CN113082652A - Table tennis ball picking robot - Google Patents
Table tennis ball picking robot Download PDFInfo
- Publication number
- CN113082652A CN113082652A CN202110461567.9A CN202110461567A CN113082652A CN 113082652 A CN113082652 A CN 113082652A CN 202110461567 A CN202110461567 A CN 202110461567A CN 113082652 A CN113082652 A CN 113082652A
- Authority
- CN
- China
- Prior art keywords
- ball
- table tennis
- picking robot
- chassis
- picking
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 238000010408 sweeping Methods 0.000 claims description 29
- 238000009423 ventilation Methods 0.000 claims description 4
- 206010063385 Intellectualisation Diseases 0.000 abstract description 3
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
- A63B67/04—Table games physically beneficial for the human body, modelled on outdoor sports, e.g. table tennis
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a table tennis ball picking robot, which comprises a chassis, a walking mechanism, a ball picking mechanism, a ball positioning mechanism, a collision sensor and a controller, wherein the walking mechanism is arranged on the chassis; the chassis is connected with a collecting frame; the ball body positioning mechanism comprises a camera and an image processor, and the image processor can obtain the position of the table tennis ball according to an image acquired by the camera; the controller controls the traveling mechanism to move to a first position according to feedback of the sphere positioning mechanism and the collision sensor, and then controls the sphere picking mechanism to pick spheres; the table tennis ball picking robot can pick table tennis balls quickly, is convenient and quick, and has the advantages of automation and intellectualization.
Description
Technical Field
The invention relates to the field of automation, in particular to a table tennis ball picking robot.
Background
After a table tennis player plays a training, a large amount of table tennis balls are usually scattered on the ground. The table tennis is small, round and light, and the picking difficulty is higher; picking up a large number of table tennis balls scattered on the ground takes a lot of manpower resources and time; this is especially a problem for tired table tennis players who just run.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art and provides a table tennis ball picking robot.
The technical scheme adopted by the invention for solving the problems is as follows:
a table tennis ball picking robot comprising:
the chassis is connected with a collecting frame;
the traveling mechanism is arranged on the chassis;
the ball picking mechanism is arranged in the chassis and provided with a ball inlet and is used for picking table tennis balls into the collecting frame;
the ball positioning mechanism comprises a camera and an image processor, and the image processor is used for obtaining the position of the table tennis according to the image acquired by the camera;
the collision sensor is arranged on the outer side face of the chassis;
the controller is used for controlling the travelling mechanism to move to a first position according to feedback of the ball positioning mechanism and the collision sensor and then controlling the ball picking mechanism to work;
the first position is a position which meets the condition that the ball inlet faces the table tennis ball, and the distance between the ball inlet and the table tennis ball is a set distance.
Furthermore, the collecting frame is positioned above the chassis, and the chassis is provided with an electromagnet which is magnetically connected with the collecting frame.
Further, the ball picking mechanism comprises a ball conveying part, a ball sweeping part and a fan; the ball conveying part comprises a ball conveying shell, a rotating vane component and a first driver, the ball conveying shell forms a ball conveying cavity, a ball inlet and a ball outlet, the ball inlet and the ball outlet are communicated with the ball conveying cavity, the rotating vane component is positioned in the ball conveying cavity, and the first driver is used for driving the rotating vane component to rotate; the ball sweeping part comprises a ball sweeping piece and a second driver, the ball sweeping piece is positioned in front of the ball inlet, and the second driver is used for driving the ball sweeping piece to move; the fan is used for sucking the table tennis into the ball conveying cavity and enabling the table tennis to move towards the rotating blade assembly.
Furthermore, the ball inlet is arranged at the front end of the ball conveying shell, and the ball outlet is arranged at the top of the rear end of the ball conveying shell; the rear end of the ball conveying shell is provided with a plurality of ventilation holes, and the fan is located behind the ventilation holes.
Further, the rotating blade assembly comprises a rotating shaft and a plurality of rotating blade bodies, the rotating blade bodies are wound around the rotating shaft at intervals, and the rotating blade bodies extend in the axial direction of the rotating shaft.
Further, the rotating blade body is provided with a bearing surface attached to the surface of the table tennis ball; the rear end of the ball conveying shell is provided with a guide wall used for guiding the table tennis to the bearing surface.
Furthermore, the ball outlet is provided with an elastic resistance piece for preventing the table tennis from falling back to the ball conveying cavity.
Furthermore, the elastic resistance pieces are a plurality of rubber bands arranged along the length direction of the ball outlet.
Further, the ball sweeping part comprises a rotating connecting part and a brush, a plurality of brush connecting strips extend outwards from the rotating connecting part, and the brush connecting strips are arranged around the rotating connecting part in a scattering manner; the tail end of the brush connecting strip is connected with the brush.
Further, the bottom of the collecting frame is provided with a pressure sensor.
The table tennis picking robot has the advantages that the table tennis picking robot positions the table tennis through the ball body positioning mechanism, plans a path according to the position of the table tennis and controls the walking mechanism to move forward to the table tennis position according to the planned path; run the in-process according to planning route and touch the barrier, then realize keeping away the barrier automatically through collision sensor's feedback, until walking first position, the distance that the goal was towards table tennis and between goal and the table tennis satisfies the settlement distance this moment, and this position enables to pick up ball mechanism and picks up the table tennis, picks up the table tennis through picking up ball mechanism and collects the frame and accomodate. The table tennis ball picking robot can pick table tennis balls quickly, is convenient and quick, and has the advantages of automation and intellectualization.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a structural diagram of a table tennis ball picking robot according to an embodiment of the present invention;
FIG. 2 is an internal structure view of a chassis of a table tennis ball picking robot according to an embodiment of the present invention;
FIG. 3 is a block diagram of a ball pick up mechanism;
FIG. 4 is a block diagram of a rotary vane assembly;
FIG. 5 is a view showing the construction of the ball-sweeping member;
fig. 6 is a structural view of the ball transfer portion.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 and 2, an embodiment of the present invention provides a table tennis ball picking robot.
The table tennis ball picking robot comprises a chassis 10, a walking mechanism 20, a ball picking mechanism 40, a ball positioning mechanism 30, a collision sensor 62 and a controller 50.
Wherein, the chassis 10 is connected with a collecting frame 11; the traveling mechanism 20 is arranged on the chassis 10; the ball picking mechanism 40 is arranged in the chassis 10, the ball picking mechanism 40 is provided with a ball inlet 111, and the ball picking mechanism 40 is used for picking the table tennis balls into the collecting frame 11; the ball positioning mechanism 30 comprises a camera and an image processor, and the image processor is used for obtaining the position of the table tennis ball according to the image acquired by the camera; the collision sensor 62 is arranged on the outer side face of the chassis 10; the traveling mechanism 20, the ball picking mechanism 40, the ball positioning mechanism 30 and the collision sensor 62 are all in communication connection with the controller 50, and the controller 50 is used for controlling the traveling mechanism 20 to travel to a first position according to feedback of the ball positioning mechanism 30 and the collision sensor 62 and then controlling the ball picking mechanism 40 to work; the first position is a position where the ball inlet 111 faces the table tennis ball and the distance between the ball inlet 111 and the table tennis ball is a set distance.
In this embodiment, the table tennis picking robot positions the table tennis through the ball positioning mechanism 30, then plans a path according to the position of the table tennis, and controls the walking mechanism 20 to move forward to the table tennis position according to the planned path; when the robot runs along a planned path and encounters an obstacle, the obstacle is automatically avoided through feedback of the collision sensor 62 until the robot runs to the first position, the ball inlet 111 faces the table tennis ball, the distance between the ball inlet 111 and the table tennis ball meets a set distance, the table tennis ball is picked up by the ball picking mechanism 40 through the position, and the table tennis ball is picked up by the ball picking mechanism 40 and is collected in the collection frame 11. The table tennis ball picking robot can pick table tennis balls quickly, is convenient and quick, and has the advantages of automation and intellectualization.
It should be noted that the camera is specifically a binocular camera and is located on the outer side of the housing. The direction in which the binocular camera faces is defined as the front direction.
In addition, the algorithm for identifying the table tennis ball can adopt a common image identification algorithm, such as a CNN algorithm and the like; the position of the table tennis ball can be determined by an infrared distance sensor.
The base plate 10 of the table tennis picking robot is in a round cake shape, and after collision occurs, the table tennis picking robot can flexibly turn around to avoid obstacles.
In some embodiments of the invention, the collection frame 11 is positioned above the base plate 10, and the base plate 10 is provided with electromagnets for magnetic coupling with the collection frame 11.
In some embodiments of the present invention, the bottom of the collection frame 11 is provided with a pressure sensor 61.
In this embodiment, the pressure sensor 61 detects the number of table tennis balls in the collection frame 11, and when the pressure value of the table tennis balls in the collection frame 11 to the pressure sensor 61 reaches a threshold value, an alarm is given to inform the user to replace the collection frame 11. The electromagnet is electrified to generate magnetic force to attract the iron chassis 10. The electromagnet is switched off and no magnetic force is generated by the electromagnet. The user can easily replace the collection frame 11. After the collection frame 11 is replaced, the electromagnet is energized again to attract the collection frame 11.
Referring to fig. 3-6, in some embodiments of the present invention, the ball pick-up mechanism 40 includes a ball conveying section 100, a ball sweeping section 200, and a fan 300; the ball conveying part 100 comprises a ball conveying shell 110, a rotating vane component 130 and a first driver 120, wherein the ball conveying shell 110 forms a ball conveying cavity 112, a ball inlet 111 and a ball outlet 113, the ball inlet 111 and the ball outlet 113 are both communicated with the ball conveying cavity 112, the rotating vane component 130 is positioned in the ball conveying cavity 112, and the first driver 120 is used for driving the rotating vane component 130 to rotate; the ball-sweeping part 200 comprises a ball-sweeping part 220 and a second driver 210, wherein the ball-sweeping part 220 is positioned in front of the ball inlet 111, and the second driver 210 is used for driving the ball-sweeping part 220 to move; the blower 300 is used for sucking the table tennis balls into the ball conveying cavity 112 and moving the table tennis balls in the direction of the rotary blade assembly 130.
In this embodiment, the table tennis ball picking robot travels to the first position before the table tennis ball, the second driver 210 drives the ball sweeping member 220 to move, so that the ball sweeping member 220 sweeps the table tennis ball from the ball inlet 111 into the ball conveying chamber 112; the fan 300 rotates to suck the table tennis into the ball conveying cavity 112 and make the table tennis move towards the professional assembly along the ball conveying cavity 112; the first driver 120 drives the rotating blade assembly 130 to rotate, and the rotating blade assembly 130 sweeps the table tennis ball towards the ball outlet 113, so that the table tennis ball leaves from the ball outlet 113; the table tennis ball picking mechanism can quickly pick small, round and light table tennis balls.
The distance between the ball inlet 111 and the table tennis ball is a set distance which is set according to the ball sweeping range of the ball sweeping part 200, that is, when the table tennis ball picking robot travels to the first position, the ball sweeping part 200 can contact the table tennis ball.
In some embodiments of the present invention, the ball inlet 111 is disposed at the front end of the ball output casing 110, and the ball outlet 113 is disposed at the top of the rear end of the ball output casing 110; the rear end of the ball conveying shell 110 is provided with a plurality of vent holes 114, and the fan 300 is positioned behind the vent holes 114.
In this embodiment, since the table tennis ball is small, round, and light, the table tennis ball is easily deviated from the ball inlet 111 by the ball-sweeping part 200. The fan 300 generates wind flow blowing from the ball inlet 111 to the vent holes 114 and generates suction force, so that table tennis can accurately enter the ball conveying cavity 112 through the ball inlet 111, and the table tennis can move from the ball inlet 111 to the ball outlet 113 at the rear end; meanwhile, the rotating blade assembly 130 rolls the table tennis ball upwards and accelerates the table tennis ball, and the table tennis ball is swept to the ball outlet 113 at the top, so that the table tennis ball leaves from the ball outlet 113 at the top.
Referring to fig. 4, according to some embodiments of the present invention, the rotating blade assembly 130 includes a rotating shaft 131 and a plurality of rotating blade bodies 132, the plurality of rotating blade bodies 132 are spaced around the rotating shaft 131, and the rotating blade bodies 132 extend along an axial direction of the rotating shaft 131.
In this embodiment, the rotating blade assembly 130 is located between the ball inlet 111 and the ball outlet 113; the two ends of the rotating shaft 131 are rotatably connected to the left and right walls of the ball-transporting housing 110, respectively. The first driver 120 drives the rotating shaft 131 to rotate, so that the rotating blade 132 rotates from the ball inlet 111 to the ball outlet 113, and pushes the table tennis ball to move from the ball inlet 111 to the ball outlet 113.
In some embodiments of the present invention, the blade body 132 has a supporting surface 133 attached to the surface of the table tennis ball; the rear end of the ball feed housing 110 is provided with a guide wall 140 for guiding the table tennis ball towards the support surface 133.
In this embodiment, the support surface 133 is an included angle surface formed by two inclined surfaces, and the table tennis ball can fall between the two inclined surfaces, so as to prevent the table tennis ball support surface 133 from moving left and right; the guide wall 140 is a rear side wall of the ball conveying housing 110, and includes an arc wall and a vertical wall at the bottom, and the distance between the end of the rotary blade body 132 and the guide wall 140 is smaller than the radius of the table tennis ball, so that the guide wall 140 pushes the table tennis ball back to the support surface 133 during the process of rolling up the table tennis ball by the rotary blade assembly 130, thereby preventing the table tennis ball from being separated under the action of centrifugal force. Until the table tennis ball reaches the position of the ball outlet 113, and the table tennis ball is not acted by the bearing surface 133, the table tennis ball is accelerated to separate under the action of centrifugal force and enters the collecting frame 11 from the ball outlet 113.
In some embodiments of the present invention, the ball outlet 113 is provided with an elastic stopper 400 for preventing table tennis balls from falling back into the ball feeding chamber 112.
Specifically, the elastic resistance member 400 is a plurality of rubber bands disposed along the length direction of the ball outlet 113.
In this embodiment, the table tennis ball has a larger acceleration after passing through the acceleration of the rotating blade assembly 130 and the fan 300, and the table tennis ball breaks the rubber band and then exits from the ball outlet 113. When the table tennis ball falls back, the retraction width between the two adjacent rubber bands is smaller than the diameter of the table tennis ball, the acceleration of the table tennis ball is reduced, the rubber bands cannot be flushed, and the table tennis ball cannot fall back to the ball conveying cavity 112.
Referring to fig. 5, in some embodiments of the present invention, the ball-sweeping part 220 includes a rotation connection part 221 and a brush 222, the rotation connection part 221 is provided with a plurality of brush attachment strips 224 extending in an outer direction, and the plurality of brush attachment strips 224 are scattered around the rotation connection part 221; the brush 222 is connected to the end of the brush attachment strip 224. Likewise, the brush 222 extends to the outside of the rotation connecting portion 221. This can increase the sweeping range of the ball sweeping member 220, and achieve the effect of rapid ball sweeping.
In this embodiment, there are three brush attachment strips 224; the angle between two adjacent brush attachment strips 224 is 120 degrees.
In some embodiments of the present invention, the rotation connection portion 221 is provided with an insertion hole 223 for inserting the output shaft of the second driver 210. The output shaft of the second driver 210 is disposed in a vertical direction and is vertically inserted into the insertion hole 223 of the rotation connecting portion 221. The second driver 210 drives the ball sweeping member 220 to rotate around the output shaft.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means.
Claims (10)
1. A table tennis ball picking robot, comprising:
the chassis is connected with a collecting frame;
the traveling mechanism is arranged on the chassis;
the ball picking mechanism is arranged in the chassis and provided with a ball inlet and is used for picking table tennis balls into the collecting frame;
the ball positioning mechanism comprises a camera and an image processor, and the image processor is used for obtaining the position of the table tennis according to the image acquired by the camera;
the collision sensor is arranged on the outer side face of the chassis;
the controller is used for controlling the travelling mechanism to move to a first position according to feedback of the ball positioning mechanism and the collision sensor and then controlling the ball picking mechanism to work;
the first position is a position which meets the condition that the ball inlet faces the table tennis ball, and the distance between the ball inlet and the table tennis ball is a set distance.
2. The table tennis ball picking robot of claim 1, wherein the collection frame is positioned above the chassis, and the chassis is provided with an electromagnet for magnetically connecting with the collection frame.
3. The table tennis ball picking robot of claim 1, wherein the ball picking mechanism comprises a ball conveying section, a ball sweeping section and a fan; the ball conveying part comprises a ball conveying shell, a rotating vane component and a first driver, the ball conveying shell forms a ball conveying cavity, a ball inlet and a ball outlet, the ball inlet and the ball outlet are communicated with the ball conveying cavity, the rotating vane component is positioned in the ball conveying cavity, and the first driver is used for driving the rotating vane component to rotate; the ball sweeping part comprises a ball sweeping piece and a second driver, the ball sweeping piece is positioned in front of the ball inlet, and the second driver is used for driving the ball sweeping piece to move; the fan is used for sucking the table tennis into the ball conveying cavity and enabling the table tennis to move towards the rotating blade assembly.
4. The table tennis ball picking robot of claim 1, wherein the ball inlet is provided at the front end of the ball conveying housing, and the ball outlet is provided at the top of the rear end of the ball conveying housing; the rear end of the ball conveying shell is provided with a plurality of ventilation holes, and the fan is located behind the ventilation holes.
5. The table tennis ball picking robot of claim 1, wherein the blade assembly comprises a shaft and a plurality of blade bodies spaced around the shaft, the blade bodies extending in an axial direction of the shaft.
6. The table tennis ball picking robot according to claim 5, wherein the blade body is provided with a bearing surface attached to the surface of the table tennis ball; the rear end of the ball conveying shell is provided with a guide wall used for guiding the table tennis to the bearing surface.
7. The table tennis ball picking robot of claim 1, wherein the ball outlet is provided with an elastic resistance element for preventing table tennis balls from falling back to the ball conveying cavity.
8. The table tennis ball picking mechanism of claim 7, wherein the elastic resistance element is a plurality of rubber bands arranged along the length direction of the ball outlet.
9. The table tennis ball picking robot of claim 1, wherein the ball sweeping member comprises a rotation connection part and a brush, the rotation connection part is provided with a plurality of brush connection strips extending in an outer direction, and the plurality of brush connection strips are scattered around the rotation connection part; the tail end of the brush connecting strip is connected with the brush.
10. The table tennis ball picking robot of claim 1, wherein the bottom of the collecting frame is provided with a pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110461567.9A CN113082652A (en) | 2021-04-27 | 2021-04-27 | Table tennis ball picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110461567.9A CN113082652A (en) | 2021-04-27 | 2021-04-27 | Table tennis ball picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113082652A true CN113082652A (en) | 2021-07-09 |
Family
ID=76680512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110461567.9A Pending CN113082652A (en) | 2021-04-27 | 2021-04-27 | Table tennis ball picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113082652A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202342765U (en) * | 2011-11-23 | 2012-07-25 | 王施鳗 | Ping-pong ball picker |
| CN105982625A (en) * | 2016-04-14 | 2016-10-05 | 北京小米移动软件有限公司 | Automatic cleaning equipment and sweeping component thereof |
| CN106584488A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Ball picking robot and motion control system thereof |
| CN109333549A (en) * | 2018-10-25 | 2019-02-15 | 湖南大学 | A kind of ping-pong pickup mobile robot and control method based on machine vision |
| CN110448872A (en) * | 2019-09-17 | 2019-11-15 | 范嘉鑫 | Table tennis picks up ball machine automatically |
| CN111330235A (en) * | 2019-10-31 | 2020-06-26 | 湖南科技大学 | Intelligent table tennis court cleaning robot |
-
2021
- 2021-04-27 CN CN202110461567.9A patent/CN113082652A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202342765U (en) * | 2011-11-23 | 2012-07-25 | 王施鳗 | Ping-pong ball picker |
| CN106584488A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Ball picking robot and motion control system thereof |
| CN105982625A (en) * | 2016-04-14 | 2016-10-05 | 北京小米移动软件有限公司 | Automatic cleaning equipment and sweeping component thereof |
| CN109333549A (en) * | 2018-10-25 | 2019-02-15 | 湖南大学 | A kind of ping-pong pickup mobile robot and control method based on machine vision |
| CN110448872A (en) * | 2019-09-17 | 2019-11-15 | 范嘉鑫 | Table tennis picks up ball machine automatically |
| CN111330235A (en) * | 2019-10-31 | 2020-06-26 | 湖南科技大学 | Intelligent table tennis court cleaning robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2837317B1 (en) | Cleaning system and maintenance station thereof | |
| CN102525335B (en) | Robot cleaner | |
| WO2017177685A1 (en) | Wind path structure for automatic cleaning device, and automatic cleaning device | |
| KR101873226B1 (en) | Device for golf ball retrieving | |
| CN107510931B (en) | A kind of intelligence is automatically ball to pick ball machine | |
| CN1937948A (en) | Dust collecting device | |
| CN108553848A (en) | A kind of shuttlecock training automatic spherical pig receiving device | |
| CN204169783U (en) | Sucking mouth and the dust catcher possessing this sucking mouth | |
| CN113082652A (en) | Table tennis ball picking robot | |
| JP2008220935A (en) | Ball collecting apparatus | |
| CN113082651A (en) | Intelligent badminton court picking and screening trolley | |
| KR20170001315A (en) | Golf-screen indoor air purification systems | |
| CN210409419U (en) | Shuttlecock picking trolley | |
| CN109999439B (en) | Tennis ball picking robot | |
| CN101069486A (en) | Road sweeper | |
| CN214694490U (en) | Cotton condenser for preventing dust cage from being blocked | |
| KR20150084368A (en) | Tennis Ball Pickup Robot | |
| KR102439874B1 (en) | Automatic table tennis exerciser | |
| CN209967575U (en) | Simple ball pitching machine | |
| CN215310091U (en) | Table tennis ball picking mechanism and robot thereof | |
| CN210057332U (en) | Golf range working robot based on global positioning system | |
| CN217745626U (en) | Badminton pick-up device for badminton training field | |
| CN207785819U (en) | A kind of automatically picking up balls robot | |
| JP2010088677A (en) | Ball distribution apparatus in golf practice range | |
| JP2015147081A (en) | self-propelled vacuum cleaner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20210709 |