CN114887923A - Badminton collection and classification recycling robot - Google Patents

Badminton collection and classification recycling robot Download PDF

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Publication number
CN114887923A
CN114887923A CN202210458073.XA CN202210458073A CN114887923A CN 114887923 A CN114887923 A CN 114887923A CN 202210458073 A CN202210458073 A CN 202210458073A CN 114887923 A CN114887923 A CN 114887923A
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CN
China
Prior art keywords
badminton
shuttlecock
collecting
collection
bottom plate
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
Application number
CN202210458073.XA
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Chinese (zh)
Inventor
李吉泉
王振存
陈晏贲
马昊威
张原菘
姜少飞
彭翔
景立挺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhejiang University of Technology ZJUT filed Critical Zhejiang University of Technology ZJUT
Priority to CN202210458073.XA priority Critical patent/CN114887923A/en
Publication of CN114887923A publication Critical patent/CN114887923A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/16—Sorting according to weight
    • B07C5/28—Sorting according to weight using electrical control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/38—Collecting or arranging articles in groups
    • 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
    • A63B2102/04—Badminton
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Sorting Of Articles (AREA)

Abstract

The invention discloses a badminton collecting, classifying and recycling robot, which comprises a frame body, a controller, an image recognition mechanism, a collecting mechanism, a detection mechanism, a badminton dropping mechanism, a badminton box mechanism and a movement mechanism, wherein the controller is respectively connected with the image recognition mechanism, the collecting mechanism, the detection mechanism, the badminton dropping mechanism and the movement mechanism through electric signals; the image recognition mechanism is arranged at the front end of the frame body; the collecting mechanism is arranged on the frame body; the detection mechanism is arranged below the collection mechanism; the ball discharging mechanism is arranged on one side of the detection mechanism; the ball box mechanism is arranged on one side of the ball discharging mechanism, and the movement mechanism is arranged on the side portion of the support body and used for driving the support body to move in all directions. The invention realizes the full-automatic collection, detection and classification of the badminton team, has accurate and efficient collection process, wide collection range and high detection efficiency, reduces the physical strength and time consumption of people, also reduces the consumption of badminton, reduces the badminton playing cost and can be popularized and applied.

Description

Badminton collection and classification recycling robot
Technical Field
The invention relates to a robot in the field of sports equipment, in particular to a badminton collecting, classifying and recycling robot.
Background
The badminton is a sport which is considered indoors and outdoors, is one of the traditional dominant sports in China, and is popular with people. Along with the implementation of the national fitness plan, more and more people participate in the badminton, and the rapid development of the popular badminton is promoted.
In the process of playing badminton, a large number of badmintons are generated and need to be quickly recovered, so that research on designing an automatic collecting, classifying and recovering robot for badmintons is urgently needed. In the prior art, most of the currently developed ball recovery robots are manually operated or traversed and picked based on path planning, time and labor are wasted, the main recovery objects are picking robots for regular spherical objects such as golf balls, tennis balls or table tennis balls, and badminton balls are difficult to be fully automatically recovered by machines due to the fact that badminton balls are irregular and easy to break. Generally speaking, badminton can produce a large amount of badminton and need retrieve, and current badminton robot collection device efficiency is not high, can not accurate detection classify qualified and unqualified badminton, and recovery efficiency is low.
Disclosure of Invention
Aiming at the defects of the existing products, the invention provides the badminton collecting, classifying and recycling robot, which realizes accurate identification, automatic collection, accurate classification and recycling of the badminton.
The invention has the beneficial effects that:
a robot for collecting, classifying and recycling badminton comprises a frame body, a controller, an image recognition mechanism, a collection mechanism, a detection mechanism, a badminton dropping mechanism, a badminton box mechanism and a movement mechanism, wherein the controller is respectively in electric signal connection with the image recognition mechanism, the collection mechanism, the detection mechanism, the badminton dropping mechanism and the movement mechanism; the image recognition mechanism is arranged at the front end of the frame body and is used for automatically recognizing the shuttlecocks and the barriers; the collecting mechanism is arranged on the frame body and used for automatically collecting the shuttlecocks; the detection mechanism is arranged below the collection mechanism and is used for automatically detecting the collected shuttlecocks in sequence; the shuttlecock discharging mechanism is arranged on one side of the detection mechanism and is used for automatically sorting the detected shuttlecocks; ball case mechanism sets up in mechanism one side down for collect the badminton of letter sorting, motion sets up at the support body lateral part, is used for driving the support body and carries out all around movement.
Further, the support body includes bottom plate, shell and support frame are all installed on the bottom plate.
Further, the controller is fixed on the bottom plate and located between the rotating disc of the detection mechanism and the conveying belt, and a rechargeable power supply is contained in the controller.
Further, the image recognition mechanism comprises a camera and a folded plate, the camera is installed on the folded plate, and the folded plate is installed on the shell.
Further, the collecting mechanism comprises a ball picking turntable, a conveying belt and a receiving hopper; the ball picking turntable is arranged in front of the bottom plate, the conveying belt is arranged on the bottom plate and is positioned behind the ball picking turntable, and the material receiving hopper is connected with the supporting frame and is positioned below the top end of the conveying belt.
Further, the detection mechanism comprises a light source, a camera, a rotating disk, a gravity sensor and a cylinder; the rotating disc is horizontally connected to the bottom plate, the gravity sensor is horizontally arranged on the rotating disc, the cylinder is arranged on the gravity sensor and connected with the gravity sensor, the diameter of the cylinder is larger than that of the badminton head, and the light source and the camera are arranged below the supporting frame.
Further, the ball discharging mechanism comprises a cylinder, a vacuum suction head, a rotating shaft and a rocker arm; the cylinder is arranged on the bottom plate, the vacuum suction head is connected to the rocker arm, and the vacuum suction head is located above the rotating disc of the detection mechanism and corresponds to the cylinder in position.
Further, ball case mechanism is including qualified badminton collecting vessel, unqualified badminton collecting vessel and ball case, qualified badminton collecting vessel and unqualified badminton collecting vessel set up respectively in the ball incasement, the ball case is placed in the bottom plate top.
Furthermore, the movement mechanism comprises power motors and wheels, four groups of power motors are respectively arranged above the bottom plate in bilateral symmetry, and the output shaft of each group of power motors horizontally penetrates out of the shell to be coaxially and fixedly connected with the wheels.
The invention has the following beneficial effects:
1) the invention realizes the complete process of identifying, collecting, detecting and classifying the shuttlecocks, realizes full automation in the whole process, avoids unnecessary sundries from being taken in by acquiring and identifying the images, and simultaneously realizes the obstacle avoidance function. And classifying qualified and unqualified shuttlecocks through a detection mechanism.
2) The invention realizes the full-automatic collection, detection and classification of the badminton team, has accurate and efficient collection process, wide collection range and high detection efficiency, reduces the physical strength and time consumption of people, also reduces the consumption of badminton, reduces the badminton playing cost and can be popularized and applied.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of an image recognition mechanism according to the present invention;
FIG. 3 is a schematic view of the collection mechanism of the present invention;
FIG. 4 is a schematic structural diagram of the detecting mechanism of the present invention;
FIG. 5 is a schematic structural view of the ball dropping mechanism of the present invention;
FIG. 6 is a schematic structural diagram of the movement mechanism of the present invention;
in the figure: 1. a frame body; 2. a controller; 3. an image recognition mechanism; 4. a collection mechanism; 5. a detection mechanism; 6. a ball discharging mechanism; 7. a ball box mechanism; 8. a motion mechanism; 9. folding the plate; 10. a camera; 11. a receiving hopper; 12. a conveyor belt; 13. a ball picking turntable; 14. a camera; 15. a light source; 16. a cylinder; 17. a gravity sensor; 18. rotating the disc; 19. a ball box; 20. a qualified badminton collecting barrel; 21. unqualified badminton collecting barrels; 22. a cylinder; 23. a rotating shaft; 24. a rocker arm; 25. a vacuum suction head; 26. a housing; 27. a support frame; 28. a base plate; 29. a power motor; 30. and (7) wheels.
Detailed Description
The badminton collection, detection and recovery robot of the invention is further described in detail with reference to the accompanying drawings 1-6:
as shown in fig. 1, the badminton collecting, detecting and recycling robot comprises a frame body 1, a controller 2, an image recognition mechanism 3, a collecting mechanism 4, a detection mechanism 5, a badminton dropping mechanism 6, a badminton box mechanism 7 and a movement mechanism 8. Wherein the controller 2, the image recognition mechanism 3, the collection mechanism 4, the detection mechanism 5, the ball discharging mechanism 6, the ball box mechanism 7 and the movement mechanism 8 are all arranged on the frame body 1.
As shown in fig. 2, the image recognition mechanism 3 comprises a camera 10 and a 30-degree flap 9, wherein the camera 10 is arranged on the 30-degree flap, and the 30-degree flap is arranged on the shell 26 and is positioned above the ball picking turntable 13.
As shown in fig. 3, the collecting mechanism 4 comprises a ball picking turntable 13, a conveying belt 12 and a receiving hopper 11. The shuttlecock picking turntable 13 is arranged in front of the bottom plate and used for collecting shuttlecocks on the ground. The conveyer belt 12 is arranged on the bottom plate 28 and is positioned at the rear part of the ball picking rotary disc 13 and is used for conveying the shuttlecocks collected by the ball picking rotary disc 13. The receiving hopper 11 is connected with a supporting frame 27, is positioned below the top end of the conveyer belt 12 and is used for receiving the shuttlecocks on the conveyer belt 12 and conveying the shuttlecocks to the cylinder 16 of the rotating disc 18. The conveying belt 12 is obliquely arranged, and a group of baffle plates are uniformly arranged on the conveying belt 12 to prevent the shuttlecocks from falling under the action of gravity.
As shown in fig. 4, the detection mechanism 5 includes a light source 15, a camera 14, a rotating disk 18, a gravity sensor 17, and a cylinder 16. Wherein the rotating disc 18 is horizontally connected to the bottom plate 28, the rotating disc 18 can keep rotating on the bottom plate 28 in the horizontal direction, the rotating speed of the rotating disc 18 corresponds to the conveying speed of the conveying belt 12, and each cylinder 16 can receive the corresponding badminton. 4 gravity sensors 17 are symmetrically distributed above the rotating disc 18, and a cylinder 16 is arranged above each gravity sensor 17. The light source 15 and camera 14 are mounted on a support frame 27 above the barrel 16. When the cylinder 16 receives the shuttlecocks coming out of the receiving hopper 11, the light source 15 provides illumination for the camera 14, and the camera 14 can take a photo of the shuttlecocks to be detected on the cylinder 16 to check whether the shuttlecocks are neat and transmit signals to the controller 2. While gravity sensor 17 takes weight measurements of shuttlecocks on cylinder 16 and transmits the data to controller 2.
As shown in fig. 5, the lower ball mechanism 6 includes a vacuum nozzle 25, a cylinder 22, a rotary shaft 23, and a swing arm 24. The shuttlecock dropping mechanism 6 is responsible for automatically classifying and sorting the detected shuttlecocks, and the shuttlecocks are classified and collected to complete the detection and classification in a full-automatic state. Wherein the vacuum suction head 25 is arranged on the rocker arm 24, and the vacuum suction head 25 is used for sucking and taking out the detected shuttlecocks. The cylinder 22 is horizontally mounted on a base plate 28. The detected badminton on the cylinder 16 is sucked out through the vacuum suction head 25, the qualified badminton can be rotatably placed in the qualified badminton collection barrel 20 of the badminton box mechanism 7, the unqualified badminton can be rotatably placed in the unqualified badminton collection barrel 21 of the badminton box mechanism 7, the qualified badminton collection barrel 20 and the unqualified badminton collection barrel 21 are placed in the badminton box 19, and the badminton box 19 is placed on the bottom plate 28 and can be moved and drawn out relative to the bottom plate 28.
As shown in fig. 6, the movement mechanism 8 includes 4 power motors 29 and 4 wheels 30. The 4 power motors 29 are symmetrically distributed on the bottom plate 28, and each power motor 29 is connected with a wheel 30, so that the whole badminton collecting, detecting and recycling robot is driven to move in all directions.
The following is a specific working process of the invention, and the principle of the invention is further described, wherein the working process comprises the following steps:
1) when the shuttlecock collecting, detecting and recycling robot runs, the camera 10 can collect images around the robot, collected image signals are transmitted to the controller 2 to be identified, and the controller 2 can identify the shuttlecock and an obstacle.
2) When the controller 2 identifies the shuttlecock, the controller 2 controls the movement mechanism 8 to move towards the position of the shuttlecock, and if an obstacle is identified, the controller 2 controls the movement mechanism 8 to actively avoid the obstacle. When the rotation directions of the two power motors 29 are opposite, the in-situ left rotation or in-situ right rotation is realized, and when the rotation directions of the two power motors 29 are the same, the forward movement or the backward movement is realized, so that the table tennis collection robot can move flexibly in all directions.
3) When the robot moves to the side of the badminton, the badminton picking turntable 13 rotates to transfer the badminton to the inside of the robot, and the badminton accurately falls onto the cylinder 16 through the conveying belt 12 and the receiving hopper 11.
4) When the cylinder 16 receives the shuttlecocks coming out of the receiving hopper 11, the light source 15 provides illumination for the camera 14, and the camera 14 can take pictures of the shuttlecocks to be detected on the cylinder 16 for checking whether the feathers of the shuttlecocks are neat and transmit signals to the controller 2. While gravity sensor 17 takes weight measurements of shuttlecocks on cylinder 16 and transmits the data to controller 2.
5) The rotating disc 18 rotates and the vacuum suction head 25 is used to suck out the shuttlecocks that have been detected. Qualified badminton can be put qualified badminton collecting vessel 20 by the rotation, and unqualified badminton can be put unqualified badminton collecting vessel 21 by the rotation to this is reciprocal, and it is low excessively to collect the detection and retrieve robot electric quantity as the badminton, can get back to the system automatically and set for the position and charge.

Claims (9)

1. A robot for collecting, classifying and recycling badminton is characterized by comprising a frame body (1), a controller (2), an image recognition mechanism (3), a collection mechanism (4), a detection mechanism (5), a badminton dropping mechanism (6), a badminton box mechanism (7) and a movement mechanism (8), wherein the controller (2) is respectively in electric signal connection with the image recognition mechanism (3), the collection mechanism (4), the detection mechanism (5), the badminton dropping mechanism (6) and the movement mechanism (8); the image recognition mechanism (3) is arranged at the front end of the frame body (1) and is used for automatically recognizing the shuttlecocks and the barriers; the collecting mechanism (4) is arranged on the frame body (1) and is used for automatically collecting the shuttlecocks; the detection mechanism (5) is arranged below the collection mechanism (4) and is used for automatically detecting the collected shuttlecocks in sequence; the shuttlecock dropping mechanism (6) is arranged on one side of the detection mechanism (5) and is used for automatically sorting the detected shuttlecocks; the ball box mechanism (7) is arranged on one side of the ball discharging mechanism (6) and is used for collecting the sorted shuttlecocks; the movement mechanism (8) is arranged on the side part of the frame body (1) and is used for driving the frame body (1) to move in all directions.
2. The shuttlecock collecting, classifying and recycling robot according to claim 1, wherein the frame body (1) comprises a bottom plate (28), a housing (26) and a supporting frame (27), and the housing (26) and the supporting frame (27) are both installed on the bottom plate (28).
3. A shuttlecock collection, sorting and recycling robot according to claim 2 characterised in that said controller (2) is fixed on the base plate (28) and the controller (2) is located between the rotating disc (18) of the detection mechanism (5) and the conveyor belt (12), said controller (2) containing a rechargeable power supply inside.
4. The shuttlecock collection, classification and recovery robot as claimed in claim 2, wherein said image recognition mechanism (3) comprises a camera (10) and a flap (9), said camera (10) being mounted on the flap (9), said flap (9) being mounted on the housing (26).
5. The shuttlecock collecting, classifying and recycling robot as claimed in claim 2, wherein said collecting mechanism (4) comprises a shuttlecock picking turntable (13), a conveyor belt (12) and a receiving hopper (11); the ball picking turntable (13) is arranged in front of the bottom plate (28), the conveying belt (12) is arranged on the bottom plate (28) and is positioned behind the ball picking turntable (13), and the receiving hopper (11) is connected with the support frame (27) and is positioned below the top end of the conveying belt (12).
6. The shuttlecock collection, sorting and recycling robot according to claim 2, wherein said detection mechanism (5) comprises a light source (15), a camera (14), a rotating disc (18), a gravity sensor (17) and a cylinder (16); the badminton ball head rotating device is characterized in that the rotating disc (18) is horizontally connected to the bottom plate (28), the gravity sensor (17) is horizontally arranged on the rotating disc (18), the cylinder (16) is arranged on the gravity sensor (17) and connected with the gravity sensor (17), the diameter of the cylinder (16) is larger than that of a badminton ball head, and the light source (15) and the camera (14) are arranged below the supporting frame (27).
7. The shuttlecock collecting, classifying and recycling robot as claimed in claim 6, wherein said shuttlecock dropping mechanism (6) comprises a cylinder (22), a vacuum suction head (25), a rotating shaft (23) and a rocker arm (24); the cylinder (22) is arranged on a bottom plate (28), the vacuum suction head (25) is connected to a rocker arm (24), and the vacuum suction head (25) is positioned above the rotating disk (18) of the detection mechanism (5) and corresponds to the position of the cylinder (16).
8. The shuttlecock collection, classification and recovery robot as claimed in claim 2, wherein the shuttlecock box mechanism (7) comprises a qualified shuttlecock collection barrel (20), an unqualified shuttlecock collection barrel (21) and a shuttlecock box (19), the qualified shuttlecock collection barrel (20) and the unqualified shuttlecock collection barrel (21) are respectively arranged in the shuttlecock box (19), and the shuttlecock box (19) is placed above the bottom plate (28).
9. The shuttlecock collecting, classifying and recycling robot according to claim 2, wherein the moving mechanism (8) comprises power motors (29) and wheels (30), four groups of the power motors (29) are respectively installed above the bottom plate (28) in bilateral symmetry, and the output shaft of each group of the power motors (29) horizontally penetrates through the housing (26) to be coaxially and fixedly connected with the wheels (30).
CN202210458073.XA 2022-04-28 2022-04-28 Badminton collection and classification recycling robot Pending CN114887923A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210458073.XA CN114887923A (en) 2022-04-28 2022-04-28 Badminton collection and classification recycling robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210458073.XA CN114887923A (en) 2022-04-28 2022-04-28 Badminton collection and classification recycling robot

Publications (1)

Publication Number Publication Date
CN114887923A true CN114887923A (en) 2022-08-12

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Application Number Title Priority Date Filing Date
CN202210458073.XA Pending CN114887923A (en) 2022-04-28 2022-04-28 Badminton collection and classification recycling robot

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107050782A (en) * 2017-06-02 2017-08-18 西安科技大学 Shuttlecock ball picking robot based on ARM
CN207086373U (en) * 2017-07-31 2018-03-13 深圳大深传感科技有限公司 A kind of feather piece vision detection system of shuttlecock
CN207462590U (en) * 2017-11-03 2018-06-08 绍兴凯健科技有限公司 A kind of shuttlecock picks up ball machine
CN108479038A (en) * 2018-05-14 2018-09-04 北京工业大学 Shuttlecock court image training robot
CN110102029A (en) * 2019-06-06 2019-08-09 重庆文理学院 A kind of Combined badminton picks up ball tidying machine device people
CN110665197A (en) * 2019-10-23 2020-01-10 王风文 Full-automatic tennis ball picking machine
CN111054645A (en) * 2020-01-05 2020-04-24 林先明 Badminton detection machine
CN210495107U (en) * 2019-06-06 2020-05-12 重庆文理学院 Modular ball reason ball machine people is picked up to badminton

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107050782A (en) * 2017-06-02 2017-08-18 西安科技大学 Shuttlecock ball picking robot based on ARM
CN207086373U (en) * 2017-07-31 2018-03-13 深圳大深传感科技有限公司 A kind of feather piece vision detection system of shuttlecock
CN207462590U (en) * 2017-11-03 2018-06-08 绍兴凯健科技有限公司 A kind of shuttlecock picks up ball machine
CN108479038A (en) * 2018-05-14 2018-09-04 北京工业大学 Shuttlecock court image training robot
CN110102029A (en) * 2019-06-06 2019-08-09 重庆文理学院 A kind of Combined badminton picks up ball tidying machine device people
CN210495107U (en) * 2019-06-06 2020-05-12 重庆文理学院 Modular ball reason ball machine people is picked up to badminton
CN110665197A (en) * 2019-10-23 2020-01-10 王风文 Full-automatic tennis ball picking machine
CN111054645A (en) * 2020-01-05 2020-04-24 林先明 Badminton detection machine

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