KR102414761B1 - Remote control Ball recovery Device and operating method thereof - Google Patents

Abstract

The present invention relates to a wirelessly controlled ball collecting machine and an operating method thereof, and more particularly, in a ball collecting machine for collecting balls scattered on the ground in front, wheels are formed on the lower side to be movable, and to be moved in the inner space. The collected balls are stored, and an open surface is formed in the front of the collection box; a guide body coupled to the open surface of the air collection box and having both sides; a conveyor belt installed between the lower ends of both sides of the guide body; a belt driving unit for driving the conveyor belt; and a ball receiving unit coupled to the front lower end of the guide body, on which the ball is seated at the top when the ball is collected; including, after the balls scattered on the ground are seated on the upper surface of the ball receiving unit and collected, the collected balls are placed on the conveyor belt It relates to a wirelessly controlled ball collecting machine, characterized in that after being moved to the bin, it is recovered to the inner space of the air collection box by driving the conveyor belt.

Description

Remote control Ball recovery device and operating method thereof

The present invention relates to a radio-controlled ball recovery machine and its operating room.

Tennis is a sport played using a tennis ball, and is generally played on a tennis court. In the case of a tennis game, in principle, the number of tennis balls required is one, but it is common for each player to carry two or three tennis balls on their body for quick operation of the game.

Therefore, in the case of a singles match between two players and a doubles match between four players, the total number of tennis balls required generally does not exceed ten. However, in tennis academies to hone tennis skills, in many cases, the tennis ball hit by the instructor is usually passed by the practitioner on the other side of the net.

In this case, a large number of tennis balls are placed in a large basket, etc., and the instructor hits the tennis balls successively and passes them to the other side. Put it back in and start teaching again. In general, in the tennis classroom, the number of tennis balls required for one lesson time reaches several hundred.

In the past, hundreds of tennis balls scattered on a wide tennis court were manually collected one by one. There was an increasing problem.

In order to solve this problem, the prior Korean Patent Registration No. 10-1718743 describes a ball collection device. Korean Patent Registration No. 10-1718743 describes a ball collecting device that allows the ball to be conveniently collected by simply moving the baseball, tennis ball, and golf ball to the place where the ball is placed through the brush and put in the box. have. 1 is a perspective view of an air collection device according to Korean Patent Registration No. 10-1718743. The rotation speed of the front and rear brushes installed adjacent to the official entrance is different, so that the ball received through the official entrance can be collected by the fast rotation of the rear brush. In other words, the ball can be easily collected by transporting the ball to the inside through the brush and putting it in a box to collect it. It is stated that the bad collection can be prevented by allowing the ball to be collected by the fast rotation of the rear brush.

In addition, FIG. 2 is a perspective view of a tennis ball collecting device according to Korean Patent Application Laid-Open No. 10-2010-0018120. Korean Patent Application Laid-Open No. 10-2010-0018120 discloses a tennis ball collecting device for collecting tennis balls scattered on the ground in front, comprising: a housing having an opening at the upper portion and receiving tennis balls through the opening; a wheel rotatably installed on the lower portion of the housing and in rolling contact with the ground; a motor installed in the housing; a guide member coupled to the front portion of the housing and guiding movement of the tennis balls between the ground and the opening so that the tennis balls on the ground can be introduced into the housing through the opening of the housing; a conveyor belt that receives power from the motor and travels on an endless track, and moves the tennis balls on the ground along the guide member, thereby accommodating the tennis balls into the housing through the opening of the housing; is equipped with

And, Figure 3 shows a side cross-sectional view of the tennis ball collecting device according to the patent registration 10-1132001. A tennis ball collecting device for quickly collecting tennis balls spread on a court while moving a main body having a container, a handle is formed on one side, and a front wheel part composed of a front wheel drive shaft and a front wheel to facilitate movement in the lower part, and a rear wheel a main body including a rear wheel portion composed of a driving shaft and a rear wheel; a container mounted on the rear of the main body; It is configured to include a gear unit coupled to the front wheel drive shaft of the front wheel unit, and a sending device configured with a collector connected to the gear unit to rotate.

In addition, Figure 4 shows a perspective view of the tennis ball automatic collection machine of Patent Publication 10-2018-0091416. Tennis ball automatic collection machine and automatic collection using the balance search within the specified range to realize all areas except for areas designated as obstacles such as tennis courts by implementing a tennis court including a tennis court as a logical structure of a two-dimensional arrangement method is described.

Republic of Korea Patent Registration 10-1718743 Republic of Korea Patent Publication 10-2010-0018120 Republic of Korea Patent Registration 10-1132001 Republic of Korea Patent Publication 10-2018-0091416

Therefore, the present invention has been devised to solve the problems of the prior art, and according to an embodiment of the present invention, the position of the balls to be collected is detected by an object recognition sensor and automatically moved to the position to be retrieved. An object of the present invention is to provide a wirelessly controlled ball collecting machine capable of collecting balls of various sizes by recognizing the size and type of balls to be used and automatically adjusting the spacing between a pair of ball receiving members, and an operating method thereof.

According to an embodiment of the present invention, when the quantity of balls collected through the ball receiving member is detected and the set quantity is exceeded, the collected balls are moved to the conveyor belt side, and then the balls can be recovered by driving the conveyor belt. An object of the present invention is to provide a wirelessly controlled ball recovery device and a method for operating the same.

And, according to an embodiment of the present invention, after the recovery mode ends, both the guide body and the ball receiving unit can be folded and folded into the air collection box, thereby providing a wirelessly controlled ball collecting machine and an operating method thereof, which has less space restrictions during storage but it has a purpose.

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned are clearly to those of ordinary skill in the art to which the present invention belongs from the description below. can be understood

A first object of the present invention is a ball collecting machine for collecting balls scattered on the ground in front, Wheels are formed on the lower side and configured to be movable, the recovered balls are stored in the internal space, and an open surface is provided in the front. formed airlift box; a guide body coupled to the open surface of the air collection box and having both sides; a conveyor belt installed between the lower ends of both sides of the guide body; a belt driving unit for driving the conveyor belt; and a ball receiving unit coupled to the front lower end of the guide body, on which the ball is seated at the top when the ball is collected; including, after the balls scattered on the ground are seated on the upper surface of the ball receiving unit and collected, the collected balls are placed on the conveyor belt It can be achieved as a wirelessly controlled ball collecting machine, characterized in that it is recovered to the inner space of the air collection box by driving the conveyor belt after being moved to.

And both side surfaces of the guide body are hinged to the lower end of the inner surface of the air-collection box, and are configured to be folded into the air-collection box in storage mode, and each side member of the ball-receiving unit is hinged to the front lower end of both sides of the guide body. It may be characterized in that it is maintained in a folded state toward the guide body in the storage mode.

In addition, the ball receiving unit may include a plurality of ball receiving members provided between the side members, it may be characterized in that the balls are collected on the ball receiving member.

And the ball receiving member is composed of two to have an interval between each other, the balls are collected at the interval, it may be characterized in that it comprises a short adjustment unit for adjusting the interval between the balls according to the diameter of the balls.

In addition, an object recognition sensor for detecting the balls located in the front; and a control unit for controlling the wheel drive based on the data measured by the object recognition sensor to move the ball to a position where the ball exists.

And the object recognition sensor may include a vision system that acquires photographing data by photographing the front side, and an image analysis unit that analyzes the position and size of the ball based on the photographed data.

In addition, the control unit controls the wheel drive based on the position of the ball to move it to a position where the ball exists, and controls the interval adjusting unit based on the size of the ball to adjust the distance between the pair of ball receiving members. It can be characterized as

and a contact sensor provided on the upper surface of the ball receiving member to sense the quantity of balls collected on the upper surface of the ball receiving member; and a ball ball driving unit for adjusting the angle of the ball receiving unit, wherein when the quantity measured by the contact sensor exceeds a preset quantity, the control unit controls the ball receiving driving unit to provide the ball receiving member It may be characterized in that the collected balls are moved toward the conveyor belt.

In addition, it may be characterized in that it further comprises a plurality of anti-skid bars disposed on the surface of the conveyor belt spaced apart from each other at a specific distance in the driving direction.

A second object of the present invention is a method of operating a ball recovery machine for recovering balls scattered on the ground in front, in which the wheels provided on the lower side of the air collection machine are driven to move to a position where the balls to be recovered are present. ; Step of collecting the balls seated on the upper part of the ball receiving unit of the ball receiving unit coupled to the front lower end of the guide body; moving the ball-receiving driving unit to the conveyor belt installed between the lower ends of both side surfaces of the guide body by driving the ball-receiving driving unit to move the balls collected to the upper part of the ball-receiving member; and a belt driving unit driving the conveyor belt to collect the balls into the air collection box inner space by the conveyor belt.

In the moving step, the vision system acquires photographing data by photographing the front side, the image analysis unit analyzes the position and size of the ball based on the photographed data, and the control unit drives the wheel based on the position of the ball It can be characterized in that by controlling the move to the position where the ball exists.

And the collecting step may be characterized in that the control unit controls the distance adjusting unit to adjust the size of the ball to adjust the interval between the pair of ball receiving members.

In addition, it may be characterized in that it further comprises the step of detecting the quantity of balls collected by the contact sensor provided on the upper surface of the ball receiving member on the upper surface of the ball receiving member.

And in the step of moving to the conveyor belt, when the quantity measured by the contact sensor exceeds a preset quantity, the control unit controls the ball driving unit to move the balls collected in the ball receiving member to the conveyor belt side. It can be characterized by controlling.

In addition, when the storage mode is switched after the ball collection is completed, the ball receiving unit is folded toward the guide body by the ball receiving driving unit, and both sides of the guide body hinged to the lower end of the inner surface of the air collecting box are connected to the guide body driving unit. It may be characterized in that it is cheolcheop inside the air collection box by the.

According to the wirelessly controlled ball collecting machine and its operating method according to an embodiment of the present invention, the position of the balls to be collected is detected by an object recognition sensor so that they are automatically moved to the retrieved position, and the size and type of the balls to be collected are recognized. Thus, it has the effect of collecting balls of various sizes by automatically adjusting the spacing between the pair of ball receiving members.

According to the wirelessly controlled ball collecting machine and its operating method according to an embodiment of the present invention, when the number of balls collected through the ball receiving member is detected and the set quantity is exceeded, the collected balls are moved to the conveyor belt side, and then the conveyor belt It has the effect of being able to recover the ball in the air bin by driving it.

And, according to the wirelessly controlled ball collecting machine and its operating method according to the embodiment of the present invention, after the recovery mode is finished, both the guide body and the ball receiving unit can be folded and folded into the air collecting box, so there is little space restriction during storage. There is this.

On the other hand, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. will be able

The following drawings attached to the present specification illustrate preferred embodiments of the present invention, and serve to further understand the technical spirit of the present invention together with the detailed description of the present invention, so that the present invention is limited only to the matters described in those drawings and should not be interpreted.
1 is a perspective view of an air collection device according to Korean Patent Registration No. 10-1718743;
2 is a perspective view of a tennis ball collecting device according to Korean Patent Application Laid-Open No. 10-2010-0018120;
3 is a side cross-sectional view of a tennis ball collecting device according to Patent Registration No. 10-1132001;
4 is a perspective view of an automatic tennis ball collector of Patent Publication 10-2018-0091416;
5 is a perspective view of a radio-controlled ball recovery device according to an embodiment of the present invention;
6 is a perspective view of a radio-controlled ball collector in a storage mode according to an embodiment of the present invention;
7 is a block diagram showing a signal flow of a control unit according to an embodiment of the present invention;
8A and 8B are a partial perspective view of a ball receiving unit in which an angle is changed by an angle adjusting unit according to an embodiment of the present invention to adjust an interval therebetween;
9A and 9B are perspective views of a state in which a ball is recovered to a ball receiving unit according to an embodiment of the present invention;
10 is a perspective view of a state in which a ball recovered according to an embodiment of the present invention is moved to a collection box by a conveyor belt;
11 is a perspective view of a state in which the ball receiving unit and the guide body are folded after collection is complete;
12 is a flowchart illustrating a method of operating a wirelessly controlled ball collecting machine according to an embodiment of the present invention.

The above objects, other objects, features and advantages of the present invention will be easily understood through the following preferred embodiments in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed subject matter may be thorough and complete, and that the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In this specification, when a component is referred to as being on another component, it means that it may be directly formed on the other component or a third component may be interposed therebetween. In addition, in the drawings, the thickness of the components is exaggerated for effective description of the technical content.

Embodiments described herein will be described with reference to cross-sectional and/or plan views, which are ideal illustrative views of the present invention. In the drawings, thicknesses of films and regions are exaggerated for effective description of technical content. Accordingly, the shape of the illustrative drawing may be modified due to manufacturing technology and/or tolerance. Therefore, embodiments of the present invention are not limited to the specific form shown, but also include changes in the form generated according to the manufacturing process. For example, the region shown at right angles may be rounded or have a predetermined curvature. Accordingly, the regions illustrated in the drawings have properties, and the shapes of the illustrated regions in the drawings are intended to illustrate specific shapes of regions of the device and not to limit the scope of the invention. In various embodiments of the present specification, terms such as first, second, etc. are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another. Embodiments described and illustrated herein also include complementary embodiments thereof.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, the terms 'comprises' and/or 'comprising' do not exclude the presence or addition of one or more other components.

In describing the specific embodiments below, various specific contents have been prepared to more specifically describe the invention and help understanding. However, a reader having enough knowledge in this field to understand the present invention may recognize that it can be used without these various specific details. In some cases, it is mentioned in advance that parts that are commonly known and not largely related to the invention are not described in order to avoid confusion without any reason in describing the present invention.

Hereinafter, the configuration, function, and operation method of the radio-controlled ball collecting machine 100 according to an embodiment of the present invention will be described.

First, Figure 5 shows a perspective view of the radio-controlled ball collecting machine 100 according to an embodiment of the present invention. And Figure 6 is a perspective view of the radio-controlled ball collecting machine 100 in the storage mode according to an embodiment of the present invention. 7 is a block diagram illustrating a signal flow of the control unit 60 according to an embodiment of the present invention.

The wirelessly controlled ball collecting machine 100 according to an embodiment of the present invention is for collecting the balls scattered on the ground in front, and as shown in FIGS. 5 to 7 , the air collection box 10 and the guide body 20 ), the conveyor belt 30, the belt driving unit 32, it can be seen that it can be configured to include the ball receiving unit (40).

The air collection box 10 has a different storage capacity depending on the size of the inner space 11 of the body part, and the wheels 1 are formed on the lower side to be movable, and to store the recovered balls in the inner space 11 . is composed And, an open surface is formed in the front.

The guide body 20 is configured on both sides, and the rear bottom of these side surfaces is hinged with the lower inner surface of the open surface of the air collection box 10 .

And the conveyor belt 30 is installed between the lower ends of both sides of the guide body 20 , and is driven by the belt driving unit 32 .

In addition, the conveyor belt 30 includes a plurality of anti-skid bars 31 arranged to be spaced apart from each other at a specific distance in the driving direction, so as to prevent omission of the transferred ball.

In addition, the ball receiving unit 40 is coupled to the front lower hinge of the guide body 20, and is configured so that the ball can be seated in the dust tray manner to the upper part when the ball is retrieved.

Therefore, after the balls scattered on the ground are seated on the upper surface of the ball receiving unit 40 and collected, the collected balls are moved to the conveyor belt 30, and then, by driving the conveyor belt 30, the air collecting box 10 inside It is returned to the space (11).

And as shown in FIG. 6, both sides of the guide body 20 are hinged to the lower end of the inner surface of the air-collection box 10, and are folded and folded into the air-collection box 10 in storage mode. It can be seen that each of the side members 41 of the guide body 20 is hinged to the front lower end of both sides of the guide body 20 so that it can be maintained in a folded state toward the guide body 20 in the storage mode.

Also, the ball receiving unit 40 includes a plurality of ball receiving members 42 provided between the side members 41 , and is configured so that the balls can be collected on the ball receiving member 42 .

Specifically, the ball receiving member 42 is composed of two to have an interval between them, the balls are collected at the interval, and includes a spacing adjusting unit 43 for adjusting the interval according to the diameter of the balls.

8A and 8B are views showing a partial perspective view of the ball receiving unit 40 in which the interval is adjusted by changing the angle by the angle adjusting unit according to the embodiment of the present invention. As shown in FIGS. 8A and 8B , the interval adjusting unit 43 is configured as an angle adjusting unit, and it can be seen that the interval can be controlled by adjusting the angle of the ball receiving member 42 .

In addition, as shown in FIG. 7 , the wirelessly controlled ball collector 100 according to an embodiment of the present invention may include an object recognition sensor 50 for detecting balls positioned in front. And, the control unit 60 controls the wheel driving unit 12 based on the data measured by the object recognition sensor 50 to move the ball to a position where it exists.

More specifically, the object recognition sensor 50 according to an embodiment of the present invention includes a vision system 51 that acquires photographing data by photographing the front side, and image analysis that analyzes the position and size of a ball based on the photographed data Part 52 may be included.

Accordingly, the control unit 60 controls the wheel driving unit 12 based on the position of the ball to move the ball to the position where the ball exists, and controls the spacing adjusting unit 43 based on the analyzed size of the ball to control the pair of balls. The spacing between the receiving members 42 is adjusted.

In addition, the wirelessly controlled ball collecting machine 100 according to an embodiment of the present invention includes a contact sensor 44 provided on the upper surface of the ball receiving member 42 to detect the number of balls collected on the upper surface of the ball receiving member 42. can do. The touch sensor 44 may be a sensor for recognizing a contact, a tactile sensor, a force sensor, a weight sensor, or the like. And it may further include a; ball-receiving driving unit for adjusting the angle of the ball-receiving unit (40). 9A and 9B are perspective views illustrating a state in which the ball is recovered by the ball receiving unit 40 according to an embodiment of the present invention.

Therefore, when the quantity measured by the contact sensor 44 exceeds a preset quantity (for example, when the ball comes into contact with the entire upper surface of the ball receiving member 42), the control unit 60 controls the ball driving unit Thus, the balls collected in the ball receiving member 42 are moved to the conveyor belt 30 side.

10 is a perspective view of a state in which the balls recovered according to an embodiment of the present invention are moved to the air collection box 10 by the conveyor belt 30 . As shown in FIG. 10 , when the ball-receiving drive unit is controlled to move the balls collected in the ball-receiving member 42 toward the conveyor belt 30 , the belt driving unit 32 is operated to attach the ball to the conveyor belt 30 . By this, the balls are returned to the air collection box (10). And when the collection is completed, the ball receiving unit 40 is folded through the ball receiving drive unit, and the guide body driving unit 21 is driven, and the guide body 20 is folded toward the air collection box 10 side to switch to the storage mode. . 11 is a perspective view showing a state in which the ball receiving unit 40 and the guide body 20 are folded after the collection is completed.

12 is a flowchart illustrating a method of operating the wirelessly controlled ball collecting machine 100 according to an embodiment of the present invention. The operation method of the ball collecting machine 100 for collecting the balls scattered on the ground in front is, first, the wheel 1 provided on the lower side of the air collecting box 10 of the empty collecting machine 100 is driven so that the balls to be recovered are present. will be moved to position.

Specifically, the vision system 51 acquires photographing data by photographing the front side (S1), and the image analysis unit 52 recognizes the position of the ball based on the photographed data (S2), and operates the wheel drive unit 12 Controlled to move the ball to the existing position (S3).

And the image analysis unit 52 analyzes the type and size of the ball (S4), and the control unit 60 controls the spacing adjusting unit 43 based on the size of the ball to adjust the size of the pair of ball receiving members 42. The interval is adjusted (S5).

And, on the upper part of the ball receiving member 42 of the ball receiving unit 40 coupled to the front lower end of the guide body 20, the balls are seated in a dustpan manner and collected.

At this time, the contact sensor 44 provided on the upper surface of the ball receiving member 42 detects the quantity of balls collected on the upper surface of the ball receiving member 42 (S7).

And, when the quantity measured by the contact sensor 44 exceeds the preset quantity (S8), the control unit 60 controls the ball-receiving driving unit to transfer the balls collected to the ball-receiving member 42 to the conveyor belt 30 ) to move to the side (S9).

Then, the ball bearing driving unit is driven to move the balls collected to the upper portion of the ball receiving member 42 toward the conveyor belt 30 installed between the lower ends of both sides of the guide body 20 (S10), and the belt driving unit 32 is the conveyor By driving the belt 30, the balls are recovered to the inner space 11 of the air collection box 10 by the conveyor belt 30 (S11).

This process is continued until the ball collection is completed (S12).

And when the empty collection is completed, the storage mode is switched (S13). That is, the ball receiving unit 40 is folded toward the guide body 20 side by the ball receiving driving unit, and both sides of the guide body 20 hinged to the lower end of the inner surface of the air collection box 10 are the guide body driving unit 21 ) to be iron-clad into the air collection box 10 by the.

In addition, in the apparatus and method described above, the configuration and method of the above-described embodiments are not limitedly applicable, but all or part of each embodiment is selectively combined so that various modifications can be made to the embodiments. may be configured.

1: wheel
10: Airlift box
11: Internal space
12: wheel drive
20: guide body
21: guide body drive unit
30: conveyor belt
31: anti-skid bar
32: belt drive unit
40: ball unit
41: side member
42: ball receiving member
43: gap adjustment unit
44: contact sensor
50: object recognition sensor
51: vision system
52: image analysis unit
60: control unit
100: wireless control ball recovery machine

Claims (15)

In the ball recovery machine for recovering the balls scattered on the ground in front,
A ball collection box with wheels formed on the lower side and configured to be movable, the balls recovered in the inner space are stored, and an open surface is formed in the front;
a guide body coupled to the open surface of the air collection box and having both sides;
a conveyor belt installed between the lower ends of both sides of the guide body;
a belt driving unit for driving the conveyor belt; and
Including; a ball receiving unit coupled to the front lower end of the guide body, on which the ball is seated on the upper part when the ball is retrieved;
After the balls scattered on the ground are seated on the upper surface of the ball receiving unit and collected, the collected balls are moved to the conveyor belt, and then are recovered to the inner space of the air collection box by driving the conveyor belt,
Both sides of the guide body are hinged to the lower end of the inner surface of the air-collection box, and are configured to be folded into the air-collection box in storage mode, and each of the side members of the ball-receiving unit is hinged to the front lower end of both sides of the guide body. In mode, it is maintained in a folded state toward the guide body,
The ball receiving unit includes a plurality of ball receiving members provided between the side members, and the balls are collected on the ball receiving member,
The ball receiving member is composed of two so as to have an interval between them, the balls are collected at the interval between them, and a space control unit for adjusting the interval according to the diameter of the balls. .
delete delete delete The method of claim 1,
an object recognition sensor for detecting the balls located in the front; and
A control unit for moving the ball to a position where the ball exists by controlling the wheel drive based on the data measured by the object recognition sensor.
6. The method of claim 5,
The object recognition sensor includes a vision system that acquires photographing data by photographing the front side, and an image analysis unit that analyzes the position and size of the ball based on the photographed data.
7. The method of claim 6,
The control unit controls the wheel drive based on the position of the ball to move it to a position where the ball exists, and controls the interval adjusting unit based on the size of the ball to adjust the distance between the pair of ball receiving members A radio controlled ball recovery machine, characterized in that.
8. The method of claim 7,
a contact sensor provided on the upper surface of the ball receiving member to detect the quantity of balls collected on the upper surface of the ball receiving member; and
Further comprising; a ball receiving drive for adjusting the angle of the ball receiving unit;
When the quantity measured by the contact sensor exceeds a preset quantity, the control unit controls the ball holder driving unit to move the balls collected in the ball holder member toward the conveyor belt. .
The method of claim 1,
Wirelessly controlled ball collecting machine, characterized in that it further comprises a plurality of anti-skid bars disposed on the surface of the conveyor belt spaced apart from each other at a specific distance in the driving direction.
In the operation method of the ball recovery machine to recover the balls scattered on the ground in front,
a step of driving a wheel provided on the lower side of the air collection box of the empty collection machine to move it to a position where the balls to be recovered exist;
Step of collecting the balls seated on the upper part of the ball receiving unit of the ball receiving unit coupled to the front lower end of the guide body;
moving the ball-receiving driving unit to the side of the conveyor belt installed between the lower ends of both side surfaces of the guide body by driving the ball-receiving driving unit to move the balls collected to the upper part of the ball-receiving member; and
Including; by a belt driving unit driving the conveyor belt, and collecting the balls into the air collection box inner space by the conveyor belt;
In the moving step, the vision system acquires photographing data by photographing the front side, the image analysis unit analyzes the position and size of the ball based on the photographed data, and the control unit drives the wheel based on the position of the ball Control and move the ball to the existing position,
In the collecting step, the control unit controls the distance adjusting unit to adjust the size of the ball to adjust the distance between the pair of ball receiving members.
delete delete 11. The method of claim 10,
The method of operating a wirelessly controlled ball collecting machine, characterized in that it further comprises the step of detecting, by a contact sensor provided on the upper surface of the ball receiving member, the number of balls collected on the upper surface of the ball receiving member.
14. The method of claim 13,
The step of moving toward the conveyor belt is,
When the quantity measured by the contact sensor exceeds a preset quantity, the control unit controls the ball holder driving unit to control the balls collected in the ball holder member to be moved to the conveyor belt side. how it works.
15. The method of claim 14,
After completing the ball collection, when changing the storage mode,
The ball receiving unit is folded toward the guide body by the ball receiving driving unit, and both sides of the guide body hinged to the lower end of the inner surface of the air collecting box are hinged into the air collecting box by the guide body driving unit, characterized in that How to operate a radio controlled ball recovery machine.

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