TWI729499B - Intelligent ball retrieving system and method for retrieving ball - Google Patents

Abstract

The invention provides intelligent ball retrieving system and method for retrieving ball, which composed of moving device on the body, Mecanum Wheel of the body rotates by using the moving device in order to let the body move and search location of the ball, the ball retrieving device retrieves the ball when the body moves to the location thereof. Accordingly, the location of the ball can be automatically searched via image tracking and controls the body to move toward the ball via straight motion or traverse motion and then retrieves the ball so the users can retrieve the ball respectively without spending time and effort after sports training, and improves the efficiency of training. Further, using Mecanum Wheel to move the body can retrieve the ball comprehensively in a predetermined area with faster speed.

Description

Smart ball picking system and ball picking method

The present invention relates to a smart ball picking system and a ball picking method, in particular to a method that can automatically search for the position of a ball through image detection, and control the body to move to the searched ball position, so as to pick up and collect the ball. After the ball sports training, the user does not need to spend time and physical strength to pick up and collect the balls one by one, which can greatly save time and physical strength, increase the efficiency of ball sports training, and make a reservation faster A comprehensive collection of spheres in the area, and more practical functional characteristics in its overall implementation and use.

According to the improvement of living standards, people pay more and more attention to exercise through sports, and various ball sports, such as tennis, golf, baseball, etc., can not only achieve the effects of leisure and fitness, but also Let the people who engage in ball games achieve the purpose of relaxing physically and mentally and effectively relieve stress, making more and more people love to engage in all kinds of ball games.

As far as tennis training is concerned, it is a sport that is very suitable for men, women, old and young. In the process of tennis training, due to the desire to emphasize training efficiency and avoid wasting time on picking up tennis balls, all A lot of tennis balls will be used for training. After the training is completed, the tennis balls will be picked up and stored manually.

However, the work of picking up balls is a heavy physical labor. After training, tennis players consume a lot of physical energy. They take a tired body to face the tennis balls on the floor. Picking them up one by one is time-consuming and time-consuming. It consumes a lot of physical strength and energy for athletes. The commonly used ball picking tools generally use tennis rackets and brooms. However, due to the small size and easy rolling of tennis balls, the broom sweeps to an area, or the tennis rackets one by one. The collection mode is not very effective; in addition, there are also vertical-cylinder manual ball pickers, whose ball picking efficiency is also not high, and it takes a lot of time.

For this reason, an "automatic ball picking machine" published on June 21, 105, No. I538717, was developed on the market, which is mainly based on a body with a drive wheel and a power supply on the body. The power required for the rotation of the driving wheel body is provided with a controller on the body. The controller is electrically connected to the driving wheel body and the power source. In addition, a ball picking mechanism is provided on the front end of the body and corresponding to the ball picking up on the body. The rear of the mechanism is provided with a ball collecting mechanism; among them: the controller is provided with a processing unit, and a driving unit is connected to the processing unit, so that the driving unit is connected with the driving wheel of the machine body, and the processing unit is connected with a counter A sensing unit, the counting sensing unit is used to make the ball touch during the ball picking process to calculate the number of balls picked up; the ball picking mechanism is arranged on the shaft and pivoted with a number of clamps, and in each clamp There are elastic elements between the flaps, so that the flaps are clamped on the shaft. The upper part keeps rotating synchronously, and the stretching force of the elastic element is used to keep the distance between the clamping pieces consistent with the sphere to be clamped. In addition, there is a pusher corresponding to the upper part of each clamping piece, so that the top can be used. The pusher pushes the ball outwards into the ball collecting mechanism for centralized storage, and the counting and sensing unit of the controller is respectively arranged on the end surface of each pusher in contact with the ball.

Of course, although the above-mentioned "automatic ball picking machine" can achieve the expected effect of automatically picking up and collecting the balls, it is also found in the actual implementation and use process that the structure makes the machine body follow the preset travel route of the processing unit of the controller. As a result, it cannot actively detect the location of the sphere, and it takes more time to pick up all the spheres in the preset travel route, resulting in improvements in the overall structure design. Of space.

The reason is that, in view of this, the inventor upholds many years of rich experience in design, development and actual production in the related industry, and researches and improves the existing structure and deficiencies, providing a smart ball picking system and ball picking method, in order to achieve better practicality The purpose of value.

The main purpose of the present invention is to provide a smart ball picking system and ball picking method, which can automatically search for the position of the ball through image detection, and control the machine body to the searched ball position through the straight or horizontal movement of the mecanum wheel Move to pick up and collect the balls, so that users do not need to spend time and energy to pick up and collect the balls one by one after ball sports training, which can greatly save time, physical energy and increase the use of balls. The efficiency of physical exercise training. Moreover, the mecanum wheel is used to move the body, which can quickly and comprehensively collect the spheres in a predetermined area, and it is more practical and functional in its overall implementation.

The main purpose and effect of the smart ball picking system of the present invention are achieved by the following specific technical means: it mainly includes organisms, mobile devices and ball picking devices; among them: the body has corresponding mecanums on both sides Wheel [Mecanum wheel], which enables the body to move straight and horizontally, and at least one end of the circumference of the body is provided with a support frame; the moving device is arranged on the body, the moving device is provided with a control unit, and the control unit is connected There is an image recognition unit, and an image capturing unit is connected to the image recognition unit for capturing images. The image recognition unit is used to recognize the image captured by the image capturing unit, so that the image capturing unit is installed in the image capturing unit. On the support frame of the machine body, a correspondingly connected steering power source and a swing power source are provided between the support frame and the image capturing unit, and the steering power source and the swing power source are both connected to the control unit, respectively The steering power source and the swing power source are used to control the image capturing unit to turn left and right and swing up and down. In addition, a distance sensing unit is provided on the support frame to detect the distance between the obstacle and the obstacle, so that the distance is sensed. The tester is connected to the control unit, and the control unit is connected with a wheel control power source, the wheel control power source is connected with the mecanum wheel of the machine body, and the wheel control power source is used to drive the microphone The Nam Wheel rotates; In the ball picking device, an assembly frame is provided at the outer end of the support frame corresponding to the body, two corresponding rollers are pivoted on both sides of the assembly frame, and a number of connecting rods are connected between the peripheral edges of the two rollers , The distance between the two connecting rods is slightly smaller than the diameter of the ball to be picked up, and a sensor is provided in the ball picking device, and the sensor is connected to the control unit of the mobile device for When the sensor senses that a ball enters the ball picking device, the sensor can send a signal to the control unit.

In a preferred embodiment of the smart ball picking system of the present invention, the Mecanum gear train is arranged in the circumferential direction of the center wheel and a circle of independent planetary wheels inclined at 45 degrees, so that the planetary wheel can control the center wheel The straight speed is decomposed into two directions, X and Y.

In a preferred embodiment of the smart ball picking system of the present invention, the image recognition unit is a Pixy image recognition sensor.

In a preferred embodiment of the smart ball picking system of the present invention, the distance sensing unit is provided with a front distance sensor, a left distance sensor, and a right distance sensor respectively, so that the front distance sensor and the left Both the distance sensor and the right distance sensor are connected to the control unit.

In a preferred embodiment of the smart ball picking system of the present invention, the distance sensor is either an infrared sensor or an ultrasonic sensor.

In a preferred embodiment of the smart ball picking system of the present invention, the control unit is connected with a wireless transmission unit, and APP software is installed on the smart terminal device to wirelessly connect with the wireless transmission unit, so that the user can directly connect to the smart terminal device Manual operation.

The main purpose and effect of the ball picking method of the smart ball picking system of the present invention are achieved by the following specific technical means: It includes the ball picking machine as described in item 1 of the scope of patent application, so that the image can be captured The unit captures the front image, and the image captured by the image capture unit is transmitted to the image recognition unit to recognize whether there is a sphere. If the image recognition unit does not recognize a sphere, the control connected to the image recognition unit The unit then controls the wheel body to control the power source to drive the Mecanum wheel to rotate, so that the body moves forward a preset distance, and then the control unit to control the steering power source and the swing power source to drive the image capture unit to turn left and right. And swing up and down to allow the image capturing unit to capture the image again and transmit it to the image recognition unit to identify whether there is a sphere. If there is still no sphere, the distance sensing unit connected to the control unit will detect Measure the distance to the obstacle. When the distance between the distance sensing unit and the obstacle is less than the preset value, the control unit will control the wheel body to control the power source to drive the mecanum wheel to run horizontally. Move to avoid the obstacle, and make the control unit control the wheel body control power source to drive the mecanum wheel to rotate, so that the body moves forward a preset distance so that the image capturing unit can capture again The image is captured and transmitted to the image recognition unit to identify whether there is a sphere; and when the image recognition unit recognizes that there is a sphere in the image captured by the image capture unit, the image capture unit will determine the direction of the sphere, And make the control unit control the wheel body control power source to drive the mecanum wheel to rotate, so that the body moves toward the sphere. When the body moves to the position corresponding to the sphere, the body will drive the pick-up The ball device presses over the ball, so that the ball is squeezed into the ball picking device from the gap between the two connecting rods, so that the ball is stored in the ball picking device, and the ball enters the ball picking device When the device is installed, the sensor will sense the entry of the sphere. At this time, the sensor will transmit a signal to the control unit to make the control unit accumulate the number of spheres entered and continue to search for the next sphere; When the cumulative number of balls entered into the ball picking device by the control unit reaches the preset value, it means that the balls contained in the ball picking device are full. At this time, it stops and waits for the user to take out the balls in the ball picking device. Recount.

In a preferred embodiment of the ball picking method of the smart ball picking system of the present invention, the distance sensing unit uses a front distance sensor, a left distance sensor, and a right distance sensor to detect the front, left, and The distance between obstacles on the right.

1: body

11: Mecanum round

111: center wheel

112: Planetary gear

12: Support frame

2: mobile device

21: control unit

22: Image recognition unit

23: Image capture unit

231: Steering power source

232: Swing Power Source

24: Distance sensing unit

241: Front Distance Sensor

242: left distance sensor

243: Right distance sensor

25: Wheel control power source

26: wireless transmission unit

3: ball picking device

31: Assembling frame

32: scroll wheel

33: connecting rod

34: Sensor

Figure 1: A schematic diagram of the three-dimensional structure of the present invention

Figure 2: Schematic diagram of the structure of the present invention

Figure 3: Top view structure diagram of the body of the present invention in a straight state

Figure 4: A schematic diagram of the top view structure of the machine body of the present invention in a horizontal state

Figure 5: A schematic diagram of the three-dimensional structure of the present invention in use

Figure 6: Schematic diagram of the operation flow of the present invention

In order to make a more complete and clear disclosure of the technical content, the purpose of the invention and the effects achieved by the present invention, we will explain them in detail below, and please refer to the figures and figure numbers disclosed together: first, please refer to The first figure is a schematic diagram of the three-dimensional structure of the present invention and the second figure is a schematic diagram of the structure of the present invention. The present invention includes an organism (1), a mobile device (2) and a ball picking device (3); among them: the body (1) ), which is provided with corresponding Mecanum wheels (11) on both sides, and the Mecanum wheel (11) is tied to the center wheel (111) in the circumferential direction and arranged a circle of independent, inclined 45 The planetary wheel (112) with a degree angle enables the planetary wheel (112) to decompose the straight travel speed of the center wheel (111) into two directions, X and Y, so that the body (1) can travel straight and horizontally (please add it again) Refer to Figure 3 for a schematic plan view of the machine body in a straight state of the present invention and Figure 4 for a schematic plan view of the machine body in a horizontal state of the present invention], and at least one end of the machine body (1) is provided with a support frame (12).

The mobile device (2) is arranged on the body (1), the mobile device (2) is provided with a control unit (21), and at least one image recognition unit (22) is connected to the control unit (21), the The image recognition unit (22) can be a Pixy image recognition sensor. An image capture unit (23) is connected to the image recognition unit (22) for capturing images, and the image recognition unit (22) is used for the image The image captured by the capturing unit (23) is identified, so that the image capturing unit (23) is set on the supporting frame (12) of the body (1), on the supporting frame (12) The steering power source (231) and the swing power source (232) are connected with the image capturing unit (23). The steering power source (231) and the swing power source (232) are all connected with the control The unit (21) is connected to use the steering power source (231) and the swing power source (232) to control the image capturing unit (23) to turn left and right and swing up and down, and the support frame (12) is also provided There is a distance sensing unit (24) for detecting the distance between obstacles, the distance sensing unit (24) is provided with a front distance sensor (241), a left distance sensor (242) and a right distance sensor respectively The sensor (243), the front distance sensor (241), the left distance sensor (242) and the right distance sensor (243) can be infrared sensors or ultrasonic sensors, so The front distance sensor (241), the left distance sensor (242), and the right distance sensor (243) are all connected to the control unit (21), and connected to the control unit (21). The wheel control power source (25), the wheel control power source (25) is connected to the mecanum wheel (11) of the machine body (1), and the wheel control power source (25) drives the mecanum The mu wheel (11) rotates, and the wireless transmission unit (26) is connected to the control unit (21) to install APP software on the smart terminal device so that the smart terminal device can communicate with the installed APP software after executing the installed APP software. The wireless transmission unit (26) makes a wireless connection, allowing the user to directly perform manual operations on the smart terminal device.

The ball picking device (3) is provided with an assembly frame (31) corresponding to the outer end of the support frame (12) of the body (1), and two corresponding ones are pivoted on both sides of the assembly frame (31) A roller (32), and a number is connected between the peripheries of the two rollers (32) The connecting rod (33), the distance between the two connecting rods (33) is slightly smaller than the diameter of the ball to be picked up, and the ball picking device (3) is provided with a sensor (34), the sensor The sensor (34) is connected to the control unit (21) of the mobile device (2), so that when the sensor (34) senses that a ball enters the ball picking device (3), the sensor (34) A signal can be sent to the control unit (21).

In this way, the present invention can be used in operation, please refer to the fifth schematic diagram of the use state of the present invention and the sixth schematic diagram of the use action flow of the present invention. The present invention can be selected by the user. Manual remote control operation or automatic ball picking. When the user chooses to operate in manual remote control mode, the smart terminal device executes the installed APP software and wirelessly connects to the wireless transmission unit (26), allowing The user directly performs manual operations on the smart terminal device to control the movement of the body (1) driven by the mobile device (2); when the user wants to automatically pick up the ball, the user can first use the smart terminal device to control Move the body (1) to a predetermined position to save the time of searching for the location of the ball, or let the user directly select the automatic ball picking step. At this time, the image capture unit (23) will capture the front The image captured by the image capturing unit (23) will be transmitted to the image recognition unit (22) to identify whether there is a sphere. If the image recognition unit (22) does not recognize a sphere, the control unit (21) Then the wheel control power source (25) is controlled to drive the mecanum wheel (11) to rotate, so that the body (1) moves forward a preset distance, and then the control unit (21) is Control the steering power source (231) and the swing power source (232) to drive the image capturing unit (23) to turn left and right and swing up and down, so that the image capturing unit (23) Capture the image again and transmit it to the image recognition unit (22) to identify whether there is a sphere. If there is still no sphere, the distance sensing unit (24) will detect the distance between the obstacle and the obstacle. Distance, using the front distance sensor (241), the left distance sensor (242), and the right distance sensor (243) to detect the distances to the front, left, and right obstacles, respectively. When the distance between the distance sensing unit (24) and the obstacle is less than the preset value, the control unit (21) will control the wheel control power source (25) to drive the mecanum wheel (11) Move horizontally to avoid the obstacle, and make the control unit (21) again control the wheel control power source (25) to drive the mecanum wheel (11) to rotate, so that the body (1) moves forward for a predetermined period of time. The distance is set so that the image capturing unit (23) can capture an image again and transmit it to the image recognition unit (22) to identify whether there is a sphere.

When the image recognition unit (22) recognizes that there is a sphere in the image captured by the image capture unit (23), the image capture unit (23) will determine the direction of the sphere and make the control unit (21) ) Control the wheel body to control the power source (25) to drive the Mecanum wheel (11) to move in the direction of the sphere. When the body (1) moves to the position corresponding to the sphere, the body (1) will drive the The ball picking device (3) presses over the ball, so that the ball is squeezed and enters the ball picking device (3) from the gap between the two connecting rods (33), so that the ball is stored in the ball picking device (3) In the device (3), and when the ball enters the ball picking device (3), the sensor (34) will sense the entry of the ball, and then the sensor (34) will transmit a signal to the control unit (21), let the control unit (21) accumulate the number of spheres entered, and Continue to search for the next ball; and when the control unit (21) accumulates the number of balls into the ball picking device (3) to reach the preset value, it means that the ball contained in the ball picking device (3) is full , Stop the action at this time and wait for the user to take out the balls in the ball picking device (3) to count again.

From the above, the description of the implementation of the present invention shows that, compared with the prior art, the present invention is mainly capable of automatically searching for the position of the sphere through image detection, and through the straight or horizontal movement of the mecanum wheel. , Control the body to move to the searched ball position to pick up and collect the ball, so that the user does not need to spend time and energy to pick up and collect the balls one by one after ball sports training, which can greatly save time The use of physical strength increases the efficiency of ball sports training. In addition, the mecanum wheel is used to move the body, which can quickly and comprehensively collect the ball in a predetermined area, and it is more practical and functional in its overall implementation. By.

However, the foregoing embodiments or drawings do not limit the product structure or usage mode of the present invention, and any appropriate changes or modifications by persons with ordinary knowledge in the relevant technical field should be regarded as not departing from the patent scope of the present invention.

In summary, the embodiments of the present invention can indeed achieve the expected use effect, and the specific structure disclosed by it has not been seen in similar products, nor has it been disclosed before the application, since it has fully complied with the provisions of the patent law. In accordance with the requirements, Yan filed an application for a patent for invention in accordance with the law, and asked for favors for examination and granted a patent.

1: body

11: Mecanum round

111: center wheel

112: Planetary gear

12: Support frame

2: mobile device

23: Image capture unit

231: Steering power source

232: Swing Power Source

24: Distance sensing unit

241: Front Distance Sensor

242: left distance sensor

243: Right distance sensor

25: Wheel control power source

3: ball picking device

31: Assembling frame

32: scroll wheel

33: connecting rod

Claims (8)

A smart ball picking system, which mainly includes an organism, a mobile device, and a ball picking device; among them: the body is provided with corresponding Mecanum wheels on both sides, so that the body can move straight and horizontally, At least one end of the periphery of the body is provided with a support frame; the mobile device is arranged on the body, the mobile device is provided with a control unit, the control unit is connected with an image recognition unit, and the image recognition unit is connected with an image The capturing unit is used to capture images, and the image recognition unit is used to recognize the image captured by the image capturing unit, so that the image capturing unit is set on the support frame of the body, between the support frame and the image Correspondingly connected steering power source and swing power source are provided between the capture units. Both the steering power source and the swing power source are connected to the control unit, and the steering power source and the swing power source are respectively used to control the image capture Take the unit to turn left and right and swing up and down. In addition, a distance sensing unit is provided on the support frame to detect the distance between the obstacle and the distance sensor, so that the distance sensor is connected to the control unit and then connected to the control unit. It is provided with a wheel control power source, the wheel control power source is connected with the mecanum wheel of the machine body, and the wheel control power source is used to drive the mecanum wheel to rotate; the ball picking device corresponds to The outer end of the support frame of the machine body is provided with an assembly frame, two corresponding rollers are pivoted on both sides of the assembly frame, and a number of connecting rods are connected between the peripheral edges of the two rollers. The spacing is slightly smaller than desired The diameter of the ball to be picked up, and a sensor is provided in the ball picking device, and the sensor is connected to the control unit of the mobile device, so that when the sensor senses that a ball enters the ball picking device, the The sensor can send a signal to the control unit. The smart ball picking system according to claim 1, wherein the mecanum gear train is arranged in the circumferential direction of the center wheel with a circle of independent planetary wheels inclined at an angle of 45 degrees, so that the planetary wheels can move the center wheel straight Speed is broken down into two directions, X and Y. The smart ball picking system of claim 1, wherein the image recognition unit is a Pixy image recognition sensor. The smart ball picking system according to claim 1, wherein the distance sensing unit is provided with a front distance sensor, a left distance sensor, and a right distance sensor, so that the front distance sensor and the left distance sensor Both the sensor and the right distance sensor are connected to the control unit. The smart ball picking system according to claim 1 or 4, wherein the distance sensor is either an infrared sensor or an ultrasonic sensor. The smart ball picking system of claim 1, wherein the control unit is connected with a wireless transmission unit, and APP software is installed on the smart terminal device to wirelessly connect with the wireless transmission unit, so that the user can directly perform manual operations on the smart terminal device operating. A ball picking method of a smart ball picking system includes a ball picking machine as described in item 1 of the scope of patent application, so that the image capture unit captures the front image, and the image The image captured by the image capture unit will be transmitted to the image recognition unit to identify whether there is a sphere. If the image recognition unit does not recognize a sphere, the control unit connected to the image recognition unit will control the wheel control power source Drive the mecanum wheel to rotate to move the body forward a preset distance, and then make the control unit control the steering power source and the swing power source to drive the image capturing unit to turn left and right and swing up and down to allow the image capture The capturing unit captures the image again and transmits it to the image recognition unit to identify whether there is a sphere. If there is still no sphere, then the distance sensing unit connected to the control unit will detect the distance to the obstacle. When the distance between the distance sensing unit and the obstacle is less than the preset value, the control unit will control the wheel control power source to drive the mecanum wheel to move horizontally to avoid the obstacle, and make The control unit again controls the wheel body to control the power source to drive the mecanum wheel to rotate, so that the body moves forward a predetermined distance so that the image capturing unit can capture images again and transmit them to the image recognition unit When the image recognition unit recognizes that there is a sphere in the image captured by the image capturing unit, the image capturing unit will determine the direction of the sphere and make the control unit control the wheel Control the power source to drive the mecanum wheel to rotate, allowing the body to move toward the sphere. When the body moves to the position corresponding to the sphere, the body will drive the ball picking device to press over the sphere, causing the sphere to be squeezed. Press and enter the ball picking device through the gap between the two connecting rods, so that the ball is stored in the ball picking device, and when the ball enters the ball picking device, the sensor will sense the ball Enter, at this time the sensor will transmit a signal to the control unit, making The control unit accumulates the number of spheres entered and continues to search for the next sphere; and when the cumulative number of spheres entered into the ball picking device by the control unit reaches the preset value, it means the ball contained in the ball picking device If it is full, stop the action and wait for the user to take out the balls in the ball picking device to count again. The ball picking method of the smart ball picking system of claim 7, wherein the distance sensing unit uses a front distance sensor, a left distance sensor, and a right distance sensor to detect the difference between the front, left, and right sides. The distance between obstacles.

Images