CN212016646U - Intelligent table tennis ball picking robot - Google Patents
Intelligent table tennis ball picking robot Download PDFInfo
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- CN212016646U CN212016646U CN202020509816.8U CN202020509816U CN212016646U CN 212016646 U CN212016646 U CN 212016646U CN 202020509816 U CN202020509816 U CN 202020509816U CN 212016646 U CN212016646 U CN 212016646U
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Abstract
The utility model discloses a table tennis intelligence ball picking up machine people, include: the device comprises a vehicle body, wherein motors are symmetrically arranged on the lower end face of the vehicle body, wheels are connected onto the motors, a ball storage bin is detachably arranged on one side of the upper end face of the vehicle body, a vision sensor is arranged on the other side of the upper end face of the vehicle body, a control module is arranged between the ball storage bin and the vision sensor, a support is arranged above the control module and the ball storage bin, a ball picking device is arranged on the support, a laser radar is fixedly connected to the top end of the ball picking device, and the motors, the ball picking device, the vision sensor and the laser radar are connected. The utility model discloses a table tennis intelligence ball picking up robot has and picks up the ball efficiently, picks up the ball fast, and the design is simple, simplifies the structure, convenient and practical reduces the advantage of using collision, ultrasonic wave, infrared, dropproof sensor.
Description
Technical Field
The utility model belongs to the technical field of the robot that picks up the ball, concretely relates to table tennis intelligence picks up ball machine people.
Background
With the development of economy and social progress, the development of the robot technology at home and abroad is more and more emphasized. The robot intelligent technology is also gradually applied to table tennis, for example, a table tennis service robot can send balls with different ball speeds, and great convenience is provided for daily training of athletes. However, in the table tennis training place, in the training process of table tennis players, a lot of table tennis balls are scattered on the ground after being hit, a lot of invalid table tennis balls appear on the ground, and the table tennis balls on the ground are picked up in a manual mode, so that time is wasted, and physical strength is consumed.
In the prior art, people usually adopt some tools in daily life or use specially improved table tennis training ball pickers to pick balls. However, the collection method will cause problems of waste of labor force, low working efficiency, waste of time and the like. Therefore, the intelligent ball picking robot is provided in the prior art, can automatically complete ball picking work and can overcome the defects caused by manual ball picking. However, most ball picking actions of ball picking robots in the prior art are realized by mechanical structures, for example, table tennis balls are picked by a ball picking frame woven into a net by rubber bands, and due to the limitation of fixed size and shape of the ball picking frame of the robot, the table tennis balls at corners of walls or hidden between obstacles cannot be effectively picked, so that the ball picking robot is only suitable for picking the table tennis balls with few obstacles and far away from the walls, and has the problems of incomplete ball picking and low ball picking efficiency; secondly, the existing ball picking robot acquires information sensing environment through a sensor which is arranged on the robot body and used for reducing collision, ultrasonic waves, infrared rays and falling prevention, the information is redundant, the cost and the complexity of the ball picking robot are increased, and a blind area exists in obstacle avoidance problem processing, so that the picking of table tennis balls is influenced.
SUMMERY OF THE UTILITY MODEL
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages which will be described later.
In order to achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a table tennis intelligent ball picking robot, comprising:
the device comprises a vehicle body, wherein motors are symmetrically arranged on the lower end face of the vehicle body, wheels are connected onto the motors, a ball storage bin is detachably arranged on one side of the upper end face of the vehicle body, a vision sensor is arranged on the other side of the upper end face of the vehicle body, a control module is arranged between the ball storage bin and the vision sensor, a support is arranged above the control module and the ball storage bin, a ball picking device is arranged on the support, a laser radar is fixedly connected to the top end of the ball picking device, and the motors, the ball picking device, the vision sensor and the laser radar are connected.
Preferably, the wheel includes the action wheel of a set of relative setting and the follow driving wheel of a set of relative setting, the action wheel is located vision sensor's below, just the action wheel passes through the shaft coupling and is connected with motor shaft respectively, the action wheel rotates along with motor shaft, follow driving wheel position in deposit ball storehouse below, just follow the driving wheel and be the universal wheel.
Preferably, the detachable connection mode of the ball storage bin and the vehicle body is as follows: the end of the car body is provided with a protrusion, the end of the ball storage bin is provided with a groove, the protrusion and the groove are mutually clamped, the distance between the supports is slightly larger than the width of the ball storage bin, and the ball storage bin is located in the supports.
Preferably, the ball picking device comprises:
the suction ball box body is fixed on the support through screws, the bottom surface of the suction ball box body is an inclined surface, a suction ball port is formed in one surface of the suction ball box body, the surface of the suction ball box body, opposite to the suction ball port, is rotatably connected with a cross-shaped rotating impeller, circular suction holes are symmetrically formed in two opposite side surfaces of the suction ball box body, and blocking rods are fixedly welded on the circular suction holes;
the stepping motor is fixed on the bracket through a screw, and a rotating shaft of the stepping motor is connected with the cross-shaped rotating impeller;
the device comprises a ball suction pipeline, a ball suction box body and a connecting piece, wherein one end of the ball suction pipeline is integrally provided with the connecting piece I, the connecting piece is connected to the ball suction box body through a screw, the end part of the ball suction pipeline is opposite to a ball suction port, the other end of the ball suction pipeline is positioned below a vehicle body, and the end part of the other end of the ball suction pipeline is symmetrically and obliquely provided with a front tooth baffle through a screw;
the device comprises a group of turbine motors which are oppositely arranged and fixedly connected to a vehicle body, wherein air suction pipelines are connected to the turbine motors, connecting pieces II are integrally formed at the other ends of the air suction pipelines, the connecting pieces II are fixedly connected to two opposite side surfaces of a suction ball box body through screws, and the circular air suction holes are opposite to the end portions of the air suction pipelines.
Preferably, "ten" style of calligraphy rotary impeller includes that rotation axis and symmetry fixed welding are at the epaxial four rotating vane of rotation, the rotation axis passes through bearing and suction ball box rotatable coupling, rotation axis one end is located the suction ball box outside, and is provided with the pinion, be provided with the gear wheel in step motor's the pivot, gear wheel and pinion intermeshing transmission, rotating vane's width slightly is less than the width of suction ball box.
Preferably, the two opposite surfaces of the ball suction box body provided with the circular air suction holes are provided with infrared sensors used for judging the accumulated height of the table tennis balls in the ball suction box body, the height of each infrared sensor is slightly higher than that of the circular air suction holes, and the infrared sensors are connected with the control module.
Preferably, the face that the ball box body is provided with the ball mouth of inhaling is gone up the symmetry and is provided with counting assembly, counting assembly infrared emission pipe and infrared receiving tube, infrared emission pipe and infrared receiving tube are located respectively and inhale ball mouth both sides, just infrared emission pipe and infrared receiving tube are located same level with the middle part of inhaling the ball mouth, infrared emission pipe and infrared receiving tube and control module interconnect.
Preferably, the vision sensor comprises a depth camera or a red, green and blue depth camera and a cradle head for fixing the camera, and the cradle head is fixedly connected to the vehicle body.
Preferably, the control module is a microcomputer.
The utility model discloses at least, include following beneficial effect:
1. the utility model discloses a pick up ball robot and pick up the table tennis through suction, it is efficient to pick up the ball, picks up the ball fast, can replace human labor, and the workman's that has significantly reduced work load perhaps hides the pickup that the table tennis after the barrier can be fine to lie in the corner to adopt rotatory impeller to discharge the ball to detachable deposit the ball storehouse in, the design is simple, simplifies the structure, convenient and practical.
2. The table tennis ball picking-up robot with the laser radar has the advantages that the acquired environmental information is more comprehensive, the established map is more complete, the information fed back by the obstacles is more real, the obstacle picking-up robot can detect the obstacles on the ground surface and the obstacles higher than the robot, the sensing capability on complex environments with high possibility of collision and falling is strong, the robot is not easy to be trapped in various obstacles, and the work is more reliable; meanwhile, the arrangement of sensors such as collision, ultrasonic waves, infrared and falling prevention can be correspondingly reduced, the faults caused by information processing and map errors due to the fact that the number of the sensors is large can be reduced, and the complexity of the ball picking robot is reduced to a large extent.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Description of the drawings:
fig. 1 is a schematic structural diagram of the device provided by the present invention;
fig. 2 is a schematic structural diagram of the device provided by the present invention;
FIG. 3 is a schematic view of the structure of the ball suction pipe provided by the present invention;
fig. 4 is a schematic view of the structure of the air suction pipeline provided by the present invention;
FIG. 5 is a schematic structural view of the suction ball box provided by the present invention;
FIG. 6 is an exploded view of the suction ball box according to the present invention;
fig. 7 is a schematic structural view of a cross-shaped rotary impeller provided by the present invention;
fig. 8 is a schematic diagram of the position distribution of the counting device provided by the present invention.
The specific implementation mode is as follows:
the present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
The intelligent table tennis ball picking robot shown in fig. 1-8 comprises:
the automatic ball picking device comprises a vehicle body 1, wherein motors 11 are symmetrically arranged on the lower end face of the vehicle body 1, wheels 2 are connected onto the motors 11, a ball storage bin 3 can be detachably arranged on one side of the upper end face of the vehicle body 1, a vision sensor 4 is arranged on the other side of the vehicle body, a control module 5 is arranged between the ball storage bin 3 and the vision sensor 4, a support 6 is arranged above the control module 5 and the ball storage bin 3, a ball picking device 7 is arranged on the support 6, a laser radar 8 is fixedly connected to the top end of the ball picking device 7, and the ball picking device 7, the vision sensor 4 and the laser radar 8 are connected with the.
The working principle is as follows: when the table tennis picking device is started to pick up table tennis, the power supply is switched on, the control module is started, the control module outputs a starting signal to the motor, the laser radar, the vision sensor and the table tennis picking device, the table tennis picking robot drives the wheels to rotate through the rotation of the motor, so that the device moves, the linear walking and turning of the robot are realized through the differential control through the differential speed formed between the two driving wheels, the arranged vision sensor can acquire the position information of the table tennis, the table tennis on the ground is picked up through the table tennis picking device, the table tennis is stored in the table tennis picking device, the table tennis is transferred to the table tennis storage bin after a certain number of the table tennis is picked up, and the steps are repeated. The laser radar who sets up can gather surrounding environmental information, and the environmental information who acquires is comparatively comprehensive, can effectively avoid the robot in the motion process, collides with barriers such as walls.
In the above technical scheme, wheel 2 includes a set of drive wheel 21 and a set of driven wheel 22 that sets up relatively, drive wheel 21 is located vision sensor 4's below, just drive wheel 21 passes through the shaft coupling (not shown) and is connected with motor shaft 101 respectively, drive wheel 21 rotates along with motor shaft 101, it is located 3 belows in the storehouse of depositing the ball from wheel 22, just from wheel 22 is the universal wheel. By adopting the mode, the arranged wheels comprise a group of driving wheels which are oppositely arranged and a group of driven wheels which are oppositely arranged, the driven wheels rotate along with the driving wheels in the movement process, the group of driving wheels which are oppositely arranged are respectively controlled by the motors and rotate along with the rotation of the motors, when turning is needed, the control module disconnects the power supply of one of the motors or changes the rotating speed of one of the motors, so that a differential speed is formed between the two driving wheels, and the linear walking and turning of the robot are realized through the differential speed control.
In the above technical solution, the detachable connection mode of the ball storage bin 3 and the car body 1 is as follows: the tip of automobile body 1 is provided with arch 12, the tip of depositing the ball storehouse 3 is provided with recess 31, protruding 12 and the mutual block of recess 31, just the interval of support 6 slightly is greater than the width of depositing the ball storehouse 3, it is located support 6 to deposit ball storehouse 3. Adopt this kind of mode, the recess that the ball storehouse of depositing that sets up passes through the bottom setting is provided with protruding looks block with the tip of automobile body to under the restriction of support, deposit the ball storehouse and can dismantle and place on the automobile body, avoid advancing the in-process, deposit the ball storehouse and drop, simultaneously, simple block mode conveniently takes and deposits the ball storehouse, does subsequent processing to the table tennis of depositing in the ball storehouse.
In the above technical solution, the ball picking device 7 includes:
the suction ball box 71 is fixed on the support through screws, the bottom surface 711 of the suction ball box 71 is an inclined surface, one surface of the suction ball box 71 is provided with a suction ball port 712, the surface of the suction ball box 71 opposite to the suction ball port 712 is rotatably connected with a cross-shaped rotating impeller 72, two opposite side surfaces of the suction ball box 71 are symmetrically provided with circular suction holes 713, and the circular suction holes 713 are fixedly welded with blocking rods 714;
the stepping motor 73 is fixed on the bracket 6 through a screw, and a rotating shaft of the stepping motor 73 is connected with the cross-shaped rotating impeller 72;
a ball suction pipe 74, one end of which is integrally provided with a connecting piece I741, the connecting piece 741 is connected to the ball suction box 71 through screws, the end of the ball suction pipe 74 is opposite to the ball suction port 712, the other end of the ball suction pipe 74 is positioned below the vehicle body 1, and the end of the other end of the ball suction pipe 74 is symmetrically and obliquely provided with a front tooth baffle 742 through screws;
the turbo motors 75 are fixedly connected to the vehicle body 1, the turbo motors 75 are connected with an air suction pipeline 751, the other end of the air suction pipeline 751 is integrally provided with a connecting piece II752, the connecting piece II752 is fixedly connected to two opposite side surfaces of the suction ball box body 71 through screws, and the circular air suction holes 713 are opposite to the end part of the air suction pipeline 751. In this way, when sucking the table tennis, a set of turbine motors which are arranged oppositely work to suck the air inside the table tennis box, and the table tennis box is connected with one end of the table tennis suction pipeline, therefore, a large suction force can be formed at the other end of the table tennis suction pipeline (namely the end part of the S-shaped table tennis suction pipeline positioned at the bottom end of the vehicle body), and the table tennis suction inlet is used as a table tennis suction inlet and can suck the surrounding table tennis.
In the above technical solution, the cross-shaped rotary impeller 72 includes a rotary shaft 721 and four rotary blades 722 symmetrically and fixedly welded on the rotary shaft, the rotary shaft 721 is rotatably connected with the suction ball box 71 through a bearing (not shown), one end of the rotary shaft 721 is located outside the suction ball box 71 and is provided with a pinion 723, a large gear (not shown) is arranged on a rotary shaft of the stepping motor 73, the large gear and the pinion 723 are in meshing transmission, and the width of the rotary blade 722 is slightly smaller than the width of the suction ball box 71. By adopting the mode, table tennis balls are discharged through the cross-shaped rotary impeller, the structure is simple, the effect is better, and the loss of the suction force generated by the turbine motor is reduced through the incompletely sealed closed space formed between the rotary blade and the ball suction box body, so that the suction force at the end part of the ball suction pipeline is ensured.
In the above technical solution, the two opposite surfaces of the ball suction box 71 provided with the circular air suction holes 713 are provided with the infrared sensors 91 for determining the accumulated height of the table tennis balls inside the ball suction box 71, the height of the infrared sensors 91 is slightly higher than the height of the circular air suction holes 713, and the infrared sensors 91 are connected with the control module 5. Adopt this kind of mode, after a certain amount of table tennis are collected to the inside power of suction box, the table tennis accumulates certain height gradually, set up infrared sensor on the double-phase opposite that the suction box was provided with circular suction hole, and set up infrared sensor on the position that is a little higher than circular suction hole, when the height of table tennis reaches the infrared sensor height of settlement, infrared sensor gives control module with signal transmission, and control turbine motor is out of work, step motor begins work, and slowly rotate 90 degrees, make the inside table tennis of suction box drop in storing the ball storehouse, and form the closure through rotating vane and suction box between.
In the above technical scheme, the face that ball suction box 71 is provided with ball suction port 712 is provided with the symmetry and is provided with counting assembly 92, counting assembly 92 includes infrared transmitting tube 921 and infrared receiving tube 922, infrared transmitting tube 921 and infrared receiving tube 922 are located ball suction port 712 both sides respectively, just infrared transmitting tube 921 and infrared receiving tube 922 are located same level with ball suction port 712's middle part, infrared transmitting tube 921 and infrared receiving tube 922 and control module 5 interconnect. By adopting the mode, the infrared transmitting tube and the infrared receiving tube are symmetrically arranged on the surface of the ball suction box body, which is provided with the ball suction port, the infrared transmitting tube and the infrared receiving tube are respectively positioned at two sides of the ball suction port, the light beam emitted by the infrared transmitting tube penetrates through the plane opposite to the ball suction port and is received by the infrared receiving tube, when table tennis enters the ball suction port, the light emitted by the infrared transmitting tube can be blocked, the infrared receiving tube can not receive signals and transmits the signal change to the microcomputer, so that the number of the table tennis entering is calculated, whether the table tennis is picked up is judged, and the control module makes a next step instruction.
In the above technical solution, the vision sensor 4 includes a depth or red, green and blue depth camera 41 and a pan-tilt 42 for fixing the camera, and the pan-tilt 42 is fixedly connected to the vehicle body 1. By adopting the mode, the vision sensor is a Depth or Red Green Blue Depth (RGBD) camera which is manufactured by a monocular, binocular and Time of Flight (TOF) principle, can effectively identify the table tennis, and calculates the relative position of the table tennis through a control module.
In the above technical solution, the control module 5 is a microcomputer. In this way, the microcomputer is provided to facilitate the processing of images and signals and to transmit commands.
The number of apparatuses and the scale of the process described here are intended to simplify the description of the present invention. The application, modification and change of the table tennis intelligent ball picking robot of the utility model are obvious to those skilled in the art.
While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.
Claims (9)
1. The utility model provides a table tennis intelligence ball picking up machine people which characterized in that includes:
the device comprises a vehicle body, wherein motors are symmetrically arranged on the lower end face of the vehicle body, wheels are connected onto the motors, a ball storage bin is detachably arranged on one side of the upper end face of the vehicle body, a vision sensor is arranged on the other side of the upper end face of the vehicle body, a control module is arranged between the ball storage bin and the vision sensor, a support is arranged above the control module and the ball storage bin, a ball picking device is arranged on the support, a laser radar is fixedly connected to the top end of the ball picking device, and the motors, the ball picking device, the vision sensor and the laser radar are connected.
2. The intelligent table tennis ball picking robot of claim 1, wherein the wheels comprise a set of oppositely disposed driving wheels and a set of oppositely disposed driven wheels, the driving wheels are located below the vision sensor and are respectively connected with the motor shaft through a coupler, the driving wheels rotate along with the motor shaft, the driven wheels are located below the ball storage bin and are universal wheels.
3. The intelligent table tennis ball picking robot of claim 1, wherein the detachable connection of the ball storage bin and the vehicle body is as follows: the end of the car body is provided with a protrusion, the end of the ball storage bin is provided with a groove, the protrusion and the groove are mutually clamped, the distance between the supports is slightly larger than the width of the ball storage bin, and the ball storage bin is located in the supports.
4. The intelligent table tennis ball picking robot of claim 1, wherein the ball picking device comprises:
the suction ball box body is fixed on the support through screws, the bottom surface of the suction ball box body is an inclined surface, a suction ball port is formed in one surface of the suction ball box body, the surface of the suction ball box body, opposite to the suction ball port, is rotatably connected with a cross-shaped rotating impeller, circular suction holes are symmetrically formed in two opposite side surfaces of the suction ball box body, and blocking rods are fixedly welded on the circular suction holes;
the stepping motor is fixed on the bracket through a screw, and a rotating shaft of the stepping motor is connected with the cross-shaped rotating impeller;
the device comprises a ball suction pipeline, a ball suction box body and a connecting piece, wherein one end of the ball suction pipeline is integrally provided with the connecting piece I, the connecting piece is connected to the ball suction box body through a screw, the end part of the ball suction pipeline is opposite to a ball suction port, the other end of the ball suction pipeline is positioned below a vehicle body, and the end part of the other end of the ball suction pipeline is symmetrically and obliquely provided with a front tooth baffle through a screw;
the device comprises a group of turbine motors which are oppositely arranged and fixedly connected to a vehicle body, wherein air suction pipelines are connected to the turbine motors, connecting pieces II are integrally formed at the other ends of the air suction pipelines, the connecting pieces II are fixedly connected to two opposite side surfaces of a suction ball box body through screws, and the circular air suction holes are opposite to the end portions of the air suction pipelines.
5. The intelligent ping-pong ball picking robot as claimed in claim 4, wherein the cross-shaped rotary impeller comprises a rotary shaft and four rotary blades symmetrically and fixedly welded on the rotary shaft, the rotary shaft is rotatably connected with the ball suction box body through a bearing, one end of the rotary shaft is positioned outside the ball suction box body and is provided with a pinion, a large gear is arranged on a rotary shaft of the stepping motor, the large gear and the pinion are in meshed transmission, and the width of the rotary blade is slightly smaller than that of the ball suction box body.
6. The intelligent ping-pong ball picking robot as claimed in claim 4, wherein the two opposite surfaces of the round air suction hole of the ball suction box body are provided with infrared sensors for determining the accumulated height of the ping-pong balls in the ball suction box body, the height of the infrared sensors is slightly higher than the height of the round air suction hole, and the infrared sensors are connected with the control module.
7. An intelligent ping-pong ball picking-up robot as claimed in claim 4, wherein the face of the ball suction box body provided with the ball suction port is symmetrically provided with counting devices, the counting devices are provided with an infrared transmitting tube and an infrared receiving tube, the infrared transmitting tube and the infrared receiving tube are respectively positioned at two sides of the ball suction port, the infrared transmitting tube and the infrared receiving tube are positioned at the same level with the middle part of the ball suction port, and the infrared transmitting tube and the infrared receiving tube are connected with the control module.
8. The intelligent ping-pong ball picking robot of claim 1, wherein the vision sensor comprises a depth or red, green and blue depth camera and a pan-tilt for fixing the camera, the pan-tilt being fixedly connected to the vehicle body.
9. The intelligent ping-pong ball picking robot of claim 1, wherein the control module is a microcomputer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020509816.8U CN212016646U (en) | 2020-04-09 | 2020-04-09 | Intelligent table tennis ball picking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020509816.8U CN212016646U (en) | 2020-04-09 | 2020-04-09 | Intelligent table tennis ball picking robot |
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| CN212016646U true CN212016646U (en) | 2020-11-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113041580A (en) * | 2021-04-23 | 2021-06-29 | 西南石油大学 | Negative pressure formula table tennis automatic pickup dolly |
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2020
- 2020-04-09 CN CN202020509816.8U patent/CN212016646U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113041580A (en) * | 2021-04-23 | 2021-06-29 | 西南石油大学 | Negative pressure formula table tennis automatic pickup dolly |
| CN113041580B (en) * | 2021-04-23 | 2022-05-24 | 西南石油大学 | Negative pressure formula table tennis automatic pickup dolly |
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