CN112973050A - Tennis ball picking machine based on intelligent track control and tennis ball picking method - Google Patents
Tennis ball picking machine based on intelligent track control and tennis ball picking method Download PDFInfo
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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
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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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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
- A63B2102/02—Tennis
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Abstract
The invention provides a tennis ball picking machine based on intelligent track control and a tennis ball picking method, wherein the tennis ball picking machine comprises a distance measuring module, a control module, a driving module and a picking module, wherein one end of the distance measuring module, one end of the driving module and one end of the picking module are respectively connected with the control module; the distance measuring module is used for monitoring the distance between the tennis ball picking machine and the tennis ball; the control module is used for acquiring an optimal path between the tennis ball picking machine and the tennis ball based on the distance, the ant colony algorithm after fusion and the genetic algorithm; the driving module is used for driving the tennis ball picking machine to move to a preset tennis threshold range according to the optimal path; the picking module is used for picking up the tennis balls when the tennis ball picking machine is located within a preset threshold range. The scheme has the advantages of low overall cost, easy popularization and use and wide market prospect.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a tennis ball picking machine based on intelligent track control and a tennis ball picking method.
Background
When people have exhausted after a tennis sport, people sometimes have to pick up tennis balls scattered around a court, so that the machine for picking up the tennis balls also has great application market and prospect. Many of the ball-picking devices currently available on the market are semi-automatic, such as tennis ball pickers, which require a person to manually push them near the tennis ball. In addition, the automatic ball picking device is also provided with a small number of automatic ball picking devices, and the automatic ball picking devices are manufactured based on raspberry pies, so the cost is high, and the automatic ball picking devices are expensive and not acceptable to common people.
Since tennis ball belongs to a sport which needs to be popular, the tennis ball picking device has high requirements on practicability and cost control, and therefore, problems exist, such as: (1) although the tennis robot based on the image recognition technology has an intelligent algorithm design, the cost of the whole tennis robot system is relatively increased, and the tennis robot system is not very cost-effective compared with a large number of common users and is not beneficial to market popularization; (2) the tennis ball picker based on the raspberry group and the like has higher price of the whole equipment due to the higher price of the raspberry group development board.
Therefore, a tennis ball picking machine with low cost and simple and convenient operation is needed.
Disclosure of Invention
The invention provides a tennis ball picking machine based on intelligent track control and a tennis ball picking method, which are used for solving the defect that the tennis ball picking machine in the prior art is high in price.
The invention provides a tennis ball picking machine based on intelligent track control, which comprises: the device comprises a distance measuring module, a control module, a driving module and a picking module, wherein one end of the distance measuring module, one end of the driving module and one end of the picking module are respectively connected with the control module;
the distance measuring module is used for monitoring the distance between the tennis ball picking machine and the tennis ball;
the control module is used for acquiring an optimal path between the tennis ball picking machine and the tennis ball based on the distance, the ant colony algorithm and the genetic algorithm after fusion;
the driving module is used for driving the tennis ball picking machine to move to the position of the preset tennis threshold value range according to the optimal path;
the picking module is used for picking up the tennis balls when the tennis ball picking machine is located within the preset threshold range.
The tennis ball picking machine based on intelligent track control further comprises a monitoring module, wherein the monitoring module is used for monitoring whether tennis balls exist in a preset sight range or not and sending corresponding instruction signals to the control module according to monitoring results.
According to the tennis ball picking machine based on intelligent track control provided by the invention, the monitoring module is used for monitoring whether tennis balls exist in a preset sight range or not and sending corresponding instruction signals to the control module according to monitoring results, and the tennis ball picking machine specifically comprises:
if the monitoring module detects that tennis balls exist in a preset sight range of the tennis ball picking machine, a triggering instruction is sent to the control module;
and if the monitoring module detects that no tennis ball exists in the preset sight range of the tennis ball picking machine, the monitoring module sends a direction adjusting instruction to the control module.
According to the tennis ball picking machine based on intelligent track control provided by the invention, the tennis ball picking machine further comprises:
and if the control module receives the direction adjusting instruction, the drive module is driven according to the direction adjusting instruction, so that the drive module drives the tennis ball picking machine to adjust the direction according to the direction adjusting instruction.
According to the tennis ball picking machine based on intelligent track control, the distance measuring module is an ultrasonic sensor.
According to the tennis ball picking machine based on the intelligent track control, the control module is an Arduino control panel.
According to the tennis ball picking machine based on intelligent track control, the driving module is a motor driving module.
The invention also provides a tennis ball picking method based on the intelligent track control, which comprises the following steps:
monitoring the distance between the tennis ball picking machine and the tennis ball through the distance measuring module;
acquiring an optimal path between the tennis ball picking machine and the tennis ball by the control module based on the distance, the ant colony algorithm and the genetic algorithm after fusion;
driving the tennis ball picking machine to move to the position of the preset tennis threshold range according to the optimal path through the driving module;
and picking up the tennis balls by the picking module when the tennis ball picking machine is positioned in the range of the preset threshold value.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the ball picking method.
The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of ball pickup as described above.
The tennis ball picking machine and the tennis ball picking method based on intelligent track control, which are provided by the invention, have the advantages of low overall cost, easiness in popularization and use and wide market prospect; the integrated ant colony algorithm and genetic algorithm are used as a path planning algorithm of the tennis ball picking machine, so that the tennis ball picking robot can be helped to find an effective path, and the tennis ball picking efficiency is improved; the tennis ball picking device has the function of fully automatically picking up tennis balls without manual intervention.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a tennis ball picking machine based on intelligent trajectory control according to the present invention;
FIG. 2 is a schematic view of a specific structure of a tennis ball picking machine according to the present invention;
FIG. 3 is a flow chart of the tennis ball picking machine of the present invention for picking up tennis balls;
FIG. 4 is a flow chart of a ball picking method of the tennis ball picking machine based on intelligent trajectory control according to the present invention;
fig. 5 is a schematic physical structure diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a tennis ball picking machine based on intelligent track control, which comprises a distance measuring module 101, a control module 102, a driving module 103 and a picking module 104, wherein one end of the distance measuring module, one end of the driving module and one end of the picking module are respectively connected with the control module;
the distance measuring module is used for monitoring the distance between the tennis ball picking machine and the tennis ball;
the control module is used for acquiring an optimal path between the tennis ball picking machine and the tennis ball based on the distance, the ant colony algorithm and the genetic algorithm after fusion;
the driving module is used for driving the tennis ball picking machine to move to the position of the preset tennis threshold value range according to the optimal path;
the picking module is used for picking up the tennis balls when the tennis ball picking machine is located within the preset threshold range.
The tennis ball picking machine in the embodiment of the invention is composed of a distance measuring module, a control module, a driving module and a picking module, wherein the distance measuring module, the driving module and the picking module are respectively connected with the control module, and the control module can control different modules to work according to different signal instructions.
In the embodiment of the invention, the distance measuring module is used for monitoring the distance between the tennis ball picking machine and the tennis ball, namely detecting the distance between the tennis ball picking machine and the tennis ball and transmitting the distance to the control module, and the control module calculates the optimal path between the tennis ball picking machine and the tennis ball according to the distance and the ant colony algorithm and genetic algorithm after fusion.
The ant colony algorithm designs a ball picking path according to pheromone integration and pheromone updating, all path information is in the initial stage, so that new path information cannot be fed back in time, a problem solving scheme cannot be reflected in time, and the ball picking speed cannot be improved.
The genetic algorithm can establish initial path information in an early searching stage, can feed back the path information in time and improve the searching speed, so that the ant colony algorithm and the genetic algorithm are fused, the advantages and the disadvantages are brought forward, and the speed of searching the tennis is improved.
The driving module drives the tennis ball picking machine to move to the position near the tennis ball according to the optimal path, the position near the tennis ball is defined by using a preset threshold range in the embodiment of the invention, the specific value can be determined according to the actual condition, and when the tennis ball picking machine moves to the position within the preset threshold range of the tennis ball, the tennis ball is picked up.
In the embodiment of the invention, the driving module adopts two-wheel driving, the control module is an Adruino single chip microcomputer, and the distance measuring module is an ultrasonic sensor.
The ball picking device utilizes an ultrasonic sensor to collect signals to detect the distance, and displays the detection distance through a nixie tube. The driving motor is controlled in a PWM mode, the single-chip microcomputer is in direct communication, and the walking part and the picking part work together to complete tennis ball picking work.
The tennis ball picking machine is composed of a distance measuring module, a driving module and a picking module, wherein the driving module is driven by two wheels, detects the position of a barrier through an ultrasonic sensor and transmits the position to an Adruino single chip microcomputer, and the single chip microcomputer controls a motor driving module through PWM (pulse width modulation) so as to drive a left motor and a right motor to rotate forwards and reversely at a self-defined speed and complete forward and reverse steering.
After the tennis ball is identified in the embodiment of the invention, the tennis ball is swept to the net rack by the tennis ball picking machine, the moving part is matched with the obstacle detecting part, the position of the obstacle is correctly judged, turning movement is completed along with the tennis ball, the operation process of the next movement route is completed, the automatic picking work of the tennis ball is realized, and the tennis ball picking machine can automatically patrol and pick up the tennis ball on a court.
On the basis of the above embodiment, preferably, the tennis ball game device further includes a monitoring module, and the monitoring module is configured to monitor whether a tennis ball is present in a preset sight range, and send a corresponding instruction signal to the control module according to a monitoring result.
Specifically, the tennis ball picking machine in the embodiment of the invention further comprises a monitoring module, wherein the monitoring module is used for scanning whether tennis balls exist in a preset sight range under the current visual angle of the tennis ball picking machine, and sending corresponding instruction signals to the control module according to the detection result, and the control module can take different measures according to the corresponding instruction signals.
On the basis of the foregoing embodiment, preferably, the monitoring module is configured to monitor whether there is a tennis ball in a preset sight range, and send a corresponding instruction signal to the control module according to a monitoring result, and specifically includes:
if the monitoring module detects that tennis balls exist in a preset sight range of the tennis ball picking machine, a triggering instruction is sent to the control module;
and if the monitoring module detects that no tennis ball exists in the preset sight range of the tennis ball picking machine, the monitoring module sends a direction adjusting instruction to the control module.
Specifically, if the monitoring module detects tennis balls in a preset sight range of the tennis ball picking machine, if the monitoring module can detect the tennis balls, a triggering instruction is sent to the control module, and the triggering instruction is used for triggering the operation behind the tennis ball picking machine; and if the tennis ball cannot be detected within the preset sight range, sending a direction adjusting instruction to the control module, wherein the direction adjusting instruction is used for adjusting the direction of the tennis ball picking machine.
On the basis of the above embodiment, it is preferable to further include:
and if the control module receives the direction adjusting instruction, the drive module is driven according to the direction adjusting instruction, so that the drive module drives the tennis ball picking machine to adjust the direction according to the direction adjusting instruction.
Specifically, if the control module receives the direction adjusting instruction, the driving module is driven according to the direction adjusting instruction, so that the driving module drives the tennis ball picking machine to turn according to the direction adjusting instruction.
On the basis of the above embodiments, preferably, the distance measuring module is an ultrasonic sensor.
On the basis of the above embodiment, preferably, the control module is an Arduino control board.
On the basis of the above embodiment, preferably, the driving module is a motor driving module.
The overall design of the embodiment of the invention can be divided into:
1. the ultrasonic ranging sensor completes distance measurement, and the measured value of the distance obstacle is displayed on the nixie tube.
2. The Arduino single chip microcomputer controls the motor driving module through a PWM mode, the motor completes forward and reverse rotation, and forward and reverse movement of the tennis ball picking machine is achieved.
3. The values of PWM are set to be different, and the left motor and the right motor of the trolley are driven to rotate clockwise or anticlockwise at different speeds, so that the tennis ball picking machine moves forwards, backwards, turns left and turns right.
4. When the ultrasonic ranging sensor detects the tennis ball, the tennis ball picking machine follows the tennis ball to the vicinity according to the ant colony algorithm and the genetic algorithm after fusion.
5. The tennis ball picking machine can pick tennis balls to the collector.
As shown in figure 2, the tennis ball picking machine comprises an Arduino single chip microcomputer, a left wheel, a right wheel, a making motor, a right motor, a battery, a steering engine and universal wheels. As shown in fig. 3, the flow is as follows:
the method comprises the steps of firstly carrying out system initialization, turning on a power supply of an intelligent robot (namely a tennis ball picking machine), judging whether tennis balls appear in a visual field, namely judging whether tennis balls exist near the tennis ball picking machine, if yes, judging by the intelligent robot, carrying out path planning through an ant colony algorithm and a genetic algorithm, driving to the vicinity of the tennis balls, picking up the tennis balls, adding 1 to the number of the tennis balls at the moment, judging whether the number of the tennis balls reaches the maximum, and starting a buzzer to notify a manager if the number of the tennis balls reaches the maximum. If the number of the tennis balls does not reach the maximum, whether the tennis balls appear in the visual field is judged again.
And if no tennis ball appears in the visual field, turning the intelligent robot to another angle, and then judging again.
Aiming at the tennis ball picking machine, the road strength planning algorithm comprises the following steps:
1. after environmental information is acquired by using an infrared sensor of the tennis ball picking machine and an ultrasonic sensor at the top, the acquired information is processed. After all the environment information data are collected, the environment is split by using a grid method, and the size of the grid is adjusted according to actual needs and processing capacity. Each grid is marked, and only the information of X and Y in a two-dimensional space needs to be considered.
2. The ball picking robot is designed based on the ant colony algorithm, optimized and improved in some ways, and designed in an intelligent track planning way. And programming by using an Arduino platform to realize a path planning and designing algorithm. The ant colony algorithm is slow in tennis ball searching speed on the tennis court and easy for local optimization, and in order to overcome the defects, a plurality of selectable paths in the path planning process are analyzed by a detailed path selection mechanism through the ant colony algorithm. By using the algorithm parameter reference parameters and different algorithm requirements, the importance of the parameter factors on the path planning ant colony algorithm searching performance is utilized, and an improved algorithm-an optimized ant colony algorithm is provided. The optimized ant colony algorithm modifies parameters of the ant colony algorithm according to the iteration times.
3. Aiming at the problem that the efficiency of identifying tennis balls by using an ant colony algorithm is low, a new algorithm is optimally designed on the ant colony algorithm, a fusion algorithm of multi-path intelligent planning of a ball picking robot is designed on the basis of the optimized ant colony algorithm, and the new algorithm after fusion is continuously tested.
The ant colony algorithm designs ball picking paths according to pheromone integration and pheromone updating, and pheromones of all paths are in the initial stage, so that new path information cannot be fed back in time, a problem solving scheme cannot be reflected in time, and the ball picking speed cannot be improved.
The search path is not the closest route and the best route.
In the other algorithm, the genetic algorithm can establish initial path information in an early searching stage, feed back the path information in time and improve the searching speed. Therefore, the embodiment of the invention needs to fuse the two algorithms, and makes good use of the advantages and avoids the disadvantages, thereby improving the speed of searching the tennis ball.
The embodiment of the invention provides a tennis ball picking method of a tennis ball picking machine based on intelligent track control, which comprises the following steps of:
410, monitoring the distance between the tennis ball picking machine and the tennis ball through the distance measuring module;
420, acquiring an optimal path between the tennis ball picking machine and the tennis ball by the control module based on the distance, the merged ant colony algorithm and the genetic algorithm;
430, driving the tennis ball picking machine to move to the tennis ball preset threshold range according to the optimal path through the driving module;
440, picking up the tennis ball by the picking module when the tennis ball picking machine is within the preset threshold range.
The present embodiment is a method embodiment corresponding to the above-mentioned apparatus, and the specific implementation thereof corresponds to the above-mentioned apparatus embodiment, and the details of the embodiment of the present invention are not repeated herein.
An embodiment of the present invention provides an electronic device, as shown in fig. 5, the electronic device may include: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. The processor 510 may invoke logic instructions in the memory 530 to perform a method of picking a tennis ball picking machine based on intelligent trajectory control, the method comprising:
monitoring the distance between the tennis ball picking machine and the tennis ball through the distance measuring module;
acquiring an optimal path between the tennis ball picking machine and the tennis ball by the control module based on the distance, the ant colony algorithm and the genetic algorithm after fusion;
driving the tennis ball picking machine to move to the position of the preset tennis threshold range according to the optimal path through the driving module;
and picking up the tennis balls by the picking module when the tennis ball picking machine is positioned in the range of the preset threshold value.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In another aspect, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer being capable of executing a ball picking method for a tennis ball picking machine based on smart track control provided by the above methods, the method including:
monitoring the distance between the tennis ball picking machine and the tennis ball through the distance measuring module;
acquiring an optimal path between the tennis ball picking machine and the tennis ball by the control module based on the distance, the ant colony algorithm and the genetic algorithm after fusion;
driving the tennis ball picking machine to move to the position of the preset tennis threshold range according to the optimal path through the driving module;
and picking up the tennis balls by the picking module when the tennis ball picking machine is positioned in the range of the preset threshold value.
In still another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the method for picking up a tennis ball picking machine based on intelligent trajectory control provided in the above aspects, the method comprising:
monitoring the distance between the tennis ball picking machine and the tennis ball through the distance measuring module;
acquiring an optimal path between the tennis ball picking machine and the tennis ball by the control module based on the distance, the ant colony algorithm and the genetic algorithm after fusion;
driving the tennis ball picking machine to move to the position of the preset tennis threshold range according to the optimal path through the driving module;
and picking up the tennis balls by the picking module when the tennis ball picking machine is positioned in the range of the preset threshold value.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A tennis ball picking machine based on intelligent track control is characterized by comprising a distance measurement module, a control module, a driving module and a picking module, wherein one end of the distance measurement module, one end of the driving module and one end of the picking module are respectively connected with the control module;
the distance measuring module is used for monitoring the distance between the tennis ball picking machine and the tennis ball;
the control module is used for acquiring an optimal path between the tennis ball picking machine and the tennis ball based on the distance, the ant colony algorithm and the genetic algorithm after fusion;
the driving module is used for driving the tennis ball picking machine to move to the position of the preset tennis threshold value range according to the optimal path;
the picking module is used for picking up the tennis balls when the tennis ball picking machine is located within the preset threshold range.
2. The intelligent track control-based tennis ball picking machine as claimed in claim 1, further comprising a monitoring module, wherein the monitoring module is configured to monitor whether a tennis ball is present within a preset sight range, and send a corresponding instruction signal to the control module according to a monitoring result.
3. The intelligent track control-based tennis ball picking machine as claimed in claim 2, wherein the monitoring module is configured to monitor whether there is a tennis ball within a preset sight range, and send a corresponding instruction signal to the control module according to a monitoring result, and specifically includes:
if the monitoring module detects that tennis balls exist in a preset sight range of the tennis ball picking machine, a triggering instruction is sent to the control module;
and if the monitoring module detects that no tennis ball exists in the preset sight range of the tennis ball picking machine, the monitoring module sends a direction adjusting instruction to the control module.
4. The intelligent trajectory control-based tennis ball picking machine of claim 3, further comprising:
and if the control module receives the direction adjusting instruction, the drive module is driven according to the direction adjusting instruction, so that the drive module drives the tennis ball picking machine to adjust the direction according to the direction adjusting instruction.
5. The intelligent trajectory control-based tennis ball picking machine of claim 1, wherein the distance measurement module is an ultrasonic sensor.
6. The intelligent trajectory control-based tennis ball picking machine of claim 1, wherein the control module is an Arduino control panel.
7. The intelligent trajectory control-based tennis ball picking machine of claim 1, wherein the driving module is a motor driving module.
8. The method for picking up tennis balls by the intelligent track control-based tennis ball picking machine as claimed in any one of claims 1 to 7, which comprises the following steps:
monitoring the distance between the tennis ball picking machine and the tennis ball through the distance measuring module;
acquiring an optimal path between the tennis ball picking machine and the tennis ball by the control module based on the distance, the ant colony algorithm and the genetic algorithm after fusion;
driving the tennis ball picking machine to move to the position of the preset tennis threshold range according to the optimal path through the driving module;
and picking up the tennis balls by the picking module when the tennis ball picking machine is positioned in the range of the preset threshold value.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method of claim 8.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the method of claim 8.
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| CN202110208320.6A CN112973050A (en) | 2021-02-24 | 2021-02-24 | Tennis ball picking machine based on intelligent track control and tennis ball picking method |
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| CN202110208320.6A CN112973050A (en) | 2021-02-24 | 2021-02-24 | Tennis ball picking machine based on intelligent track control and tennis ball picking method |
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| CN104784900A (en) * | 2015-05-07 | 2015-07-22 | 上海电机学院 | Tennis pickup machine operation trajectory control and ultrasonic tennis finding system and method |
| CN110652709A (en) * | 2019-06-17 | 2020-01-07 | 北京理工大学 | Controllable ball picking trolley system based on rolling shaft and clamping mechanism |
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2021
- 2021-02-24 CN CN202110208320.6A patent/CN112973050A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104784900A (en) * | 2015-05-07 | 2015-07-22 | 上海电机学院 | Tennis pickup machine operation trajectory control and ultrasonic tennis finding system and method |
| CN110652709A (en) * | 2019-06-17 | 2020-01-07 | 北京理工大学 | Controllable ball picking trolley system based on rolling shaft and clamping mechanism |
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Inventor after: Xiao Min Inventor after: Li Zeyu Inventor after: Jiang Tingyao Inventor before: Xiao Min Inventor before: Li Zeyu Inventor before: Jiang Tingyao Inventor before: Ji Li Inventor before: Zhou Xinyu |
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Application publication date: 20210618 |