CN205886118U - Tennis dolly is picked up to wireless intelligence of charging - Google Patents
Tennis dolly is picked up to wireless intelligence of charging Download PDFInfo
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- CN205886118U CN205886118U CN201620569896.XU CN201620569896U CN205886118U CN 205886118 U CN205886118 U CN 205886118U CN 201620569896 U CN201620569896 U CN 201620569896U CN 205886118 U CN205886118 U CN 205886118U
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- dolly
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Abstract
The utility model relates to a tennis dolly is picked up to wireless intelligence of charging mainly includes: the little driving license body (1), the information processing unit (2), information collection unit (3), actuating mechanism unit (4), power supply unit (5), battery charging unit (6), remote control unit (7). The utility model discloses an environmental data on the court is collected to the information collection unit of installing on intelligent vehicle, realizes in people carry out the tennis that the ball is picked up to deciding for oneself of intelligent vehicle and the ball is picked up in the remote control. When the dolly electric quantity was not enough, intelligent vehicle can also independently march and carry out wireless charging, the effectual drawback problem short with the continuation of the journey of having solved dolly wired charging to setting for near good charge coil. The utility model discloses be closely connected intelligent vehicle and tennis together, can reduce the misery of motion personnel because of picking up the ball in a large number and producing, provide convenience for our life.
Description
Technical field
This utility model is related to intelligent carriage, internet of things field.In particular, it is related to a kind of intelligence of wireless charging
Tennis dolly can be picked up.
Background technology
Intelligent vehicle is collection environmental monitoring, makes decisions and can automatically execute the synthesis system of work according to the information collected
System.The instruction that it sends not only by the mode recipient such as wireless, and can be according to the Automatic Program having write
Execution it is also possible to the rule formulated with intelligent vehicle technology according to artificial intelligence and take action, its main purpose is assistance or replacement
The relatively complicated work of the mankind.Modern multi-sensor technology, computer technology, the information transmission technology, artificial intelligence and control
Engineering processed is all widely used in the development of intelligent carriage, and this makes intelligent vehicle technology become one national science and technology research of measurement
Strength and the important symbol of industrial level.Intelligent vehicle has been developed many decades with the mobile robot of traditional sense no matter
Still the function having from both appearance, both closely similar.So that traditional mobile robot is slow
Slowly to intelligent vehicle development, and the intelligent vehicle in modern times more trends towards intelligentized robot.Therefore, small intelligent car is considered as
Movably service humanoid robot, and this technology has become as current intelligent vehicle and the heat of service humanoid robot area research
Point.Intelligent carriage is important branch of one of wheeled mobile robot family, the relatively light, carrying because intelligent carriage is conducted oneself with dignity
Greatly, the speed of travel is relatively fast, maneuverability, more convenient in terms of control aspect and driving, is widely used in industry, agriculture
The fields such as industry, national defence, family life.
The intelligence with wireless charging that this utility model is related to is picked up tennis dolly and has been considered following three points reason: first
Point its there is potential huge applications market, tennis as second-biggest-in-the-world sports, from the nineties in 20th century,
Increasing tennis enthusiast has been attracted with the technical system of its impayable glamour and constantly improve.With tennis this
The continuous popularization of item motion, due to the own characteristic of this motion of tennis, has to last for ceaselessly picking up ball during playing ball,
Pick up ball and not only can expend the time, and the muscle power of people can be slatterned, be a very annoying process.Intelligence with wireless charging
Pick up tennis dolly just can solve the above problems.Second point: recent years, wireless terminal technology becomes development in science and technology now
New direction, such as wireless terminal device, the sensor of wireless communication mode, human body implantable medical equipment etc..But because tradition supplies
Limitation electrically, the transmission means of electric energy and routing problem govern the development of wireless device always.And radio energy passes
The defeated transmitting non-contact electric energy technology that belongs to is not only able to release the restriction being mechanically connected of tradition complexity, realizes each wireless
The transmission electric energy being not limited by a space between equipment, and have and no any patch connection, no exposed conductor outside, no leak
Electricity and the impayable advantages such as injury of getting an electric shock.For the length of service improving electrical equipment and reinforcement electrical equipment total system
Function, this technology all has great reference value and meaning.Finally, entered computer technology and storage skill since 21 century
Art has obtained continuous development so that computer is greatly improved in message transmission capability data storage capacity, this
Intelligent carriage is enable to run more complicated control algolithm.And multiple sensors are integrated and integration technology have very big
Development, these technology reduce the cost that total system obtains information needed, enhance the Measurement reliability of total system and steady
Qualitative and fault-tolerant ability, and be conducive to improving the speed of data processing.These science and technology continuously emerging and developing, all
Tennis dolly can be picked up for the intelligence with wireless charging for the realization and create advantage.
Utility model content
The purpose of this utility model is to provide a kind of automatic ball-picking, remote control to pick up ball and conveniently operate the intelligence of wireless charging to pick up
Tennis dolly.The arrangement achieves and in tennis, pick up the loaded down with trivial details problem of ball, help tennis personnel that can be more efficient, carry
High motion intelligent, integrate science and technology, fashion with intelligent, can preferably be admitted by tennis enthusiast.
To achieve these goals, the technical solution adopted in the utility model is as follows:
A kind of intelligence of wireless charging picks up tennis dolly and its control method, specifically includes that trolley body, information processing list
The intelligence of unit, information collection unit, actuator unit, power supply unit, charhing unit, remote control unit and wireless charging is picked up
Tennis dolly control method；
Described information process unit, information collection unit, actuator unit, power supply unit are placed in trolley body
Interior；
Described trolley body adopts tricycle structure, wherein below two take turns as driving wheel, front-wheel is responsible for by servos control
Turn to；
Described information process unit is made up of controller (a), wireless communication module and power circuit, and controller (a) connects
Receive the data that information collection unit is collected, control instruction is sent to the actuator unit that intelligence picks up tennis dolly, according to
These control instructions are realized intelligence and are picked up hiding of the optimum setting of tennis dolly route, the pickup of tennis and barrier；Control
Device (a) can also receive the information of remote control unit by wireless communication mode, then control instruction is sent to intelligence and picks up
The actuator unit of tennis dolly, realizes intelligence according to these control instructions and picks up the setting of tennis dolly route, the picking up of tennis
Take and the hiding of barrier；The DC voltage that power circuit exports power supply unit is converted into the acceptable voltage of controller；
Described information collection unit is by three road infrared modules, two-way ultrasonic wave module and a road electrical compass module structure
Become；Three road infrared modules are placed side by side on the anteriomedial of dolly, in front of this three tunnels infrared detection module, fingerprint identification module energy effective detection dolly
Tennis and barrier send signal；The front portion that two-way ultrasonic wave module is located at dolly is respectively placed in three road infrared modules
Both sides, complete the detection of the tennis on tennis court and little spacing；Electrical compass module planning intelligence picks up the walking of tennis dolly
Path；
Described actuator unit mainly includes the motor of two driving wheels after dolly, is responsible for front-wheel steer
Steering wheel and the mechanical hand of pickup tennis；
Described power supply unit includes receiving resonance coil, rectification circuit, filter circuit and rechargeable battery；Receive resonance line
Circle completes the reception that charhing unit sends energy, and the alternating voltage energy that rectification circuit receives resonance coil changes into unidirectional current
Pressure, charges to rechargeable battery after the harmonic signal of filter circuit removal DC voltage；Described reception resonance coil is hollow copper
The structure of pipe circumflexion；
Described charhing unit includes launching resonance coil, high-frequency inverter circuit and infrared detection module, fingerprint identification module；High-frequency inversion electricity
Road changes into the ac high frequency signal output of tens more than khz to transmitting resonance coil, transmitting the grid ac voltage of 50hz
Resonance coil is launched high-frequency energy signal；Described transmitting resonance coil is the structure of hollow copper tubing circumflexion, its
Size is identical with receiving resonance coil；Infrared detection module, fingerprint identification module is responsible for detecting whether intelligent tennis dolly of picking up is close, little when sensing
Car near charhing unit when, automatic closing relay, thus control high-frequency inverter circuit work, realize autonomous wireless charging, fill
Automatically disconnect relay after full electricity, prevent from overcharging；
Described remote control unit includes handle, controller (b) and wireless communication module；Controller (b) gathers handle
Pressure data and process, be then converted into the traveling action command of dolly and tennis mechanical hand picks up ball instruction, and will
Director data is sent to information process unit by wireless communication module；
A kind of intelligence of described wireless charging picks up the control method of tennis dolly it is characterised in that control method is included certainly
Master picks up ball and ball rate-determining steps are picked up in remote control:
Described automatic ball-picking rate-determining steps include:
The information collection unit of intelligent carriage initializes three road infrared modules, and the front-wheel of actuator unit is by servos control
360 degree of rotations, three road infrared module detection barriers, dolly during barrier is detected and path is provided by electrical compass module, control
Before device (a) processed drives the actuator of dolly to march to barrier, if now the middle road of three road infrared modules detects barrier
Hinder thing and the infrared module of both sides is not detected by barrier, then judge this barrier for tennis, then pass through ultrasonic wave module
With a distance from dolly, controller (a) drives the actuator of dolly to march to before tennis according to this distance to measurement tennis, by executing
The mechanical hand of mechanism carries out grabbing ball and puts it in the box of dolly, completes automatic ball-picking step；
Described remote control is picked up ball rate-determining steps and is included:
Operator's turning handle sends the directional information of dolly traveling, and agv controller (a) receives the nothing that handle sends
Line traffic control information, marches to before tennis according to the actuator that control information drives dolly, now operator's picking up by lower handle
Ball button, agv controller (a) receives picks up ball control instruction, and then control machinery hand carries out grabbing ball and putting it into dolly
In box, complete remote control and pick up ball step；
The utility model has the advantages that the tennis position being accurately positioned on tennis court, and given according to these positional informationes
Go out optimum dolly course and realize automatic ball-picking, tennis enthusiast can also be realized remote control in rest by joystick and pick up
Ball, in addition this device also achieve dolly feed when autonomous wireless charging, greatly reduce the trouble of wired charging.This device
There is high robust, high reliability, intelligentized feature.
Brief description
Fig. 1 system of the present utility model constitutes schematic diagram；
Fig. 2 information process unit of the present utility model schematic diagram；
Fig. 3 power supply unit of the present utility model schematic diagram；
Fig. 4 charhing unit of the present utility model schematic diagram；
Fig. 5 automatic ball-picking of the present utility model control method flow chart；
Ball control method flow chart is picked up in Fig. 6 remote control of the present utility model；
Specific embodiment
The purpose of this utility model is to provide a kind of automatic ball-picking, remote control to pick up ball and conveniently operate the intelligence of wireless charging to pick up
Tennis dolly and its control method.With reference to embodiment and accompanying drawing, net is picked up to a kind of intelligence of wireless charging of the present utility model
Ball dolly and its control method are described in detail.
As shown in figure 1, a kind of intelligence of wireless charging of this utility model picks up tennis dolly and its control method, a kind of wireless
The intelligence charging picks up tennis dolly and its control method, specifically includes that trolley body (1), information process unit (2), information are received
Collection unit (3), actuator unit (4), power supply unit (5), charhing unit (6), remote control unit (7) and wireless charging
Intelligence picks up tennis dolly control method；Described information process unit, information collection unit, actuator unit, power supply unit
It is placed in trolley body；
Described trolley body adopts tricycle structure, wherein below two take turns as driving wheel, front-wheel is responsible for by servos control
Turn to；Described information collection unit is made up of three road infrared modules, two-way ultrasonic wave module and a road electrical compass module；Three
Road infrared module is placed side by side on the anteriomedial of dolly, the bead in front of this three tunnels infrared detection module, fingerprint identification module energy effective detection dolly
And barrier send signal；Two-way ultrasonic wave module is respectively placed in the both sides of three road infrared modules positioned at the front portion of dolly,
Complete the detection of the tennis on tennis court and little spacing；Electrical compass module planning intelligence picks up the walking path of tennis dolly；
Described actuator unit mainly includes the motor of two driving wheels after dolly, the steering wheel being responsible for front-wheel steer and picks up
Take the mechanical hand of tennis；Described remote control unit includes handle, controller (b) and wireless communication module；Controller (b) is adopted
The pressure data of collection handle is simultaneously processed, and the ball of picking up of the traveling action command and tennis mechanical hand that are then converted into dolly refers to
Order, and director data is sent to information process unit by wireless communication module.
As shown in Fig. 2 described information process unit (2) includes controller (a), wireless communication module and power circuit group
Become；The data that controller (a) receive information collector unit is collected, control instruction is sent to the execution that intelligence picks up tennis dolly
Mechanism unit, realizes intelligence according to these control instructions and picks up the optimum setting of tennis dolly route, the pickup of tennis and obstacle
The hiding of thing；Controller (a) can also receive the information of remote control unit by wireless communication mode, then by control instruction
It is sent to the actuator unit that intelligence picks up tennis dolly, intelligence is realized according to these control instructions and picks up setting of tennis dolly route
The hiding of the fixed, pickup of tennis and barrier；Described wireless communication mode include enocean, nrf905, sub-1g and
Zigbee, or be 2g, 3g and 4g network；The DC voltage that power circuit exports power supply unit is converted into controller and can connect
The voltage being subject to.
As shown in figure 3, described power supply unit includes receiving resonance coil, rectification circuit, filter circuit and rechargeable battery；
Receive resonance coil and complete the reception that charhing unit sends energy, the alternating voltage energy that rectification circuit receives resonance coil turns
Chemical conversion DC voltage, charges to rechargeable battery after the harmonic signal of filter circuit removal DC voltage；Described reception resonance line
Enclose the structure for hollow copper tubing circumflexion.
As shown in figure 4, described charhing unit includes launching resonance coil, high-frequency inverter circuit and infrared detection module, fingerprint identification module；
High-frequency inverter circuit changes into the ac high frequency signal output of tens more than khz to transmitting resonance the grid ac voltage of 50hz
Coil, transmitting resonance coil is launched high-frequency energy signal；Described transmitting resonance coil is hollow copper tubing circumflexion
Structure, its size with receive resonance coil identical；Infrared detection module, fingerprint identification module is responsible for detecting whether intelligent tennis dolly of picking up is close, when
Sense dolly near charhing unit when, automatic closing relay, thus control high-frequency inverter circuit work, realize independently wireless
Charge, fully charged rear disconnection relay automatically, prevent from overcharging.
As shown in figure 5, described automatic ball-picking rate-determining steps include:
The information collection unit of intelligent carriage initializes three road infrared modules, and the front-wheel of actuator unit is by servos control
360 degree of rotations, three road infrared module detection barriers, dolly during barrier is detected and path is provided by electrical compass module, control
Before device (a) processed drives the trailing wheel of dolly to march to barrier, if now the middle road of three road infrared modules detects barrier
And the infrared module of both sides is not detected by barrier, then judge that this barrier, for tennis, is then measured by ultrasonic wave module
With a distance from dolly, controller (a) drives the trailing wheel of dolly to march to before tennis according to this distance to tennis, the machinery of actuator
Handss carry out grabbing ball and place it in the box of dolly, complete automatic ball-picking step.
As shown in fig. 6, ball rate-determining steps are picked up in described remote control including: operator's turning handle sends the direction of dolly traveling
Information, agv controller (a) receives the wireless control communications that handle sends, and is driven before the trailing wheel of dolly according to control information
Enter, before driving the direction that front-wheel adjusts dolly to march to tennis, what now operator pressed lower handle picks up ball button, agv controller
A () receives and picks up ball control instruction, then control machinery hand carries out grabbing ball and places it in the box of dolly, completes remote control and picks up
Ball step.
Below schematically this utility model and embodiments thereof are described, this description does not have limitation, accompanying drawing
Shown in be also one of embodiment of the present utility model.If so those of ordinary skill in the art is enlightened by it,
In the case of creating objective without departing from this utility model, the same item taking other form or each part cloth of other forms
Office's mode, designs the technical scheme similar to this technical scheme and embodiment without creative, all should belong to this practicality new
The protection domain of type.
Claims (8)
1. a kind of intelligence of wireless charging picks up tennis dolly, specifically includes that trolley body (1), information process unit (2), information
Collector unit (3), actuator unit (4), power supply unit (5), charhing unit (6), remote control unit (7) and wireless charging
Intelligence pick up tennis dolly control method；Described information process unit, information collection unit, actuator unit, power supply are single
Unit is placed in trolley body.
2. a kind of intelligence of wireless charging picks up tennis dolly it is characterised in that described trolley body according to claim 1
Using tricycle structure, wherein below two take turns as driving wheel, front-wheel is responsible for turning to and by servos control.
3. a kind of intelligence of wireless charging picks up tennis dolly it is characterised in that described information processing according to claim 1
Unit is made up of controller (a), wireless communication module and power circuit；Controller (a) receive information collector unit is collected
Data, control instruction is sent to the actuator unit that intelligence picks up tennis dolly, realizes intelligence according to these control instructions and picks up
The hiding of the optimum setting of tennis dolly route, the pickup of tennis and barrier；Controller (a) can also pass through wireless telecommunications
Mode receives the information of remote control unit, then control instruction is sent to the actuator unit that intelligence picks up tennis dolly,
Intelligence is realized according to these control instructions and picks up hiding of the setting of tennis dolly route, the pickup of tennis and barrier；Described
Wireless communication mode include enocean, nrf905, sub-1g and zigbee, or be 2g, 3g and 4g network；Power supply electricity
The DC voltage that road exports power supply unit is converted into the acceptable voltage of controller.
4. a kind of intelligence of wireless charging picks up tennis dolly it is characterised in that described information according to claim 1
Unit is made up of three road infrared modules, two-way ultrasonic wave module and a road electrical compass module；Three road infrared modules are placed side by side
Bead in front of the anteriomedial of dolly, this three tunnels infrared detection module, fingerprint identification module energy effective detection dolly and barrier simultaneously send letter
Number；Two-way ultrasonic wave module is respectively placed in the both sides of three road infrared modules positioned at the front portion of dolly, completes the tennis on tennis court
Detection with little spacing；Electrical compass module planning intelligence picks up the walking path of tennis dolly.
5. a kind of intelligence of wireless charging picks up tennis dolly it is characterised in that described actuator according to claim 1
Unit mainly includes the machinery of the motor of two driving wheels after dolly, the steering wheel being responsible for front-wheel steer and pickup tennis
Handss.
6. a kind of intelligence of wireless charging picks up tennis dolly it is characterised in that described power supply unit according to claim 1
Including reception resonance coil, rectification circuit, filter circuit and rechargeable battery；Reception resonance coil completes charhing unit and sends energy
Reception, the alternating voltage that rectification circuit receives resonance coil changes into DC voltage, and filter circuit removes DC voltage
Charge to rechargeable battery after harmonic signal；Described receives the structure that resonance coil is hollow copper tubing circumflexion.
7. a kind of intelligence of wireless charging picks up tennis dolly it is characterised in that described charhing unit according to claim 1
Including transmitting resonance coil, high-frequency inverter circuit and infrared detection module, fingerprint identification module；High-frequency inverter circuit is the grid ac voltage of 50hz
, to transmitting resonance coil, transmitting resonance coil is by high-frequency energy signal for the ac high frequency signal output changing into tens more than khz
Launch；Described transmitting resonance coil is the structure of hollow copper tubing circumflexion, and its size is identical with receiving resonance coil；
Infrared detection module, fingerprint identification module is responsible for detecting whether intelligent tennis dolly of picking up is close, when sensing dolly near charhing unit, automatically closes
Closing relay, thus controlling high-frequency inverter circuit to work, realizing the autonomous wireless charging of dolly, fully charged rear disconnection relay automatically
Device, prevents from overcharging.
8. a kind of intelligence of wireless charging picks up tennis dolly it is characterised in that described remote pilot according to claim 1
Unit includes handle, controller (b) and wireless communication module；Controller (b) gathers the pressure data of handle and processes, then
The ball of picking up of the traveling action command and tennis mechanical hand that convert thereof into dolly instructs, and director data is passed through wireless telecommunications mould
Block is sent to information process unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620569896.XU CN205886118U (en) | 2016-06-13 | 2016-06-13 | Tennis dolly is picked up to wireless intelligence of charging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620569896.XU CN205886118U (en) | 2016-06-13 | 2016-06-13 | Tennis dolly is picked up to wireless intelligence of charging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205886118U true CN205886118U (en) | 2017-01-18 |
Family
ID=57767694
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620569896.XU Expired - Fee Related CN205886118U (en) | 2016-06-13 | 2016-06-13 | Tennis dolly is picked up to wireless intelligence of charging |
Country Status (1)
| Country | Link |
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| CN (1) | CN205886118U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105833484A (en) * | 2016-06-13 | 2016-08-10 | 天津工业大学 | Wireless charging intelligent tennis ball picking trolley and control method thereof |
| CN107224710A (en) * | 2017-06-20 | 2017-10-03 | 安徽禹缤体育科技有限公司 | A kind of shuttlecock venue automatically picking up balls system based on the rest period |
| CN112947194A (en) * | 2021-02-20 | 2021-06-11 | 大连理工大学 | Real-time operation control system of tennis robot embedded based on FreeRTOS |
| CN112973048A (en) * | 2021-02-24 | 2021-06-18 | 三峡大学 | Tennis ball picking robot and tennis ball picking method |
-
2016
- 2016-06-13 CN CN201620569896.XU patent/CN205886118U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105833484A (en) * | 2016-06-13 | 2016-08-10 | 天津工业大学 | Wireless charging intelligent tennis ball picking trolley and control method thereof |
| CN107224710A (en) * | 2017-06-20 | 2017-10-03 | 安徽禹缤体育科技有限公司 | A kind of shuttlecock venue automatically picking up balls system based on the rest period |
| CN112947194A (en) * | 2021-02-20 | 2021-06-11 | 大连理工大学 | Real-time operation control system of tennis robot embedded based on FreeRTOS |
| CN112973048A (en) * | 2021-02-24 | 2021-06-18 | 三峡大学 | Tennis ball picking robot and tennis ball picking method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170118 Termination date: 20170613 |