CN206152232U - Ball car is picked up to intelligence - Google Patents
Ball car is picked up to intelligence Download PDFInfo
- Publication number
- CN206152232U CN206152232U CN201621168489.4U CN201621168489U CN206152232U CN 206152232 U CN206152232 U CN 206152232U CN 201621168489 U CN201621168489 U CN 201621168489U CN 206152232 U CN206152232 U CN 206152232U
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- circuit
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- car body
- pick
- steering wheel
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Abstract
The utility model relates to a ball car is picked up to intelligence. The utility model provides an include the automobile body and pick up the ball ware, it sets up the front portion at the automobile body to pick up the ball ware, the automobile body is equipped with four group's drive wheels, and every group drive wheel is equipped with solitary walking motor, the inside of automobile body is equipped with as that the walking motor provides the battery of electric energy, the front portion of automobile body still is equipped with the steering wheel, the power output shaft of steering wheel connect in pick up the ball ware, it is lower part open -ended transparent container to pick up the ball ware, the opening symmetric edges reason of picking up the ball ware is equipped with equally spaced groove, the corresponding position groove of symmetric edges reason is equipped with many rubber bands. The utility model has the advantages of: simple structure, the cost is with low costs, utilizes ripe spare part to build, and is except the practicality, still useful in studying the design, improve existing cube pick up the ball ware for the circle fan -shaped, the area of picking up is big, avoid picking up in the automobile body turn around to lose time many times, because the 4 wheel driven is adopted in the drive of whole automobile body, it moves in a flexible way, and traveling speed is fast.
Description
Technical field
This utility model is related to a kind of intelligent ball collecting car, belongs to intelligent sports equipment.
Background technology
This three sections are integrated into two sections, are changed to：
The substantial amounts of exercise of training need of table tennis, because the speed bounced the ball is fast, the short time is accomplished by using more ball,
During playing ball, pick up club and consume the substantial amounts of muscle power of people and energy.The Ball for training for how quickly picking up ground is instruction
Practice the thing of member and couch's very headache.
Existing ball picking up device, needs artificial manipulation, does not meet the real-world environment at scene, therefore invention intelligent ball collecting is automobile-used
Carry out automatic ball-picking.
The content of the invention
The present invention provides a kind of intelligent ball collecting car, and slow ball is manually picked up in solution or existing unmanned ball pick-up device high cost, efficiency are low
Problem.
For achieving the above object, the technical solution used in the present invention is：
Intelligent ball collecting car, including car body and ball pick-up device, the ball pick-up device is arranged on the front portion of car body, and the car body is provided with four
Group driving wheel, every group of driving wheel is provided with single movable motor, and the inside of the car body is provided with and provides electric energy for movable motor
Accumulator, the front portion of the car body is additionally provided with steering wheel, and the power output rod of steering wheel is connected to described ball pick-up device, under ball pick-up device is
The transparent vessel of portion's opening, the symmetrical edge of opening of ball pick-up device is provided with equidistant groove, and the correspondence position groove at symmetrical edge is provided with many
Root rubber band, less than the diameter of table tennis, ball pick-up device is ring sector to the ultimate range between adjacent rubber band (8), and material is poly- third
Alkene.
The lower openings edge of ball picker extends downwardly out edge of blocking.
Preferably, also including motherboard circuit and sensing device, motherboard circuit is provided with microcontroller and display screen, described
Sensing device includes being arranged on photographic head on car body, infrared sensor and ultrasonic sensor, photographic head, infrared sensor and
Ultrasonic sensor is accessed on motherboard circuit.
It is further preferably, including the output interface of accumulator is provided with power supply stabilization circuit, the output of power supply stabilization circuit
End steering wheel mu balanced circuit in parallel and mainboard mu balanced circuit, the outfan of steering wheel mu balanced circuit accesses the power interface of steering wheel, mainboard
The outfan of mu balanced circuit accesses the power input of mainboard.
Preferably, the outfan of power supply stabilization circuit is also in parallel to access two movable motor drive circuits, each walking electricity
The outfan of drive circuit accesses the movable motor of two coaxial driving wheels, the signal input termination of movable motor drive circuit
Enter the corresponding signal pins of motherboard circuit.
Preferably, infrared sensor, ultrasonic sensor and photographic head access the transducing signal pin of motherboard circuit（,
The infrared sensor includes four groups（, ultrasonic sensor is including two groups.
Further preferred, power supply stabilization circuit, steering wheel mu balanced circuit and mainboard mu balanced circuit are LM2596S voltage stabilizing moulds
Block, movable motor drive circuit is L298N motor drive modules, and motherboard circuit is single-chip microcomputer.
Preferably, photographic head model OV5640, ultrasonic sensor is US-100 ultrasonic wave modules.It is described as excellent
Choosing, car body is frame structure, and steering wheel is arranged on the front portion of car body, the output shaft of steering wheel stretch out be fixed on outside car body belonging to pick up ball
Device, the one side of ball pick-up device is provided with opening and corresponding lid door, and lid door covers opening and can be turned on and off.In the car body
Portion vertically sets a fix bar, and described photographic head is provided with the top of fix bar.
The utility model has the advantage of：
Simple structure, cost is low, is built using ripe parts, except practicality, can be also used for learning scene；
Existing cube ball pick-up device is improved for circular sector, the area of pickup is big, it is to avoid car body repeatedly turns around wave in pickup
It is time-consuming；
Because the driving of overall car body adopts 4 wheel driven, its motion is flexible, and the speed of travel is fast.
Description of the drawings
Fig. 1 is the front view of dolly of the present utility model,
Fig. 2 is the rearview of dolly of the present utility model,
Fig. 3 is the left view of dolly of the present utility model,
Fig. 4 is the circuit connection diagram of dolly of the present utility model,
Fig. 5 is the structure chart that this uses new ball pick-up device.
Reference
The motherboard circuit 10 of 1 car body, 2 ball pick-up device, 3 driving wheel, 4 movable motor, 5 accumulator, 6 steering wheel, 7 power output rod, 8 rubber band 9
The mainboard mu balanced circuit 16 of 14 steering wheel mu balanced circuit of photographic head 11 infrared sensor, 12 ultrasonic sensor, 13 power supply stabilization circuit 15
18 lid doors of opening of movable motor drive circuit 17.
Specific embodiment
Intelligent ball collecting car, including car body 1 and ball pick-up device 2, car body 1 is frame structure, and the ball pick-up device 2 is arranged on car body 1
Front portion, the car body 1 is provided with four groups of driving wheels 3, and every group of driving wheel 3 is provided with single movable motor 4, the car body 1 it is interior
Portion is provided with the accumulator 5 for providing electric energy for movable motor 4, and the front portion of the car body 1 is additionally provided with steering wheel 6, the output shaft extension of steering wheel
Go out outside car body to be fixed on affiliated ball pick-up device, ball pick-up device 2 for lower openings transparent vessel, the symmetrical edge of opening of ball pick-up device 2
Equidistant groove is provided with, rubber band 8 is provided with the correspondence position groove at symmetrical edge, the ultimate range between adjacent rubber band 8 is less than table tennis
The diameter of pang ball, ball pick-up device 2 is ring sector, and material is polypropylene, and the one side of ball pick-up device 2 is provided with opening 17 and corresponding lid door
18, lid door 18 covers opening 17 and can be turned on and off, and the lower openings edge of ball picker is extended downwardly out blocks along 19.
Also include motherboard circuit 9, the output interface of accumulator 5 is provided with power supply stabilization circuit 13, power supply stabilization circuit 13
Outfan parallel connection steering wheel mu balanced circuit 14 and mainboard mu balanced circuit 15, the outfan of steering wheel mu balanced circuit 14 accesses the electricity of steering wheel 6
Source interface, the outfan of mainboard mu balanced circuit 15 accesses the power input of motherboard circuit 9.
The outfan of power supply stabilization circuit 13 is also in parallel to access two movable motor drive circuits 16, and each movable motor drives
The outfan of circuit 16 accesses the movable motor 4 of two coaxial driving wheels, the signal input termination of movable motor drive circuit 16
Enter the corresponding signal pins of motherboard circuit 9.Also include sensing device, motherboard circuit 9 is provided with microcontroller and display screen, described
Sensing device includes being arranged on photographic head 10 on car body, infrared sensor 11 and ultrasonic sensor 12, photographic head 10, infrared
Sensor 11 and ultrasonic sensor 12 are accessed on motherboard circuit 9.
Infrared sensor 11, ultrasonic sensor 12 and photographic head 10 access the transducing signal pin of motherboard circuit 1, described
Infrared sensor 11 includes four groups, is arranged on the front and back of car body 1, and ultrasonic sensor 12 includes two groups, is arranged on car
The both sides of body 1.
Power supply stabilization circuit 13, steering wheel mu balanced circuit 14 and mainboard mu balanced circuit 15 are LM2596S Voltage stabilizing modules, and walking is electric
Drive circuit is L298N motor drive modules, and motherboard circuit 9 is single-chip microcomputer.Model OV5640 of photographic head 10, ultrasound wave is passed
Sensor 12 is US-100 ultrasonic wave modules.The middle part of car body 1 vertically sets a fix bar, and described shooting is provided with the top of fix bar
10.
Embodiment
The framework of car body is double panel structure, and motherboard circuit and corresponding drive circuit module, lower floor are mainly placed in upper strata
Main to place steering wheel and be fixed with movable motor, ball pick-up device is laid in car body front.Motherboard circuit carries STM32F429IGT6 micro-controls
Device processed, burning control program in microcontroller, microcontroller is responsible for processing the image of photographic head collection, control direct of travel and speed
Ball action is spent and picks up, ball pick-up device is advanced by 4 wheel driven direct current generator car body, carries out ball pick-up device by camera collection image and pick up
Ball.Photographic head model OV5640, is placed on fix bar top, can observe broader scope and collect most
According to.
After photographic head collects table tennis image, each pixel of the image is RGB565（Red, green, blue）Color mould
The color mode is converted into HSL by formula, microcontroller（Form and aspect, saturation, lightness）Color mode to facilitate process, then basis
The threshold range of the HSL color modes of table tennis imaging calculates the centre of sphere using erosion algorithm and noise elimination algorithm from image
Position coordinateses.Erosion algorithm refers to elimination boundary point, border is internally shunk, for determining corrosion centers so that it is determined that table tennis
The position coordinateses of pang the ball centre of sphere.When there are multiple tablees tennis in image, the table tennis centre of sphere nearest away from car body is defined as corrosion
Center.When there is the object close with table tennis color in image, because its imaging is not circular, Jing erosion algorithms process, from
And exclude this object.Noise elimination algorithm refers to and corrosion centers coordinate is repeatedly counted, if each coordinate figure difference is permitting
Perhaps in the range of, then it is assumed that be real corrosion centers；Otherwise it is assumed that being that noise is eliminated, then proceed to traversal and find table tennis
Ball.Position coordinateses are referred to ground as coordinate plane, with photographic head vertical projection point as zero, car body right be X-axis just
Direction, front are Y-axis positive direction, and table tennis is position coordinateses with the side-play amount of car body.
After obtaining the position coordinateses of table tennis, microcontroller, to movable motor speed governing, drives car body close using PWM mode
Table tennis, and the departure degree according to table tennis and car body axis in way of advancing uses pid algorithm closed loop control car body
Turn to, make car body final just to direction of bowl traveling of rattling.The departure degree is described with the position coordinateses of the table tennis centre of sphere.Work as table tennis
When ball centre of sphere Y-coordinate value is less than preset value, that is, car body is represented near table tennis, now steering wheel beats angle and lifts ball pick-up device, then
Car body moves on and ball pick-up device is adjusted to into horizontality after a small distance, and table tennis is forced into ball pick-up device.Ball pick-up device is
Hollow box body lower openings, the side of opening sets groove and fixed rubber band, and table tennis diameter is dimensioned slightly smaller than between rubber band,
Table tennis can be entered in box by the gap of rubber band when ball pick-up device is detained, and can tie tight by the elastic force of rubber band again is unlikely to
Go out ball pick-up device.Ball pick-up device is connected by a power output rod with steering wheel, steering wheel beat angle just can control ball pick-up device on move down
It is dynamic.
If without table tennis in camera view, ergodic algorithm search table tennis room will be taken to find table tennis, searched for
Barrier avoiding function can also be realized in journey.Ergodic algorithm is referred to it is assumed that in the case of clear, car body presses hand of helix row
Enter.Barrier avoiding function refers to, respectively car body just before, left front, right forward and backward side place infrared tube module range finding avoidance, the left side
US-100 ultrasonic wave modules range finding avoidance is placed with the right side, once certain sensor assembly has detected barrier, microcontroller
Just control car body to move with avoiding obstacles round about.Ergodic algorithm and barrier avoiding function are comprehensively used, it is ensured that car body can
Search whole table tennis room, and the normal training of without prejudice to people.
Car body carries electric capacity display screen, the real-time pictures for collecting for showing photographic head directly perceived.Blocking can be in table tennis along 19
Pang ball prevents from from edge skidding off after being held down by ball pick-up device lower openings.
Claims (8)
1. a kind of intelligent ball collecting car, is characterized in that, including car body (1) and ball pick-up device (2), and car body (1) is frame structure, described to pick up
Ball device (2) is arranged on the front portion of car body (1), and the car body (1) is provided with four groups of driving wheels (3), and every group of driving wheel (3) is provided with individually
Movable motor (4), the inside of the car body (1) is provided with the accumulator (5) for providing electric energy for movable motor (4), the car body
(1) front portion is additionally provided with steering wheel (6), and the output shaft of steering wheel stretches out and affiliated ball pick-up device is fixed on outside car body, under ball pick-up device (2) is
The transparent vessel of portion's opening, the symmetrical edge of opening of ball pick-up device (2) is provided with equidistant groove, sets in the correspondence position groove at symmetrical edge
There is a rubber band (8), less than the diameter of table tennis, ball pick-up device (2) is ring sector to the ultimate range between adjacent rubber band (8), material
For polypropylene, the one side of ball pick-up device (2) is provided with opening (17) and corresponding lid door (18), lid door (18) cover opening (17) and
Can be turned on and off, the lower openings edge of ball picker extends downwardly out edge of blocking（19）.
2. intelligent ball collecting car according to claim 1, is characterized in that, also including motherboard circuit (9), accumulator (5) it is defeated
Outgoing interface is provided with power supply stabilization circuit (13), outfan parallel connection steering wheel mu balanced circuit (14) of power supply stabilization circuit (13) and mainboard
Mu balanced circuit (15), the outfan of steering wheel mu balanced circuit (14) accesses the power interface of steering wheel (6), mainboard mu balanced circuit (15)
Outfan accesses the power input of motherboard circuit (9).
3. intelligent ball collecting car according to claim 2, is characterized in that, the outfan of power supply stabilization circuit (13) also and couples
Enter two movable motor drive circuits (16), the outfan of each movable motor drive circuit 16 accesses the row of two coaxial driving wheels
Motor (4) is walked, the signal input part of movable motor drive circuit (16) accesses the corresponding signal pins of motherboard circuit (9).
4. intelligent ball collecting car according to claim 3, is characterized in that, also including sensing device, motherboard circuit (9) is provided with
Microcontroller and display screen, the sensing device includes the photographic head (10) being arranged on car body, infrared sensor (11) and surpasses
Sonic sensor (12), photographic head (10), infrared sensor (11) and ultrasonic sensor (12) are accessed on motherboard circuit (9).
5. the intelligent ball collecting car according to claim (4), is characterized in that, infrared sensor（11）, ultrasonic sensor
(12) and photographic head (10) access motherboard circuit (1) transducing signal pin, the infrared sensor（11）Including four groups, arrange
In the front and back of car body (1), ultrasonic sensor (12) is arranged on car body including two groups（1）Both sides.
6. intelligent ball collecting car according to claim 3, is characterized in that, power supply stabilization circuit (13), steering wheel mu balanced circuit)
(14 and mainboard mu balanced circuit (15) be LM2596S Voltage stabilizing modules, movable motor drive circuit is L298N motor drive modules, main
Plate circuit (9) is single-chip microcomputer.
7. intelligent ball collecting car according to claim 5, is characterized in that, photographic head (10) model OV5640, and ultrasound wave is passed
Sensor (12) is US-100 ultrasonic wave modules.
8. intelligent ball collecting car according to claim 7, is characterized in that, the middle part of the car body (1) vertically sets a fix bar,
Described photographic head (10) is provided with the top of fix bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621168489.4U CN206152232U (en) | 2016-11-02 | 2016-11-02 | Ball car is picked up to intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621168489.4U CN206152232U (en) | 2016-11-02 | 2016-11-02 | Ball car is picked up to intelligence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206152232U true CN206152232U (en) | 2017-05-10 |
Family
ID=58656886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621168489.4U Expired - Fee Related CN206152232U (en) | 2016-11-02 | 2016-11-02 | Ball car is picked up to intelligence |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206152232U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108211277A (en) * | 2018-01-05 | 2018-06-29 | 上海第二工业大学 | A kind of table tennis intelligent ball collecting shared system and its application method |
| CN108786041A (en) * | 2018-07-12 | 2018-11-13 | 贵州理工学院 | Intelligent ball collecting control method and intelligent ball collecting robot |
| CN110787431A (en) * | 2019-07-30 | 2020-02-14 | 华南理工大学 | Table tennis ball collecting device based on remote control trolley |
-
2016
- 2016-11-02 CN CN201621168489.4U patent/CN206152232U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108211277A (en) * | 2018-01-05 | 2018-06-29 | 上海第二工业大学 | A kind of table tennis intelligent ball collecting shared system and its application method |
| CN108786041A (en) * | 2018-07-12 | 2018-11-13 | 贵州理工学院 | Intelligent ball collecting control method and intelligent ball collecting robot |
| CN110787431A (en) * | 2019-07-30 | 2020-02-14 | 华南理工大学 | Table tennis ball collecting device based on remote control trolley |
| CN110787431B (en) * | 2019-07-30 | 2023-12-01 | 华南理工大学 | Table tennis ball collecting device based on remote control trolley |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170510 Termination date: 20171102 |
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| CF01 | Termination of patent right due to non-payment of annual fee |