训练系统科技有限公司 | A kind of Lan Qiu release mechanism for service robot |
| CN110227247A (en) * | 2019-06-10 | 2019-09-13 | 浙江工贸职业技术学院 | A kind of table tennis ball serving device |
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2020
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202315159U (en) * | 2011-10-08 | 2012-07-11 | 孔子轩 | Table tennis ball universal collection box |
| CN105771193A (en) * | 2016-05-03 | 2016-07-20 | 四川农业大学 | Tennis ball picking robot |
| CN107569830A (en) * | 2017-10-24 | 2018-01-12 | 赵国华 | A kind of automatic table tennis ball picking car |
| CN207980326U (en) * | 2018-01-03 | 2018-10-19 | 阜阳师范学院 | A kind of mechanical equipment with pickup and arrangement function for table tenning ball servicing machine |
| CN108853961A (en) * | 2018-05-23 | 2018-11-23 | 苏州工业园区职业技术学院 | A kind of full-automatic table tennis ball picker |
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