CN206434802U - Tennis identification based on sensor instrument distance, automatic picking machine people - Google Patents
Tennis identification based on sensor instrument distance, automatic picking machine people Download PDFInfo
- Publication number
- CN206434802U CN206434802U CN201720019686.8U CN201720019686U CN206434802U CN 206434802 U CN206434802 U CN 206434802U CN 201720019686 U CN201720019686 U CN 201720019686U CN 206434802 U CN206434802 U CN 206434802U
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- China
- Prior art keywords
- tennis
- car body
- mechanical arm
- robot
- sensor
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Abstract
The utility model is related to a kind of tennis identification based on sensor instrument distance, automatic picking machine people, four wheels are housed below car body, waterproofing elements box is housed on the base of car body, Kinect sensor is housed in the front floor of car body, the shell side of car body is equipped with the mechanical arm for being used for picking up ball, lithium battery is placed in waterproofing elements box, lithium battery connects front-wheel drive motor, mechanical arm motor, Kinect sensor, the Kinect sensor obtains distance of the tennis apart from robot for being distributed in court diverse location, and the relative deviation angle of tennis and robot is obtained according to picture, steering wheel is adjusted according to distance and relative deviation angle data, change robot angle, make robot at the uniform velocity to drive towards tennis, and stopping at tennis 30cm, and pick up tennis.The utility model by greatly improve sportsman carry out tennis when efficiency.
Description
Technical field
The utility model is related to the robot of a kind of recognizable tennis and automatic Picking tennis, it is intended to reduces and carries out tennis fortune
Dynamic crowd spends in the time picked up in ball problem.
Background technology
Tennis as a grace but fierce motion, receive liking from all parts of the world crowd.It is such a
It is prevailing in global motion, be referred to as the second in the world ball game.When carrying out tennis, although run each time
With all unusual pleasants of swinging the bat, if but tennis departs from racket and the control of player, especially for new person player, pick up ball
The very cumbersome, tiresome that all seems but have no way out.Present so-called automatic picking device, can probably be divided into：1st, press from both sides
Formula ball picking up device is held, can no longer bend over to pick up ball its role is to ball picker, but still needs people and goes for ball one by one, is subtracted
Few amount of labour is limited；2nd, ball machine is picked up, people is after by remote control control dolly, and dolly is picked up by certain mechanical structure
Ball, does not have too big advantage in terms of the saving time.For some of the above shortcoming, and tennis volume is larger and quality compared with
Weight, the characteristics of being difficult to pick up ball using forms such as blowings, it is proposed that a kind of tennis based on Kinect rangings is recognized, picked up automatically
Take device.In the case of the relatively higher cost relative to aforementioned manner, it is possible to achieve full-automatic and reliability pole
Height, and a mobile phone operation program can be only needed to robot is controlled, for this high consumption campaign of tennis, its property
Valency is not than low.The comparative maturity that Kinect depth survey technologies have developed.The robot is in tennis court or indoor tennis stadium
Larger application space will be had, device is positioned over place edge and the people that machines before playing ball every time, can be with
Substantially reduce sportsman and spend in the time picked up in the behaviors such as ball, convenience and efficiency will all be greatly improved.
The content of the invention
The utility model is groaned and disliked for picking up the depth of ball this behavior for carrying out the crowd of tennis, is proposed
A kind of tennis identification based on sensor instrument distance, automatic picking machine people, will effectively improve the sportsman for carrying out tennis
Sport efficiency, reduce it and spend in the time picked up in ball this relative behavior lost time.
The technical solution of the utility model is：A kind of tennis identification based on sensor instrument distance, automatic picking machine people, bag
Include and be equipped with below the car body turned to using steering wheel, waterproofing elements box, lithium battery, Kinect sensor, mechanical arm, car body
Equipped with Kinect sensor is equipped with waterproofing elements box, the front floor of car body on four wheels, the base of car body, for obtaining
The tennis of court diverse location is distributed in apart from the distance of robot and the relative deviation angle of tennis and robot is obtained；Car body
Shell side be equipped with to be used to pick up lithium battery placed in the mechanical arm of ball, waterproofing elements box, lithium battery connection front-wheel drive electricity
Machine, mechanical arm motor, Kinect sensor.
The mechanical arm is the mechanical arm that the free degree is 2.5, and the mechanical arm includes mechanical joint I, machinery and closed
II, manipulator are saved, the mechanical joint I is by mechanical joint II connection manipulators, and between mechanical joint I and mechanical joint II
In 90 degree of arrangements, the mechanical joint I is vertically swung up and down respectively close to car body, mechanical joint I and mechanical joint II
Angle be -45 °~90 °.
Two front-wheel drives in the four wheels and with steering wheel, trailing wheel is universal driven pulley.
The car body, which is provided with flexibly to dismantle, accommodates conventional tennis bag on the support of ball bag, support.
The beneficial effects of the utility model：
The utility model solves the problem of tennis player needs constantly to pick up tennis.Obtained using Kinect depth transducers
The distance and angle of tennis and robot to be picked up are obtained, robot is voluntarily picked according to this group of data.Kinect and machine
As long as person joint, there are actionless tennis in robot view field, robot regards it as oneself target and automatic Picking,
It can turn into host computer using mobile phone, or be controlled in large-scale tennis court shop using same host computer terminal, be realized
Ball is picked up without manpower.The utility model by greatly improve sportsman carry out tennis when efficiency.
Brief description of the drawings
Fig. 1 is the tennis identification based on sensor instrument distance, automatic picking machine people's structural representation；
Fig. 2 is the tennis identification based on sensor instrument distance, the functional layer block diagram of automatic picking machine people；
Fig. 3 is the mechanical arm structural representation of robot；
Fig. 4 is each parts mount position schematic diagram in car body；
Fig. 5 is body construction schematic diagram；
Fig. 6 is that ball flow chart is picked up by robot.
Embodiment
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 5, a kind of tennis identification based on sensor instrument distance, automatic picking machine people include：Use rudder
Car body 1, base, two waterproofing elements boxes 6, two pieces of lithium battery 7, Kinect sensor 5, the machines that the free degree is 2.5 of machine steering
Tool arm 4, the support that can flexibly dismantle ball bag, shell 2.
Car body 1 is equipped with four wheels 3 below, and front and back wheel is arranged as placing the four-wheel pattern of 60 × 40cm firm bankings,
Wherein two front-wheel drives and with steering wheel, trailing wheel is universal driven pulley.On the base of car body 1 be equipped with waterproofing elements box 6, by base with
After four wheels are fixed, waterproofing elements box 6 is anchored on base, two pieces of lithium batteries are placed in one of waterproofing elements box 6
7, Kinect sensor 5 is placed in another waterproofing elements box 6.Accomplish：Kinect sensor 5 shoots and is being centrally located at dolly just
Center.Kinect sensor 5 is housed, the side of shell 2 of car body 1 is equipped with the manipulator for being used for picking up ball in the front floor of car body 1
Lithium battery 7, the connection front-wheel drive of lithium battery 7 motor, mechanical arm motor, Kinect are placed in arm 4, waterproofing elements box 6
Sensor 5, Kinect sensor 5 obtains distance of the tennis apart from robot for being distributed in court diverse location, and according to picture
The relative deviation angle of tennis and robot is obtained, steering wheel is adjusted according to distance and relative deviation angle data, changes machine
People's angle, makes robot at the uniform velocity to drive towards tennis, and is stopping at tennis 30cm, and picks up tennis.Robot is opened to open
Guan Hou, robot carries out automatic decision and picks up ball.
Such as Fig. 1, shown in 3, mechanical arm 4 includes mechanical joint I4-1, mechanical joint II4-2, manipulator 4-3, and machinery is closed
I4-1 is saved by mechanical joint II4-2 connection manipulator 4-3, and is in 90 degree between mechanical joint I4-1 and mechanical joint II4-2
Arrangement, mechanical joint I4-1 is vertically swung up and down respectively close to car body 1, mechanical joint I4-1 and mechanical joint II4-2
Angle be -45 °~90 °.
Due to eventually being dropped after the shooting limited view of Kinect sensor, and tennis disengaging control on ground, therefore
Kinect sensor is needed to be close to ground as far as possible, therefore Kinect sensor is placed on into Vehicular body front as far as possible, is close to bottom
Plate.The robot placed carries out the interval that cool time is 1 second and taken pictures, and the reasons why being so configured is, it is to avoid machine
Device people erroneous judgement photographs the ball flown in aerial tennis for that need to pick.
As shown in fig. 6, Kinect sensor is handled the latter picture containing range information, differentiate：(1) whether
Contain tennis to be picked up in the picture；(2) if (1) is true, differentiate in image whether there are multiple tennises；(3) if (2) are
Very, then the nearest ball of marking path robot is target；(4) if 1 is false, robot rotates 25 ° of judgements for proceeding (1).
Handled for the image for having tennis to be picked up：1) target and Kinect distance are obtained；2) obtain before tennis and robot
The angle of edge center.Steering wheel is adjusted according to angle value, makes dolly just to tennis；According to distance value, robot is at the uniform velocity
Reach in face of dolly, be picked up using mechanical arm.Specifically pick process is：Mechanical joint I, which rotates 60 °, to be made under mechanical arm
OK, rotating mechanical joint II causes manipulator to be located at directly over tennis 3 centimetres, and manipulator opens, and joint continues to move down, machine
Tool hand closure picks up bead.Mechanical arm was inversely acted just now, and arm is returned to initial position, opened manipulator, tennis
Fall into ball bag.The completion of ball process is picked up, robot rotates 25 ° and continues to search for target.
Claims (4)
1. a kind of tennis identification based on sensor instrument distance, automatic picking machine people, the car body turned to including the use of steering wheel
(1), waterproofing elements box (6), lithium battery (7), Kinect sensor (5), mechanical arm (4), can flexibly dismantle ball bag support,
It is characterized in that：The car body (1) is equipped with four wheels (3), the base of car body (1) and waterproofing elements box (6), car is housed below
Kinect sensor (5) is housed in the front floor of body (1), the tennis of court diverse location is distributed in for obtaining apart from machine
The distance of people and the relative deviation angle for obtaining tennis and robot；The shell side of the car body (1), which is equipped with, to be used to pick up ball
Lithium battery (7) is placed in mechanical arm (4), waterproofing elements box (6), lithium battery (7) connection front-wheel drive motor, mechanical arm drive
Dynamic motor, Kinect sensor (5).
2. the tennis identification according to claim 1 based on sensor instrument distance, automatic picking machine people, it is characterised in that：
The mechanical arm (4) is the mechanical arm that the free degree is 2.5, and the mechanical arm (4) includes mechanical joint I (4-1), machinery
Joint II (4-2), manipulator (4-3), the mechanical joint I (4-1) by mechanical joint II (4-2) connection manipulators (4-3),
And in 90 degree of arrangements between mechanical joint I (4-1) and mechanical joint II (4-2), the mechanical joint I (4-1) is close to car body
(1) angle that, mechanical joint I (4-1) and mechanical joint II (4-2) are vertically swung up and down respectively is -45 ° ~ 90 °.
3. the tennis identification according to claim 1 based on sensor instrument distance, automatic picking machine people, it is characterised in that：
Two front-wheel drives in the four wheels (3) and with steering wheel, trailing wheel is universal driven pulley.
4. the tennis identification according to claim 1 based on sensor instrument distance, automatic picking machine people, it is characterised in that：
The car body (1), which is provided with flexibly to dismantle, accommodates conventional tennis bag on the support of ball bag, support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720019686.8U CN206434802U (en) | 2017-01-09 | 2017-01-09 | Tennis identification based on sensor instrument distance, automatic picking machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720019686.8U CN206434802U (en) | 2017-01-09 | 2017-01-09 | Tennis identification based on sensor instrument distance, automatic picking machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206434802U true CN206434802U (en) | 2017-08-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720019686.8U Expired - Fee Related CN206434802U (en) | 2017-01-09 | 2017-01-09 | Tennis identification based on sensor instrument distance, automatic picking machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206434802U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106730685A (en) * | 2017-01-09 | 2017-05-31 | 上海电力学院 | Tennis identification based on sensor instrument distance, automatic picking machine people |
-
2017
- 2017-01-09 CN CN201720019686.8U patent/CN206434802U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106730685A (en) * | 2017-01-09 | 2017-05-31 | 上海电力学院 | Tennis identification based on sensor instrument distance, automatic picking machine people |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170825 Termination date: 20190109 |