CN210933653U - Golf ball picking robot and golf ball picking robot based on visual development - Google Patents
Golf ball picking robot and golf ball picking robot based on visual development Download PDFInfo
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- CN210933653U CN210933653U CN201921109266.4U CN201921109266U CN210933653U CN 210933653 U CN210933653 U CN 210933653U CN 201921109266 U CN201921109266 U CN 201921109266U CN 210933653 U CN210933653 U CN 210933653U
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- golf ball
- ball picking
- picking robot
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- 230000000007 visual effect Effects 0.000 title abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 13
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 13
- 238000003860 storage Methods 0.000 claims abstract description 11
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 241000446313 Lamella Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000008259 solid foam Substances 0.000 description 1
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Abstract
The utility model discloses a golf ball picking mechanism and a golf ball picking robot based on visual development, which belongs to the technical field of robots, the golf ball picking mechanism comprises a support rod, a connecting piece, a rotary disc and an elastic rod, the support rod is pushed manually or mechanically to lead a rolling mechanism consisting of the rotary disc and the elastic rod to roll, golf balls in a court can be pressed into a ball storage chamber from between two adjacent elastic rods to finish the collection of the golf balls, the golf ball picking mechanism does not need to bow, the labor intensity and the working time of workers can be reduced, the golf ball picking robot based on visual development comprises a golf ball picking mechanism, a track chassis, a support frame, a laser image scanning mechanism, a main control unit and a rechargeable lithium battery pack, the utility model discloses a golf ball picking robot based on visual development, can pick up the ball automatically, replace the manual work completely, reduce golf course cost of labor, intelligent degree is high.
Description
Technical Field
The utility model relates to the technical field of robots, specifically be a golf ball picking robot and golf ball picking robot based on vision development.
Background
The game of golf is a fashion and elegant game, which is very popular abroad, and more people come into contact with the game of golf at present in China. However, the most annoying problem for the workers in the golf course is picking up the golf ball, which takes a lot of time and physical effort for the workers and increases the labor cost of the golf course.
The machines currently available to assist the picking of the balls by the workers are mostly manually operated and are not very economical options for use on golf courses, and a single machine is a significant expense for golf courses. In addition, some electric ball picking machines are required to be controlled by people even though the electric ball picking machines do not need to be operated by people, the golf ball field is large, the ball scattering range is large, and great inconvenience is brought to manual operation.
SUMMERY OF THE UTILITY MODEL
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and in the abstract of the specification and the title of the application to avoid obscuring the purpose of this section, the abstract of the specification and the title of the application, and such simplifications or omissions are not intended to limit the scope of the invention.
The utility model discloses in view of above-mentioned and/or current through the workman bow to pick up the ball or through the problem that exists in the ball is picked up to simple and easy robot, the utility model discloses.
Therefore, an object of the utility model is to provide a golf ball picking robot, can reduce staff's intensity of labour and operating time.
Another object of the utility model is to provide a ball robot is picked up in golf can pick up the ball automatically, replaces the manual work completely, reduces the golf course cost of labor, and intelligent degree is high.
In order to solve the technical problem, the utility model provides a golf ball picking robot, it includes:
the supporting rod is provided with a supporting part and a mounting part, and the two mounting parts are intersected at one end part of the supporting part;
the two connecting pieces are correspondingly inserted into and penetrate through the outer end holes of the two mounting parts one by one and can rotate around the axes of the outer end holes;
the outer side walls of the two turntables are fixedly connected with the end parts of the two connecting pieces in a one-to-one correspondence manner;
the elastic rods are fixed between the inner side walls of the two rotary discs and are arranged in a circumferential mode, a ball storage chamber is formed by the elastic rods and the two rotary discs, and golf balls can be pressed into the ball storage chamber from the space between every two adjacent elastic rods.
As a preferable solution of the golf ball picking robot of the present invention, the golf ball picking robot further comprises a knob;
the outer side wall of one of the turntables is provided with a threaded hole, and the diameter of the threaded hole is larger than that of a golf ball;
wherein the knob member is turned into the threaded bore.
In order to solve the technical problem, the utility model also provides a golf ball picking robot based on vision development, it includes:
a golf ball picking robot;
a crawler chassis;
the support frame is fixed on the crawler chassis;
the laser image scanning mechanism is fixed on the support frame, scans the road condition in front and transmits scanning information;
the main control unit is arranged on the support frame, is respectively and electrically connected with the laser image scanning mechanism and the motor on the crawler chassis, receives scanning information transmitted by the laser image scanning mechanism and drives the crawler chassis to move;
a rechargeable lithium battery pack mounted on the support frame and having
The main control unit is electrically connected and supplies power to the main control unit;
wherein, the support frame on the golf ball picking robot is fixed with the side wall of the crawler chassis.
As an optimal solution of the golf ball picking robot based on visual development, wherein, the golf ball picking robot further comprises a solar cell panel, the solar cell panel is installed on the supporting frame, and is electrically connected with the rechargeable lithium battery pack, for the main control unit charges.
As a preferred scheme of golf ball picking robot based on vision development, wherein, laser image scanning mechanism includes:
the depth camera scans front images and transmits scanned image information to the main control unit;
and the laser radar transmits the detection signal to the front and transmits the received reflection signal to the main control unit.
As a preferred scheme of the golf ball picking robot based on vision development of the present invention, wherein, the main control unit includes:
a main control board;
and the motor driving plate is respectively electrically connected with the main control plate and the motor on the crawler chassis and is used for driving the motor to rotate.
As a preferred scheme of golf ball picking robot based on vision development, the support frame includes:
an acrylic base plate; the main control unit and the rechargeable lithium battery pack are installed.
The acrylic middle plate is fixed on the acrylic bottom plate through a support column and used for mounting the laser radar;
the acrylic top plate is fixed on the acrylic middle plate through the supporting columns and used for mounting the depth camera.
Compared with the prior art: the utility model discloses a ball robot is picked up in golf, the artifical or machine of accessible promote the bracing piece, and then makes the rolling mechanism who comprises carousel and elastic rod roll, picks up the golf ball, at the rolling in-process of rolling mechanism, the golf ball in court can follow between two adjacent elastic rods impress extremely in the ball storage chamber, accomplish the collection to the golf ball, compare in traditional mode of picking up the ball through artifical bowing, the utility model discloses a ball robot is picked up in golf does not need the staff to bow, can reduce staff's intensity of labour and operating time.
The utility model discloses a ball robot is picked up in golf based on vision development, through laser image scanning mechanism scanning the place ahead road conditions to through the analysis of main control unit to road conditions image, confirm the position of golf, by main control unit control track chassis change route, promote the golf and pick up ball robot and roll, pick up the ball to the golf in court, compare in traditional manual work and pick up the ball or simple and easy auxiliary machine and pick up the ball, the utility model discloses a golf based on vision development picks up ball robot, can pick up the ball automatically, replaces the manual work completely, reduces golf court cost of labor, and intelligent degree is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor. Wherein:
FIG. 1 is a schematic view of the whole structure of the golf ball picking robot of the present invention;
FIG. 2 is a schematic view of the overall structure of the golf ball picking robot based on visual development;
fig. 3 is a schematic view of the supporting frame structure in fig. 2 of the golf ball picking robot based on visual development of the present invention.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be implemented in other ways than those specifically described herein, and one skilled in the art may similarly generalize the present invention without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Next, the present invention will be described in detail with reference to the schematic drawings, and in the detailed description of the embodiments of the present invention, for convenience of explanation, the sectional view showing the device structure will not be partially enlarged according to the general scale, and the schematic drawings are only examples, and should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
The utility model provides a golf ball picking robot, which can reduce the labor intensity and the working time of workers.
Fig. 1 is a schematic view illustrating an overall structure of an embodiment of a golf ball picking robot according to the present invention, and referring to fig. 1, a golf ball picking robot 100 according to the present embodiment includes: a support bar, a connector 130, a turntable 140, and a resilient bar 150.
The supporting rod has a supporting part 110 and a mounting part 120, the two mounting parts 120 meet at one end of the supporting part 110, and the supporting frame and the connecting part 130 together support the rolling mechanism consisting of the turntable 140 and the elastic rod 150.
The two connecting members 130 are inserted through the outer end holes of the two mounting members 120 in a one-to-one correspondence, and are rotatable around the axes of the outer end holes.
The outer side walls of the two rotating discs 140 are fixedly connected with the ends of the two connecting pieces 130 in a one-to-one correspondence manner.
A plurality of resilient bars 150 are fixed between the inner sidewalls of the two turntables 140 and are arranged in a circumferential direction to form a ball storage chamber with the two turntables 140, into which a golf ball can be pressed from between adjacent two resilient bars 150, and the resilient bars 150 are preferably solid foam bars.
Referring to fig. 1 again, the golf ball picking robot of the present embodiment may be manually or mechanically pushed, and in the process of manually or mechanically pushing the support rod to move, the rolling mechanism composed of the turntable 140 and the elastic rods 150 rolls on the golf course, and when a golf ball appears in front of the golf course, the rolling mechanism moves to the position of the golf ball, and the golf ball is pressed into the ball storage chamber from between two adjacent elastic rods 150, so as to complete the collection of the golf ball.
Furthermore, the golf ball picking robot also comprises a knob piece (not shown in the drawing), wherein a threaded hole is formed in the outer side wall of one of the turntables 140, the diameter of the threaded hole is larger than that of a golf ball, the knob piece is turned into the threaded hole, when the golf ball is fully stored in the ball storage chamber, a worker can turn the knob piece out of the threaded hole in the turntable 140, and then the golf ball in the ball storage chamber is poured out.
The utility model also provides a ball robot is picked up in golf based on vision development can pick up the ball automatically, replaces the manual work completely, reduces the golf course cost of labor, and intelligent degree is high.
Fig. 2 is a schematic view showing an overall structure of an embodiment of the golf ball picking robot based on visual development of the present invention, and referring to fig. 1-2, the golf ball picking robot based on visual development of the present embodiment includes: the golf ball picking robot comprises a golf ball picking robot 100, a crawler chassis 200, a support frame 300, a laser image scanning mechanism 400, a main control unit 500, a rechargeable lithium battery pack 600 and a solar panel 700.
The end of the support part 110 of the golf ball picking robot 100 is mounted on the side wall of the crawler chassis 200.
The crawler chassis 200 is used for supporting the components such as the support frame 300, the laser image scanning mechanism 400, the main control unit 500, the rechargeable lithium battery pack 600 and the like, and driving the components to move, and the model number of the crawler chassis 200 is TS 100.
Referring to fig. 3 together, the support 300 may be composed of an acrylic floor 300a, an acrylic middle plate 300b and an acrylic top plate 300c, the acrylic middle plate is fixed on the acrylic bottom plate through a support column, and the acrylic top plate is fixed on the acrylic middle plate through a support column.
Laser image scanning mechanism 400 is fixed on support frame 300, traces the road conditions in the place ahead, confirm whether the place ahead has the roadblock, or confirm whether the place ahead has the golf, and transmit the image information of scanning for main control unit 500, please refer to fig. 1 again, laser image scanning mechanism 400 includes depth camera 400a and lidar 400b, the model of depth camera 400a is ZED, lidar 400 b's model is SIMAN A3, depth camera 400a installs on ya keli roof 300c, scan the image in the place ahead, and transmit the image information of scanning to main control unit 500, lidar 400b installs on ya keli intermediate lamella 300b, to the front transmission detection signal, and will receive reflection signal transmission for main control unit 500.
The main control unit 500 is mounted on the support frame 300, and is electrically connected to the laser image scanning mechanism 400 and the motors on the crawler chassis 200, respectively, to receive the scanning information transmitted by the laser image scanning mechanism 400, and drive the crawler chassis 200 to travel, and referring to fig. 1 again, the main control unit 500 is composed of a main control board 500a and a motor drive board 500b, the signal of the main control board 500a is english range TX2, the model of the motor drive board 500b is STM32, and the motor drive board 500b is electrically connected to the motors on the main control board 500a and the crawler chassis 200, respectively, for driving the motors to rotate, and further driving the crawler chassis 200 to travel.
The rechargeable lithium battery pack 600 is mounted on the support frame 300, and is electrically connected with the main control unit to supply power to the main control unit 500.
The solar cell panel 700 is mounted on the support frame 300, and is electrically connected to the rechargeable lithium battery pack 600 to charge the rechargeable lithium battery pack 600.
Referring to fig. 1 to 3, the golf ball picking robot based on visual development of the present embodiment controls a motor driving plate 500b to drive a crawler chassis 200 to walk through a main control plate 500a, scans scattered particle filters through a laser radar 400b, determines whether a roadblock or a pedestrian exists in front of the robot, scans a front image through a depth camera 400a, determines whether a golf ball exists in a front acquisition range, and transmits a scanning signal to the main control plate 500a, the main control plate 500a analyzes the received image, when a roadblock or a pedestrian exists in the front of the robot, the main control plate 500a re-plans a route, and drives the crawler chassis 200 to walk according to the re-set route, when a golf ball exists in the front of the robot, the main control plate 500a also re-plans a route, and drives the crawler chassis 200 to walk according to the re-set route, and reach the vicinity of the golf ball, and pushes the golf ball picking robot 100 to press the golf ball, because the golf ball is pressed into the ball storage chamber from between the two elastic rods 150 in the process that the golf ball picking robot 100 presses the golf ball, the collection of the golf ball is completed, then the cruising task is continued according to the route, and the starting point is automatically returned to wait for the next instruction after the task is completed.
While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, as long as there is no structural conflict, the various features of the disclosed embodiments of the present invention can be used in any combination with each other, and the non-exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (7)
1. A golf ball picking robot, comprising:
the supporting rod is provided with a supporting part and a mounting part, and the two mounting parts are intersected at one end part of the supporting part;
the two connecting pieces are correspondingly inserted into and penetrate through the outer end holes of the two mounting parts one by one and can rotate around the axes of the outer end holes;
the outer side walls of the two turntables are fixedly connected with the end parts of the two connecting pieces in a one-to-one correspondence manner;
the elastic rods are fixed between the inner side walls of the two rotary discs and are arranged in a circumferential mode, a ball storage chamber is formed by the elastic rods and the two rotary discs, and golf balls can be pressed into the ball storage chamber from the space between every two adjacent elastic rods.
2. The golf ball picking robot according to claim 1,
the golf ball picking robot also comprises a knob piece;
the outer side wall of one of the turntables is provided with a threaded hole, and the diameter of the threaded hole is larger than that of a golf ball;
wherein the knob member is turned into the threaded bore.
3. A golf ball picking robot developed based on vision, comprising:
the golf ball picking robot of claim 1 or 2;
a crawler chassis;
the support frame is fixed on the crawler chassis;
the laser image scanning mechanism is fixed on the support frame, scans the road condition in front and transmits scanning information;
the main control unit is arranged on the support frame, is respectively and electrically connected with the laser image scanning mechanism and the motor on the crawler chassis, receives scanning information transmitted by the laser image scanning mechanism and drives the crawler chassis to move;
the rechargeable lithium battery pack is arranged on the support frame, is electrically connected with the main control unit and supplies power to the main control unit;
wherein, the support frame on the golf ball picking robot is fixed with the side wall of the crawler chassis.
4. The vision development-based golf ball picking robot according to claim 3, further comprising a solar panel mounted on the support frame and electrically connected with the rechargeable lithium battery pack for charging the main control unit.
5. The vision-based golf ball picking robot of claim 3, wherein the laser image scanning mechanism comprises:
the depth camera scans front images and transmits scanned image information to the main control unit;
and the laser radar transmits the detection signal to the front and transmits the received reflection signal to the main control unit.
6. The vision development-based golf ball picking robot of claim 3, wherein the master control unit comprises:
a main control board;
a motor drive plate connected to the main control plate and the motor on the crawler chassis respectively
And the electric connection is used for driving the motor to rotate.
7. The vision development-based golf ball picking robot of claim 5, wherein the support frame comprises:
an acrylic base plate; the rechargeable lithium battery pack is used for installing the main control unit and the rechargeable lithium battery pack;
the acrylic middle plate is fixed on the acrylic bottom plate through a support column and used for mounting the laser radar;
the acrylic top plate is fixed on the acrylic middle plate through the supporting columns and used for mounting the depth camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921109266.4U CN210933653U (en) | 2019-07-16 | 2019-07-16 | Golf ball picking robot and golf ball picking robot based on visual development |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921109266.4U CN210933653U (en) | 2019-07-16 | 2019-07-16 | Golf ball picking robot and golf ball picking robot based on visual development |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210933653U true CN210933653U (en) | 2020-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921109266.4U Expired - Fee Related CN210933653U (en) | 2019-07-16 | 2019-07-16 | Golf ball picking robot and golf ball picking robot based on visual development |
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| Country | Link |
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| CN (1) | CN210933653U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110292756A (en) * | 2019-07-16 | 2019-10-01 | 南京工业职业技术学院 | Golf ball picking robot and the golf ball picking robot of view-based access control model exploitation |
-
2019
- 2019-07-16 CN CN201921109266.4U patent/CN210933653U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110292756A (en) * | 2019-07-16 | 2019-10-01 | 南京工业职业技术学院 | Golf ball picking robot and the golf ball picking robot of view-based access control model exploitation |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200707 |