CN113967346A - Machine vision robot for automatically picking tennis balls - Google Patents
Machine vision robot for automatically picking tennis balls Download PDFInfo
- Publication number
- CN113967346A CN113967346A CN202111478831.6A CN202111478831A CN113967346A CN 113967346 A CN113967346 A CN 113967346A CN 202111478831 A CN202111478831 A CN 202111478831A CN 113967346 A CN113967346 A CN 113967346A
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- Prior art keywords
- ball
- picking
- tennis
- unit
- tennis ball
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Classifications
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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
-
- 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
- A63B47/025—Installations continuously collecting balls from the playing areas, e.g. by gravity, with conveyor belts
-
- 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
- A63B47/04—Devices for handling or treating balls, e.g. for holding or carrying balls for cleaning balls
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
- A63B2047/022—Autonomous machines which find their own way around the playing surface
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/12—Absolute positions, e.g. by using GPS
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/805—Optical or opto-electronic sensors
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of intelligent robots, and particularly discloses a machine vision automatic tennis ball picking robot which comprises an identification unit, a walking unit, a picking unit and a control unit, wherein the identification unit is used for identifying tennis balls; the identification unit comprises a visual sensor, and the visual sensor can transmit a tennis coordinate signal to be picked up on a court to the control unit; the control unit plans a travel path through the received coordinate signals, controls the traveling unit to move to the coordinate points according to the travel path, and then controls the pickup unit to pick up the tennis balls. By adopting the scheme of the invention, the tennis balls in the tennis ball field can be accurately identified based on the identification unit, the problem of missed ball picking is avoided, the control unit accurately plans and obtains the picking path based on the position information of the tennis ball picking point, so that the tennis ball picking robot can also accurately pick the tennis balls in a complex environment, the walking unit automatically drives to the tennis ball picking point based on the tennis ball picking path, and the tennis ball picking efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a machine vision robot for automatically picking tennis balls.
Background
With the continuous popularization of ball games such as tennis, more and more sports enthusiasts start to throw in tennis exercise, and during training, the use amount of tennis is very large, frequent picking up of tennis scattered in a large range is time-consuming and labor-consuming work, and not everyone can own children like professional ball players, so that the efficient automatic ball picking-up machine provides convenience for the trainers and saves time.
Traditional tennis picking robot relies on infrared obstacle avoidance and ultrasonic ranging, has the problem of missed ball detection, and traditional tennis picking robot is hand push semi-automatic formula simultaneously, needs manual operation, and efficiency is lower.
Based on this, this application provides a tennis is automatic picks up ball robot based on machine vision, not only can replace manual operation, and work efficiency is high, and is small, no blind spot, has improved the automatic efficiency of picking up the ball on tennis court ground.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a machine vision tennis automatic ball picking robot, which aims to solve the problem that the existing ball picking robot has ball missing detection, and meanwhile, the traditional tennis picking robot is semi-automatic in hand pushing mode, needs manual operation and is low in efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a machine vision robot for automatically picking tennis balls comprises an identification unit, a walking unit, a picking unit and a control unit; the identification unit comprises a visual sensor, and the visual sensor can transmit a coordinate signal of a tennis ball to be picked up on a court to the control unit; the tennis ball picking device comprises a picking unit, a control unit, a walking unit and a coordinate point, wherein the picking unit is arranged on the walking unit, the control unit plans a traveling path through received coordinate signals, controls the walking unit to move to the coordinate point according to the traveling path, and then controls the picking unit to pick up tennis balls.
Furthermore, the picking unit comprises a shell fixed on the walking unit, a picking assembly is arranged in the shell, the overall height of the walking unit is not lower than the diameter of the tennis ball, the shell is hollow, and a picking opening is formed in the bottom of the shell close to the middle of the shell.
Further, the ball collecting box can be detachably connected to the outer portion of the shell, the picking assembly comprises a negative pressure pump, a ball inlet pipe and a ball outlet pipe, the negative pressure pump is fixed in the shell, the ball inlet pipe is communicated with an air inlet pipe of the negative pressure pump, the ball outlet pipe is communicated with an air outlet pipe of the negative pressure pump, the ball inlet pipe is vertically arranged and located right above the picking port, and one end, far away from the negative pressure pump, of the ball outlet pipe extends out of the shell and is communicated with the ball collecting box.
Furthermore, a plurality of air holes are formed in the outer wall of the ball collecting box, and the aperture of each air hole is smaller than that of the tennis ball. The arrangement is beneficial to releasing air pressure on one hand, and on the other hand, impurities entering the ball collecting box together under the action of negative pressure are discharged, so that the cleanness of tennis balls is kept.
Furthermore, the ball inlet pipe is an electric telescopic pipe and is controlled by the control unit, the bottom of the ball inlet pipe is fixedly communicated with a ball cover, the ball cover is cylindrical, and the ball cover can be in contact with a tennis court through the picking-up opening. The tennis ball can be positioned in a large range by the aid of the ball cover, a closed environment is formed near the tennis ball, and a negative pressure system can adsorb the tennis ball into the ball inlet pipe quickly.
Furthermore, a conical hopper with a narrow upper part and a wide lower part is fixed in the ball cover, the top of the conical hopper is communicated with the ball inlet pipe, and the bottom of the conical hopper is fixed on the inner wall of the ball cover. The arrangement prevents tennis balls from entering a dead angle between the ball cover and the ball inlet pipe under the action of negative pressure.
Further, the diameter of the top of the conical hopper is the same as the inner diameter of the ball inlet pipe. This makes it easier for tennis balls to enter the feed tube along the tapered funnel.
Compared with the prior art, the invention has the following beneficial effects:
1. the tennis ball picking robot based on the visual sensor can accurately identify tennis balls in a tennis ball field and position tennis ball picking points based on the identification unit, avoids the problem of missed tennis ball picking, can accurately plan and obtain picking paths based on position information of the tennis ball picking points, enables the tennis ball picking robot to accurately pick tennis balls when facing complex environments, enables the walking unit to automatically drive to the tennis ball picking points based on the tennis ball picking paths, does not depend on manual pushing to the tennis ball picking points, and greatly improves tennis ball picking efficiency.
2. According to the tennis ball picking robot provided by the invention, the tennis ball can be quickly fed into the ball collecting box by positioning through the ball cover by utilizing the principle of negative pressure adsorption in the picking assembly, meanwhile, the tennis ball can be effectively prevented from being clamped into a dead angle between the ball cover and the ball inlet pipe under the action of negative pressure by the conical hopper arranged in the tennis ball picking assembly, and in addition, a plurality of air holes are formed in the outer wall of the ball collecting box, so that the pressure discharge of a negative pressure system is facilitated, and impurities such as grass scraps and the like adsorbed from a court can be discharged, so that the picked tennis ball is kept clean.
Drawings
Fig. 1 is a control schematic diagram of an embodiment of a machine vision tennis automatic ball picking robot of the invention.
Fig. 2 is a schematic structural diagram of a pick-up unit in an embodiment of a machine vision tennis automatic ball pick-up robot of the invention.
Reference numerals in the drawings of the specification include: the device comprises an identification unit 10, a control unit 20, a walking unit 30, a pickup unit 40, a shell 100, a pickup port 101, a ball collecting box 102, an air hole 103, a negative pressure pump 104, a ball inlet pipe 105, a ball outlet pipe 106, a ball cover 107 and a conical hopper 108.
Detailed Description
The invention is further described in detail below with reference to the accompanying drawings, and specific embodiments are given.
Embodiment as shown in fig. 1 and fig. 2, a machine vision tennis ball automatic picking robot comprises an identification unit 10, a walking unit 30, a picking unit 40 and a control unit 20, wherein the identification unit 10, the walking unit 30, the picking unit 40 and the control unit 20 are electrically connected with each other, the picking unit 40 is mounted on the walking unit 30, and the walking unit 30 drives the picking unit 40 to move to a tennis ball picking point.
In this embodiment, the identification unit 10 includes a visual sensor, the visual sensor can acquire image information on a court in real time, and identify whether tennis balls to be picked up exist in the image information, if tennis balls to be picked up exist, a coordinate signal of the tennis balls is sent to the control unit 20, a PLC controller is arranged in the control unit 20, the controller plans a walking path based on the coordinate signal sent by the sensor, and controls the walking unit 30 to move according to a coordinate point of the walking path; after the control unit 20 determines the tennis ball picking path, it generates a corresponding walking instruction (such as left, right, acceleration, deceleration, stop, etc.) based on the tennis ball picking path, and sends the walking instruction to the walking unit 30, and the walking unit 30 travels to the tennis ball picking point according to the walking instruction.
At this time, the control unit 20 sends a pick-up command to the pick-up unit 40 to cause the pick-up unit 40 to automatically pick up the ball. Therefore, in the embodiment of the invention, the control unit 20 controls the traveling unit 30 to automatically travel to the tennis ball picking point without depending on manual pushing to the tennis ball picking point, so that the efficiency of tennis ball picking is greatly improved.
In addition, when the recognition unit 10 detects that there is not less than one tennis ball on the course, the control unit 20 can plan an optimal path to prevent the occurrence of a problem that the walking unit 30 repeatedly walks on the same path.
In this embodiment, the pick-up unit 40 includes a housing 100 fixed on the walking unit 30, the overall height of the walking unit 30 is not lower than the diameter of a tennis ball, the interior of the housing 100 is hollow, a pick-up opening 101 is formed at the bottom of the housing 100 near the middle thereof, a ball collecting box 102 is detachably connected to the exterior of the housing 100, a plurality of air holes 103 are formed in the outer wall of the ball collecting box 102, and the aperture of the air holes 103 is smaller than that of a tennis ball.
A picking assembly is arranged in the casing 100, the picking assembly in this embodiment includes a negative pressure pump 104, a ball inlet pipe 105 and a ball outlet pipe 106, wherein the negative pressure pump 104 is fixed in the casing 100, the ball inlet pipe 105 is communicated with an air inlet pipe of the negative pressure pump 104, the ball outlet pipe 106 is communicated with an air outlet pipe of the negative pressure pump 104, one end of the ball outlet pipe 106, which is far away from the negative pressure pump 104, extends out of the casing 100 to be communicated with the ball collecting box 102, the ball inlet pipe 105 is vertically arranged and is positioned right above the picking opening 101, the ball inlet pipe 105 is an electric telescopic pipe in this embodiment and is controlled by the control unit 20, a ball cover 107 is fixedly communicated with the bottom of the ball inlet pipe 105, the ball cover 107 is cylindrical, and the ball cover 107 can be contacted with a tennis court through the picking opening 101.
A conical bucket 108 with a narrow top and a wide bottom is fixed in the ball cover 107, wherein the top of the conical bucket 108 is communicated with the ball inlet pipe 105, the diameter of the top of the conical bucket 108 is the same as the inner diameter of the ball inlet pipe 105, and the bottom of the conical bucket 108 is fixed on the inner wall of the ball cover 107, so that when the negative pressure pump 104 works, tennis balls are prevented from entering a dead angle between the ball cover 107 and the ball inlet pipe 105.
According to the tennis ball picking robot based on the visual sensor, tennis balls in a tennis ball field can be accurately identified and tennis ball picking points can be positioned based on the identification unit 10, the problem of missed tennis ball picking is avoided, the control unit 20 can accurately plan and obtain picking paths based on position information of the tennis ball picking points, so that tennis balls can be accurately picked when the tennis ball picking robot faces complex environments, meanwhile, the walking unit 30 automatically runs to the tennis ball picking points based on the tennis ball picking paths without depending on manual pushing to the tennis ball picking points, and tennis ball picking efficiency is greatly improved.
In addition, in the tennis ball picking robot provided by the application, the tennis ball can be quickly sent into the ball collecting box 102 by positioning through the ball cover 107 by utilizing the principle of negative pressure adsorption in the picking assembly, meanwhile, the tennis ball can be effectively prevented from being clamped into a dead angle between the ball cover 107 and the ball inlet pipe 105 under the action of negative pressure by the conical hopper 108 arranged in the tennis ball picking robot, and in addition, the outer wall of the ball collecting box 102 is provided with the plurality of air holes 103, so that the pressure discharge of a negative pressure system is facilitated, and impurities such as grass chips adsorbed from a court can be discharged, and the picked tennis ball is kept clean.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (7)
1. The utility model provides a machine vision's automatic ball robot of picking up of tennis which characterized in that: comprises an identification unit, a walking unit, a pickup unit and a control unit; the identification unit comprises a visual sensor, and the visual sensor can transmit a coordinate signal of a tennis ball to be picked up on a court to the control unit; the tennis ball picking device comprises a picking unit, a control unit, a walking unit and a coordinate point, wherein the picking unit is arranged on the walking unit, the control unit plans a traveling path through received coordinate signals, controls the walking unit to move to the coordinate point according to the traveling path, and then controls the picking unit to pick up tennis balls.
2. The machine-vision automatic tennis ball picking robot of claim 1, wherein: the tennis ball picking device comprises a picking unit and a tennis ball conveying mechanism, wherein the picking unit comprises a shell fixed on a walking unit, a picking assembly is arranged in the shell, the overall height of the walking unit is not lower than the diameter of a tennis ball, the shell is hollow, and a picking opening is formed in the bottom of the shell close to the middle of the shell.
3. The machine-vision automatic tennis ball picking robot of claim 2, wherein: the utility model discloses a ball collecting box, including the casing, the ball inlet pipe is connected with the casing outside can be dismantled, picks up the subassembly and includes negative pressure pump, inlet pipe and play bulb, and the negative pressure pump is fixed in the casing, and inlet pipe and negative pressure pump's intake pipe intercommunication, and play bulb and negative pressure pump's outlet duct intercommunication, inlet pipe be vertical setting, and is located and picks up the mouth directly over, goes out bulb and keeps away from negative pressure pump one end and stretches out casing and ball collecting box intercommunication.
4. The machine-vision automatic tennis ball picking robot of claim 3, wherein: the outer wall of the ball collecting box is provided with a plurality of air holes, and the aperture of each air hole is smaller than that of the tennis ball.
5. The machine-vision automatic tennis ball picking robot of claim 4, wherein: the tennis ball inlet pipe is an electric telescopic pipe and is controlled by the control unit, the bottom of the tennis ball inlet pipe is fixedly communicated with a ball cover, the ball cover is cylindrical, and the ball cover can be in contact with a tennis court through the picking-up opening.
6. The machine-vision automatic tennis ball picking robot of claim 5, wherein: a conical hopper with a narrow upper part and a wide lower part is fixed in the ball cover, the top of the conical hopper is communicated with the ball inlet pipe, and the bottom of the conical hopper is fixed on the inner wall of the ball cover.
7. The machine-vision automatic tennis ball picking robot of claim 6, wherein: the diameter of the top of the conical hopper is the same as the inner diameter of the ball inlet pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111478831.6A CN113967346A (en) | 2021-12-06 | 2021-12-06 | Machine vision robot for automatically picking tennis balls |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111478831.6A CN113967346A (en) | 2021-12-06 | 2021-12-06 | Machine vision robot for automatically picking tennis balls |
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| Publication Number | Publication Date |
|---|---|
| CN113967346A true CN113967346A (en) | 2022-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111478831.6A Pending CN113967346A (en) | 2021-12-06 | 2021-12-06 | Machine vision robot for automatically picking tennis balls |
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|---|---|---|---|---|
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| US20020047283A1 (en) * | 2000-10-23 | 2002-04-25 | Campomane Alberto Alfredo | Apparatus for retrieving and storing tennis balls |
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| CN204293784U (en) * | 2014-10-27 | 2015-04-29 | 闻晓光 | A kind of ball pick-up device |
| CN204709726U (en) * | 2015-05-29 | 2015-10-21 | 济南大学 | The equipment that a kind of automatic Picking for table tennis and color classification store |
| CN111672075A (en) * | 2020-06-22 | 2020-09-18 | 江苏经贸职业技术学院 | Robot is picked up to sports training tennis |
| CN212395778U (en) * | 2020-04-27 | 2021-01-26 | 温州大学 | Table tennis ball picking machine |
| CN112973049A (en) * | 2021-02-24 | 2021-06-18 | 三峡大学 | Tennis ball picking robot based on visual sensor and tennis ball picking method |
| CN213667805U (en) * | 2020-12-11 | 2021-07-13 | 李林熹 | Table tennis ball picking machine |
| CN214319038U (en) * | 2021-02-07 | 2021-10-01 | 西南医科大学 | Automatic table tennis ball picking device |
| CN214643674U (en) * | 2021-02-25 | 2021-11-09 | 高云浩 | Ball picking robot |
-
2021
- 2021-12-06 CN CN202111478831.6A patent/CN113967346A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4272078A (en) * | 1979-04-20 | 1981-06-09 | Vinette Richard H | Game ball target return apparatus and method |
| US20020047283A1 (en) * | 2000-10-23 | 2002-04-25 | Campomane Alberto Alfredo | Apparatus for retrieving and storing tennis balls |
| WO2003062105A1 (en) * | 2002-01-18 | 2003-07-31 | Range Servant Ab | An apparatus for transport of golf balls |
| JP2004024343A (en) * | 2002-06-21 | 2004-01-29 | Kazuko Iwata | Recovery system of ball for ball game |
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Application publication date: 20220125 |