CN107224710A - A kind of shuttlecock venue automatically picking up balls system based on the rest period - Google Patents

A kind of shuttlecock venue automatically picking up balls system based on the rest period Download PDF

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Publication number
CN107224710A
CN107224710A CN201710469716.XA CN201710469716A CN107224710A CN 107224710 A CN107224710 A CN 107224710A CN 201710469716 A CN201710469716 A CN 201710469716A CN 107224710 A CN107224710 A CN 107224710A
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CN
China
Prior art keywords
venue
shuttlecock
rest period
image
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710469716.XA
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Chinese (zh)
Inventor
瑁村嘲
裴峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Yu Bin Sports Technology Co Ltd
Original Assignee
Anhui Yu Bin Sports Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anhui Yu Bin Sports Technology Co Ltd filed Critical Anhui Yu Bin Sports Technology Co Ltd
Priority to CN201710469716.XA priority Critical patent/CN107224710A/en
Publication of CN107224710A publication Critical patent/CN107224710A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
    • A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
    • A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
    • A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
    • A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
    • A63B2047/022—Autonomous machines which find their own way around the playing surface
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
    • A63B2102/04—Badminton

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

The invention discloses a kind of shuttlecock venue automatically picking up balls system based on the rest period, the system includes：Judge module, for judging whether current time belongs to the rest period；Real scene image acquisition module, for when judge module sentences current time and belongs to the rest period, obtaining venue floor image；Pretreatment module, for being pre-processed to venue floor image, obtains venue pretreatment image；Path planning module, shuttlecock route is picked up for obtaining venue pretreatment image mesoptile ball position, and picking up ball according to the planning of feather ball position；Ball module is picked up in walking, is picked up shuttlecock route for basis and is walked, and is picked to picking up the shuttlecock on shuttlecock route.

Description

A kind of shuttlecock venue automatically picking up balls system based on the rest period
Technical field
Picked up automatically the present invention relates to sports equipment technical field, more particularly to a kind of shuttlecock venue based on the rest period Ball system.
Background technology
It is the sports popularized very much in China's badminton, it is deep to be liked by numerous people.As people give birth to The flat raising of running water, more people enter shuttlecock venue and carry out badminton, in shuttlecock venue, there is the training of air exercise , there is single batting training, have what service was trained, have and carry out badminton game, during shuttlecock is carried out, particularly When single batting training and service training, the shuttlecock being largely scattered occurs on venue bottom plate, in the venue rest period, manually Picking these balls needs to bend over or squat down to pick up ball, for height high people, the elderly or the bad staff of waist-leg, Even can be because repeatedly bending over to pick up ball and waist and leg ache, many people ignore these balls, and venue recruits special work Cost of labor is improved again to pick up ball as personnel.
The content of the invention
The technical problem existed based on background technology, the present invention proposes a kind of shuttlecock venue based on the rest period certainly It is dynamic to pick up ball system；
A kind of shuttlecock venue automatically picking up balls system based on the rest period proposed by the present invention, including：
Judge module, for judging whether current time belongs to the rest period；
Real scene image acquisition module, for when judge module sentences current time and belongs to the rest period, obtaining venue floor Image；
Pretreatment module, for being pre-processed to venue floor image, obtains venue pretreatment image；
Path planning module, is planned for obtaining venue pretreatment image mesoptile ball position, and according to feather ball position Pick up ball and pick up shuttlecock route；
Ball module is picked up in walking, is picked up shuttlecock route for basis and is walked, and to picking up the shuttlecock on shuttlecock route Picked.
Preferably, the pretreatment module, specifically for：
Increase contrast processing is carried out to venue floor image；
Gray proces are carried out to the venue floor image after increase contrast processing, venue pretreatment image is obtained.
Preferably, the path planning module, specifically for：
Obtain the gray value Q of each pixel in the image of venue floor1…Qn；
By Q1…QnWith default gray value Q0It is compared, works as Qi＞ Q0When, judge that the pixel position is pre- for venue Image mesoptile ball position is handled, wherein, QiRepresent the gray value of ith pixel point；
Shuttlecock route is picked up according to all feather ball position planning in venue pretreatment image.
Preferably, the real scene image acquisition module includes multiple real scene image acquisition submodules, any one real scene image Acquisition submodule at least includes an infrared video camera, for obtaining venue floor image.
Preferably, the judge module, specifically for：The rest period can be edited by user.
Preferably, in addition to module is manually set, and real scene image acquisition module, during for adjusting current manually for user Between be the rest period.
The present invention is by judging whether current time belongs to the rest period, when judge module, which sentences current time, belongs to rest Duan Shi, obtains venue floor image, then venue floor image is pre-processed, and obtains venue pretreatment image, obtains venue Pretreatment image mesoptile ball position, and plan that picking up ball picks up shuttlecock route according to feather ball position, then basis picks up shuttlecock Route is walked, and is picked to picking up the shuttlecock on shuttlecock route.In this way, in the rest period, it is intelligent to field The shuttlecock being scattered in shop on floor carries out picking up ball, it is not necessary to which user carries out picking up ball, increases the Consumer's Experience of user, improves venue Competitiveness, while reducing the cost of labor of special ball picker person, achieve many things at one stroke.
Brief description of the drawings
Fig. 1 illustrates for a kind of module of shuttlecock venue automatically picking up balls system based on the rest period proposed by the present invention Figure.
Embodiment
Reference picture 1, a kind of shuttlecock venue automatically picking up balls system based on the rest period proposed by the present invention, including：
Judge module, for judging whether current time belongs to the rest period；Wherein, the rest period can be compiled by user Volume；
Module is manually set, is the rest period for adjusting current time manually for user with real scene image acquisition module.
In concrete scheme, venue staff presets the rest period, and judge module obtains current time, and judges current Whether the time belongs to the rest period, further, and the manually adjustable current time of venue staff is the rest period.
Real scene image acquisition module, for when judge module sentences current time and belongs to the rest period, obtaining venue floor Image；Wherein, real scene image acquisition module includes multiple real scene image acquisition submodules, any one real scene image acquisition submodule At least include an infrared video camera, for obtaining venue floor image.
In concrete scheme, when judging current time for the rest period, by multiple infrared video cameras, with obtaining venue Plate image.
Pretreatment module, for being pre-processed to venue floor image, obtains venue pretreatment image, specifically for： Increase contrast processing is carried out to venue floor image；Venue floor image after increase contrast processing is carried out at gray scale Reason, obtains venue pretreatment image.
In concrete scheme, because the color of Venues Environment and shuttlecock is possible to close, so to venue floor figure As carrying out increase contrast processing, the difference of increase Venues Environment and shuttlecock, to the venue floor after increase contrast processing Image carries out gray proces, by the colour removal of each pixel in image, retains gray value.
Path planning module, is planned for obtaining venue pretreatment image mesoptile ball position, and according to feather ball position Pick up ball and pick up shuttlecock route, specifically for：Obtain the gray value Q of each pixel in the image of venue floor1…Qn；By Q1…QnWith Default gray value Q0It is compared, works as Qi＞ Q0When, judge the pixel position for venue pretreatment image mesoptile ball position Put, wherein, QiRepresent the gray value of ith pixel point；Plumage is picked up according to all feather ball position planning in venue pretreatment image Ball top route.
In concrete scheme, obtain the gray value of each pixel in the image of venue floor, by the gray value of each pixel with Default gray value is compared, so that it is determined that feather ball position, shuttlecock route is picked up further according to feather ball position planning.
Ball module is picked up in walking, is picked up shuttlecock route for basis and is walked, and to picking up the shuttlecock on shuttlecock route Picked.
In concrete scheme, picked according to shuttlecock route is picked up to picking up the shuttlecock on shuttlecock route, completion pair The shuttlecock that is scattered in venue on floor is picked.
Present embodiment is sentenced current time by judging whether current time belongs to the rest period, when judge module and belonged to not When ceasing the period, venue floor image is obtained, then venue floor image is pre-processed, venue pretreatment image is obtained, obtains Venue pretreatment image mesoptile ball position, and plan that picking up ball picks up shuttlecock route according to feather ball position, then basis picks up plumage Ball top route is walked, and is picked to picking up the shuttlecock on shuttlecock route.In this way, in the rest period, it is intelligent The shuttlecock being scattered on floor in venue is carried out picking up ball, it is not necessary to which user carries out picking up ball, increases the Consumer's Experience of user, improves The competitiveness of venue, while reducing the cost of labor of special ball picker person, achieves many things at one stroke.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.

Claims (6)

1. a kind of shuttlecock venue automatically picking up balls system based on the rest period, it is characterised in that including：
Judge module, for judging whether current time belongs to the rest period；
Real scene image acquisition module, for when judge module sentences current time and belongs to the rest period, obtaining venue floor image；
Pretreatment module, for being pre-processed to venue floor image, obtains venue pretreatment image；
Path planning module, ball is picked up for obtaining venue pretreatment image mesoptile ball position, and according to the planning of feather ball position Pick up shuttlecock route；
Ball module is picked up in walking, is picked up shuttlecock route for basis and is walked, and is carried out to picking up the shuttlecock on shuttlecock route Pick.
2. the shuttlecock venue automatically picking up balls system according to claim 1 based on the rest period, it is characterised in that described Pretreatment module, specifically for：
Increase contrast processing is carried out to venue floor image；
Gray proces are carried out to the venue floor image after increase contrast processing, venue pretreatment image is obtained.
3. the shuttlecock venue automatically picking up balls system according to claim 1 based on the rest period, it is characterised in that described Path planning module, specifically for：
Obtain the gray value Q of each pixel in the image of venue floor1…Qn；
By Q1…QnWith default gray value Q0It is compared, works as Qi＞ Q0When, judge that the pixel position pre-processes for venue Image mesoptile ball position, wherein, QiRepresent the gray value of ith pixel point；
Shuttlecock route is picked up according to all feather ball position planning in venue pretreatment image.
4. the shuttlecock venue automatically picking up balls system according to claim 1 based on the rest period, it is characterised in that described Real scene image acquisition module includes multiple real scene image acquisition submodules, and any one real scene image acquisition submodule at least includes one Individual infrared video camera, for obtaining venue floor image.
5. the shuttlecock venue automatically picking up balls system according to claim 1 based on the rest period, it is characterised in that described Judge module, specifically for：The rest period can be edited by user.
6. the shuttlecock venue automatically picking up balls system according to claim 1 based on the rest period, it is characterised in that also wrap Include and manually set module, be the rest period for adjusting current time manually for user with real scene image acquisition module.
CN201710469716.XA 2017-06-20 2017-06-20 A kind of shuttlecock venue automatically picking up balls system based on the rest period Pending CN107224710A (en)

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CN201710469716.XA CN107224710A (en) 2017-06-20 2017-06-20 A kind of shuttlecock venue automatically picking up balls system based on the rest period

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Application Number Priority Date Filing Date Title
CN201710469716.XA CN107224710A (en) 2017-06-20 2017-06-20 A kind of shuttlecock venue automatically picking up balls system based on the rest period

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108115938A (en) * 2017-11-16 2018-06-05 芜湖林电子科技有限公司 A kind of 3D printing raw material automatic recovery system
CN108115937A (en) * 2017-11-16 2018-06-05 芜湖林电子科技有限公司 A kind of 3D printing impurity method for cleaning based on Image Acquisition

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CN101898027A (en) * 2010-08-10 2010-12-01 刘峰 Automatic ping pong ball picking device
CN102614641A (en) * 2012-03-15 2012-08-01 上海电力学院 Intelligent integrated tennis ball picking robot
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CN205886118U (en) * 2016-06-13 2017-01-18 天津工业大学 Tennis dolly is picked up to wireless intelligence of charging
CN106422223A (en) * 2016-08-31 2017-02-22 成都市和平科技有限责任公司 Intelligent robot system for spherical object recycling and method

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Publication number Priority date Publication date Assignee Title
CN101898027A (en) * 2010-08-10 2010-12-01 刘峰 Automatic ping pong ball picking device
CN102614641A (en) * 2012-03-15 2012-08-01 上海电力学院 Intelligent integrated tennis ball picking robot
CN102908763A (en) * 2012-10-19 2013-02-06 广东工业大学 Automatic ball pick-up robot
CN104162259A (en) * 2014-08-06 2014-11-26 浙江神耀运动器材有限公司 Tennis ball picking device
WO2016138012A1 (en) * 2015-02-25 2016-09-01 Eletrabi Haitham Dual functional robot and storage bin
CN204709727U (en) * 2015-05-29 2015-10-21 济南大学 A kind of device automatically picking up tennis based on Bluetooth control
CN205886118U (en) * 2016-06-13 2017-01-18 天津工业大学 Tennis dolly is picked up to wireless intelligence of charging
CN106422223A (en) * 2016-08-31 2017-02-22 成都市和平科技有限责任公司 Intelligent robot system for spherical object recycling and method

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108115938A (en) * 2017-11-16 2018-06-05 芜湖林电子科技有限公司 A kind of 3D printing raw material automatic recovery system
CN108115937A (en) * 2017-11-16 2018-06-05 芜湖林电子科技有限公司 A kind of 3D printing impurity method for cleaning based on Image Acquisition

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Application publication date: 20171003