CN104801023B - Ball picker of tennis picks up ball system and method - Google Patents
Ball picker of tennis picks up ball system and method Download PDFInfo
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- CN104801023B CN104801023B CN201510229859.4A CN201510229859A CN104801023B CN 104801023 B CN104801023 B CN 104801023B CN 201510229859 A CN201510229859 A CN 201510229859A CN 104801023 B CN104801023 B CN 104801023B
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Abstract
Ball system and method is picked up the invention discloses a kind of ball picker of tennis, this, which picks up ball system, includes：Central processing unit, for receiving the measurement data of infrared distance sensor, and sends movement instruction according to related data to drive system；Vision system, at least including three infrared distance measuring sensors and A/D converter circuit, position and distance for measuring tennis；Drive system, realizes speed change and the turning for the walking process for picking up ball machine under the driving of CPU；Ball picking up device, is made up of two degrees of freedom mechanical arm and servo driving circuit, completes to press from both sides ball, dribble and put ball using two degrees of freedom mechanical arm to act, pass through the present invention, the tennis dropped on tennis court can be found automatically, the full-automation that tennis picks up ball process is realized, and save human resources.
Description
Technical field
The present invention relates to a kind of ball picker of tennis, what more particularly to a kind of intelligent tennis ball picked up ball machine picks up ball system and side
Method.
Background technology
Ball work is picked up in past, tennis training in large-scale tennis tournament or usually has manpower completion mostly.For side
Just ball is picked up, occurs in that a class hand propelled tennis picks up ball car in the market.It is such pick up ball car for auto-manual system, it is necessary to operating personnel
Tennis is picked up ball car to shift onto near tennis, then completes to pick up ball action by the ball machine structure of picking up for picking up ball car.It is such that to pick up ball machine relatively pure
It is pure artificial to pick up ball and improved in efficiency.
At present, hand propelled tennis pick up ball car weak point it is as follows：
A. volume greatly and again, picks up ball machine more clumsy relative to intellectuality.Both wasting space, influenceed trainer to play ball again
(sportsman is inconvenient to play ball during it picks up ball).
B. artificial operation is needed, picking up ball machine relative to intellectuality wastes unnecessary time and muscle power.If configuration is special
The ball picker person of door then wastes human resources.
C. the more situation of ground ball is only applicable to, but sportsman can be influenceed to play ball more than the ball of ground.Ground ball it is few when then
It is not necessary to pick up ball car with above-mentioned.Therefore, its suitable environment relatively limits to.
D. full automation, the intellectuality for picking up ball process is not implemented.
The content of the invention
To overcome the shortcomings of that above-mentioned prior art is present, what the purpose of the present invention was to provide a kind of ball picker of tennis picks up ball
System and method, it saves the time that ball is picked up in tennis training by one intelligence of offer, the ball picker of tennis of full automation
With muscle power, efficient, the intellectuality for picking up ball process are realized, provides more convenient to tennis fan, improves tennis training
Efficiency.
In view of the above and other objects, the present invention propose a kind of ball picker of tennis pick up ball system, including：
Central processing unit, for receiving the measurement data of infrared distance sensor, and according to related data to drive system
Send movement instruction；
Vision system, at least including three infrared distance measuring sensors and A/D converter circuit, the position for measuring tennis
With distance；
Drive system, realizes speed change and the turning for the walking process for picking up ball machine under the driving of CPU；
Ball picking up device, is made up of two degrees of freedom mechanical arm and servo driving circuit, completes to press from both sides using two degrees of freedom mechanical arm
Ball, dribble and put ball action.
Further, the vision system at least includes three infrared distance measuring sensors and A/D converter circuit, wherein one
Individual infrared distance measuring sensor is arranged on the centre position picked up immediately ahead of ball machine, and another two infrared distance measuring sensor is arranged on and picked up
Both sides immediately ahead of ball machine.
Further, the setting height(from bottom) of middle infrared distance measuring sensor be less than tennis diameter, left and right two-way it is infrared
Line distance measuring sensor is identical with the height of middle infrared distance measuring sensor, between the infrared distance measuring sensor of left and right two-way
Spacing is more than tennis diameter.
Further, the central processing unit is by controlling the servo driving circuit to control the steering wheel of the mechanical arm.
To reach above-mentioned purpose, the present invention also provides a kind of ball picking method of ball picker of tennis, comprised the following steps：
Step one, when tennis is picking up when picking up ball scope of ball machine, middle infrared distance measuring sensor is measured and tennis
Distance, and central processing unit is delivered to after being carried out A/D conversions；
Step 2, central processing unit obtains the signal of the infrared distance measuring sensor, and it is compared with setting value,
Dependent instruction is sent to drive system according to comparative result；
Step 3, left and right two-way infrared distance measuring sensor is started working, and will be delivered to after testing result progress A/D conversions
Central processing unit；
Step 4, central processing unit judges whether tennis is picking up position to the left or to the right in front of ball machine, and according to judgement
As a result position adjustment is carried out to picking up ball machine, is located at tennis and picks up immediately ahead of ball machine；
Step 5, when tennis is in setting range, driving ball picking up device carries out picking up ball action.
Further, before step 5, also comprise the following steps：
Middle infrared distance measuring sensor measures the distance for picking up ball machine and tennis again, is adjusted by micro- advance or micro- retrogressing
The whole distance with tennis, until the two distance is in the range of setting.
Further, in step 5, when tennis is in setting range, mechanical arm reaches setpoint distance, closes gripper
Catch tennis；Capture after tennis, mechanical arm is retracted into setting position, and opens gripper, and tennis is dropped in appearance ball device.
Further, in step 2, if the distance measured is more than setting higher limit, driving is picked up ball machine and walked forward,
If this distance is less than preset lower limit, picks up ball machine driving and walk backward, until this distance is within the scope of setting.
Further, in step 4, if left/right infrared distance measuring sensor detects tennis, driving pick up ball machine to
Right/left turns, and until left and right, infrared distance measuring sensor all can't detect tennis.
Further, the mechanical arm by two mechanical arm steering wheels control.One of servos control mechanical arm is stretched
Contracting, the folding of another control machine machinery claw, by controlling the anglec of rotation of steering wheel, the distance of stretch out and draw back and gripper of control machinery arm
Folding degree.
Compared with prior art, a kind of ball system and method for picking up of ball picker of tennis of the invention uses infrared distance measuring technology
The visual performance of intelligent ball collecting machine is realized, the track route control for picking up ball machine is realized with microprocessors such as single-chip microcomputers, with four
The drive system of individual direct current generator composition realizes the walking for picking up ball machine and real time position feedback, is realized with mechanical arm and picks up ball
The ball of picking up of machine is acted, and can be completed the automatic of tennis and be picked work, can conveniently pick up the tennis being scattered on tennis court, save people
Power resource.
Brief description of the drawings
Fig. 1 is a kind of system architecture diagram for picking up ball system of ball picker of tennis of the invention；
Fig. 2 is the structural representation for picking up ball system of present pre-ferred embodiments；
Fig. 3 is the drive circuit schematic diagram of steering wheel in present pre-ferred embodiments；
Fig. 4 is a kind of step flow chart of the ball picking method of intelligent network ball machine of the invention；
Fig. 5 be present pre-ferred embodiments in pick up ball machine work flow chart；
Fig. 6 is the control flow chart of mechanical arm in present pre-ferred embodiments.
Embodiment
Below by way of specific instantiation and embodiments of the present invention are described with reference to the drawings, those skilled in the art can
Understand the further advantage and effect of the present invention easily by content disclosed in the present specification.The present invention can also pass through other differences
Instantiation implemented or applied, the various details in this specification also can based on different viewpoints with application, without departing substantially from
Various modifications and change are carried out under the spirit of the present invention.
Fig. 1 is a kind of system architecture diagram for picking up ball system of ball picker of tennis of the invention.As shown in figure 1, the present invention is a kind of
Ball picker of tennis picks up ball system, including：Central processing unit 10, vision system 20, drive system 30 and ball picking up device 40.
Wherein, central processing unit 10 is used for receiving the measurement data of infrared distance sensor, and according to related data to drive
Dynamic system sends movement instruction；Vision system 20 at least includes three infrared distance measuring sensors and A/D converter circuit, wherein one
Individual infrared distance measuring sensor is arranged on the centre position picked up immediately ahead of ball machine, and its height is less than the diameter of tennis to detect
To tennis, another two infrared distance measuring sensor is arranged on both sides and the first identical height, both sides picked up immediately ahead of ball machine
Two sensors between spacing be slightly larger than tennis diameter；Drive system 30 is by the way of two-wheel drive, the wheel of left and right
Respectively by two DC motor Drivers, it can be achieved to pick up speed change and the turning of the walking process of ball machine, ball picking up device 40 is free by two
Mechanical arm and servo driving circuit composition are spent, folder ball is completed using two degrees of freedom mechanical arm, dribble and puts ball action, tennis is pressed from both sides
To holding in ball device, single-chip microcomputer is by control flaps drive circuit come the steering wheel of control machinery arm.
In present pre-ferred embodiments, the visual performance for picking up ball machine is realized using infrared distance measuring sensor, with straight
Flow motor to drive the wheel for picking up ball machine to realize its walking function, the ball of picking up for completing to pick up ball machine with mechanical arm is acted, this three part
Coordination control is carried out by single-chip microcomputer, the analog signal that infrared distance measuring sensor is measured is conveyed to single-chip microcomputer after AD conversion, it is single
Piece machine sends corresponding instruction according to the signal of conveying to the steering wheel of direct current generator or mechanical arm, makes to pick up ball machine adjustment self-position
Or ball action is picked up in execution.
Fig. 2 is the structural representation for picking up ball system of present pre-ferred embodiments.The wherein infrared distance measuring of vision system
The analog signal that sensor is measured is conveyed to single-chip microcomputer after A/D converter circuit, and single-chip microcomputer is according to the signal of conveying to direct current generator
Or the steering wheel of mechanical arm sends corresponding instruction, make to pick up ball machine adjustment self-position or perform to pick up ball action.
In the present invention, the control of mechanical arm is substantially the control of two mechanical arm steering wheels.One of servos control
Flexible, the folding of another control machine machinery claw of mechanical arm.By controlling the anglec of rotation of steering wheel, the telescopic distance of control machinery arm
From the folding degree with gripper.Pick the tennis dropped so that just can control mechanical arm and the tennis found is put into
Hold in ball device.Assuming that the control machinery arm of steering wheel 1 flexible, the folding of the control machine machinery claw of steering wheel 2.When initial, mechanical arm is reduced to pole
Extreme position, gripper opens up into extreme position.During ball is entirely picked up, when ball action is picked up in mechanical arm execution, the work of steering wheel
Flow is that steering wheel 1 reaches tennis position from home position, then gripper closure gripping tennis.It is added to after tennis, mechanical arm contracting
Rong Qiuqi top is returned to, then gripper opens, tennis is dropped in appearance ball device.
In present pre-ferred embodiments, single-chip microcomputer output pwm signal controls steering wheel.Fig. 3 is preferably implemented for the present invention
The drive circuit schematic diagram of steering wheel in example.PWM enters drive circuit BA6688 12 pin.Its cycle is 20ms, and pulsewidth is
0.5ms-2.5ms.Pwm signal and internal pulses are compared.Signal of the H bridges drive motor based on pulse stretching.Direct current is inclined
It is the voltage difference Voltage Feedback by comparing acquisition to put the demodulation potentiometer after voltage, and BA66898 passes through 3 according to the voltage difference
The pwm signal of pin conveying gives motor-drive circuit BAL6686 motor rotatings, and motor rotation, driving potentiometer rotates,
Cause voltage be compared after difference be 0, motor stop.
Fig. 4 is a kind of step flow chart of the ball picking method of intelligent network ball machine of the invention.In the present invention, picking up ball process is
Picking up after ball machine searches out tennis and walk close to tennis, picking up position of the ball machine adjustment relative to tennis, and gripping tennis, put
To the process for holding ball device.As shown in figure 4, a kind of ball picking method of intelligent network ball machine of the invention, comprises the following steps：
Step 401, when tennis is picking up when picking up ball scope of ball machine, the infrared distance measuring sensing of the centre immediately ahead of ball machine is picked up
Device measures the distance with tennis, and delivers to central processing unit after being carried out A/D conversions.
Step 402, central processing unit obtains the signal of the infrared distance measuring sensor, and it is compared with setting value
Compared with sending dependent instruction to drive system according to comparative result.Specifically, if this distance is more than setting higher limit, ball is picked up
Machine is walked forward, if this distance be less than preset lower limit, pick up ball machine and walk backward, until this distance setting scope it
It is interior.
Step 403, the infrared distance measuring sensor positioned at both sides is started working, and testing result is carried out after A/D conversions
Deliver to central processing unit；
Step 404, central processing unit judges whether tennis is picking up position to the left or to the right in front of ball machine, and according to judgement
As a result position adjustment is carried out to picking up ball machine, is located at tennis and picks up immediately ahead of ball machine.Specifically, if the infrared ray positioned at both sides is surveyed
Away from sensor, one of them detects tennis, then illustrates that tennis is picking up position to the left or to the right in front of ball machine, now, mechanical arm
When reaching extreme position, ball can not be successfully pressed from both sides, therefore need to control to pick up ball machine adjustment self-position, makes two infrared distance measuring biographies
Sensor all can't detect tennis, now, and tennis, which is located at, to be picked up immediately ahead of ball machine, and mechanical arm, which reaches extreme position, can successfully press from both sides ball.
And after gripping tennis, mechanical arm is recovered to after extreme position, release mechanism pawl, tennis can be dropped in appearance ball device just.
Step 405, the distance for picking up ball machine and tennis is measured again positioned at middle infrared distance measuring sensor, before micro-
Enter or micro- distance retreated to adjust with tennis, until the two distance is in the range of setting；
Step 406, when tennis is in setting range, mechanical arm reaches setpoint distance, and closure gripper catches tennis；Crawl
After tennis, mechanical arm is retracted into setting position, and opens gripper, and tennis is dropped in appearance ball device.
Fig. 5 be present pre-ferred embodiments in pick up ball machine work flow chart.First, positioned at the infrared ray picked up in front of ball machine
Distance measuring sensor can measure and pick up the distance between ball machine and tennis.Single-chip microcomputer receives the signal of distance measuring sensor, and by signal
Dependent instruction is sent to kinematic system compared with setting value, and according to comparative result, if as illustrated, this distance is more than setting
Higher limit, then pick up ball machine and walk forward；If this distance is less than preset lower limit, picks up ball machine and walk backward, until this distance exists
Within the scope of setting.
Afterwards, started working positioned at the sensor for picking up both sides immediately ahead of ball machine.If the sensor in left side detects tennis,
Illustrate that tennis is picking up the position of side to the left immediately ahead of ball machine, picking up ball machine can turn right；If the sensor on right side detects tennis,
Illustrate that tennis is picking up the position of side to the right immediately ahead of ball machine, picking up ball machine can turn left.Until left and right two, sensor is all detected not
To tennis, now illustrate that tennis is in the centre position in the front for picking up ball machine.
Then, the distance for picking up ball machine and tennis can be measured again positioned at middle sensor, pass through micro- advance or micro- retrogressing
To adjust the distance with tennis, in the range of the setting of the two distance.Now, pick up ball machine and complete itself relative to tennis pose
Adjustment.
Finally, mechanical arm start execution pick up ball action.When tennis is in setting range, mechanical arm reaches setpoint distance, closes
When closing gripper, tennis can be caught just.Capture after tennis, mechanical arm is retracted into setting position, and opens gripper, tennis
It can drop in appearance ball device.The present invention relates to pick up ball end-of-job.
Fig. 6 is the control flow chart of mechanical arm in present pre-ferred embodiments.The control of mechanical arm is substantially two machines
The control of tool arm steering wheel.Flexible, the folding of another control machine machinery claw of one of servos control mechanical arm.Pass through control flaps
The anglec of rotation of machine, the distance of stretch out and draw back of control machinery arm and the folding degree of gripper.Picked up so that just can control mechanical arm
Take down the tennis fallen and the tennis found is put into appearance ball device.Assuming that the control machinery arm of steering wheel 1 flexible, the control machine of steering wheel 2
The folding of machinery claw.When initial, mechanical arm is reduced to extreme position, and gripper opens up into extreme position.During ball is entirely picked up, machine
When ball action is picked up in the execution of tool arm, the workflow of steering wheel reaches tennis position for steering wheel 1 from home position, and then gripper is closed
Grip tennis.It is added to after tennis, mechanical arm is retracted into Rong Qiuqi top, then gripper opens, and tennis drops to Rong Qiuqi
In.
In summary, a kind of ball system and method for picking up of ball picker of tennis of the invention is realized using infrared distance measuring technology
The visual performance of intelligent ball collecting machine, the track route control for picking up ball machine is realized with microprocessors such as single-chip microcomputers, with four direct currents
The drive system of motor composition realizes the walking for picking up ball machine and real time position feedback, is realized with mechanical arm and picks up picking up for ball machine
Ball is acted, and can be completed the automatic of tennis and be picked work, can conveniently pick up the tennis being scattered on tennis court, save manpower money
Source.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.Any
Art personnel can be modified above-described embodiment and changed under the spirit and scope without prejudice to the present invention.Therefore,
The scope of the present invention, should be as listed by claims.
Claims (8)
1. a kind of ball picker of tennis picks up ball system, including：
Central processing unit, for receiving the measurement data of infrared distance sensor, and sends according to related data to drive system
Movement instruction；
Vision system, at least including three infrared distance measuring sensors and A/D converter circuit, for measure the position of tennis with away from
From；One of infrared distance measuring sensor is arranged on the centre position picked up immediately ahead of ball machine, another two infrared distance measuring sensing
Device is arranged on the both sides picked up immediately ahead of ball machine；The setting height(from bottom) of middle infrared distance measuring sensor is less than tennis diameter, left and right
The infrared distance measuring sensor of two-way is identical with the height of middle infrared distance measuring sensor, and the infrared distance measuring of left and right two-way is passed
Spacing between sensor is more than tennis diameter；
Drive system, realizes speed change and the turning for the walking process for picking up ball machine under the driving of CPU；
Ball picking up device, is made up of two degrees of freedom mechanical arm and servo driving circuit, and folder ball, fortune are completed using two degrees of freedom mechanical arm
Ball is acted with ball is put.
2. a kind of as claimed in claim 1 ball picker of tennis picks up ball system, it is characterised in that：The central processing unit passes through
The servo driving circuit is controlled to control the steering wheel of the mechanical arm.
3. a kind of ball picking method for picking up ball system of ball picker of tennis as described in claim 1~2 any one, including it is as follows
Step：
Step one, when tennis is picking up when picking up ball scope of ball machine, middle infrared distance measuring sensor measures the distance with tennis,
And deliver to central processing unit after being carried out A/D conversions；
Step 2, central processing unit obtains the signal of the infrared distance measuring sensor, and it is compared with setting value, according to
Comparative result sends dependent instruction to drive system；
Step 3, left and right two-way infrared distance measuring sensor is started working, and will deliver to center after testing result progress A/D conversions
Processor；
Step 4, central processing unit judges whether tennis is picking up position to the left or to the right in front of ball machine, and according to judged result
Position adjustment is carried out to picking up ball machine, is located at tennis and picks up immediately ahead of ball machine；
Step 5, when tennis is in setting range, driving ball picking up device carries out picking up ball action.
4. the ball picking method for picking up ball system of ball picker of tennis as claimed in claim 3, it is characterised in that：Step 5 it
Before, also comprise the following steps：
Middle infrared distance measuring sensor measures the distance for picking up ball machine and tennis again, by it is micro- advance or it is micro- retrogressing come adjust with
The distance of tennis, until the two distance is in the range of setting.
5. the ball picking method for picking up ball system of ball picker of tennis as claimed in claim 4, it is characterised in that：In step 5,
When tennis is in setting range, mechanical arm reaches setpoint distance, and closure gripper catches tennis；After crawl tennis, mechanical arm
Setting position is retracted into, and opens gripper, tennis is dropped in appearance ball device.
6. the ball picking method for picking up ball system of ball picker of tennis as claimed in claim 5, it is characterised in that：In step 2,
If the distance measured is more than setting higher limit, driving is picked up ball machine and walked forward, if this distance is less than preset lower limit, picks up ball
Machine driving is walked backward, until this distance is within the scope of setting.
7. the ball picking method for picking up ball system of ball picker of tennis as claimed in claim 5, it is characterised in that：In step 4,
If left/right infrared distance measuring sensor detects tennis, driving pick up ball machine to the right/turn left, until left and right infrared distance measuring is passed
Sensor all can't detect tennis.
8. the ball picking method for picking up ball system of ball picker of tennis as claimed in claim 5, it is characterised in that：The mechanical arm by
The control of two mechanical arm steering wheels, one of servos control mechanical arm it is flexible, the folding of another control machine machinery claw passes through
Control the anglec of rotation of steering wheel, the distance of stretch out and draw back of control machinery arm and the folding degree of gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510229859.4A CN104801023B (en) | 2015-05-07 | 2015-05-07 | Ball picker of tennis picks up ball system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510229859.4A CN104801023B (en) | 2015-05-07 | 2015-05-07 | Ball picker of tennis picks up ball system and method |
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| Publication Number | Publication Date |
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| CN104801023A CN104801023A (en) | 2015-07-29 |
| CN104801023B true CN104801023B (en) | 2017-07-28 |
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| CN201510229859.4A Expired - Fee Related CN104801023B (en) | 2015-05-07 | 2015-05-07 | Ball picker of tennis picks up ball system and method |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105833484A (en) * | 2016-06-13 | 2016-08-10 | 天津工业大学 | Wireless charging intelligent tennis ball picking trolley and control method thereof |
| CN106075843B (en) * | 2016-08-01 | 2018-01-05 | 安徽工程大学机电学院 | A kind of ball picker of tennis |
| CN107137890A (en) * | 2016-09-27 | 2017-09-08 | 五邑大学 | A kind of intelligent tennis ball pickup robot based on image recognition |
| CN106730683A (en) * | 2016-12-30 | 2017-05-31 | 浙江大学 | Automatic picking up table tennis ball robot based on TensorFlow |
| CN106730684A (en) * | 2017-01-03 | 2017-05-31 | 上海量明科技发展有限公司 | Flight formula ball picking up device and its pick method |
| CN106730685A (en) * | 2017-01-09 | 2017-05-31 | 上海电力学院 | Tennis identification based on sensor instrument distance, automatic picking machine people |
| CN108074265A (en) * | 2017-12-29 | 2018-05-25 | 思博赛睿（北京）科技有限公司 | A kind of tennis alignment system, the method and device of view-based access control model identification |
| CN108434688B (en) * | 2018-05-11 | 2023-11-03 | 萍乡学院 | Service robot for shot game |
| CN109849012B (en) * | 2019-03-12 | 2020-12-11 | 张洋 | Football robot and method for capturing infrared football by football robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202637866U (en) * | 2012-04-13 | 2013-01-02 | 上海电机学院 | Intelligent tennis ball pickup machine |
| CN104027967B (en) * | 2013-03-07 | 2016-04-06 | 马键 | A kind of adopt photo-voltaic power supply intelligent ball collecting, service and cleaning device |
| WO2014174341A1 (en) * | 2013-04-24 | 2014-10-30 | Lelli Adriano | Ball collecting device |
| CN103341255B (en) * | 2013-07-15 | 2015-04-01 | 兰州理工大学 | Intelligent ball picking system based on visual identification and multi-sensor data fusion |
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