CN108211277A - A kind of table tennis intelligent ball collecting shared system and its application method - Google Patents
A kind of table tennis intelligent ball collecting shared system and its application method Download PDFInfo
- Publication number
- CN108211277A CN108211277A CN201810012052.9A CN201810012052A CN108211277A CN 108211277 A CN108211277 A CN 108211277A CN 201810012052 A CN201810012052 A CN 201810012052A CN 108211277 A CN108211277 A CN 108211277A
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- table tennis
- ball
- trolley
- myrio
- shared system
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- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
-
- 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
- A63B2102/16—Table tennis
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of table tennis intelligent ball collecting shared system, including trolley, the machine vision detection device being arranged on trolley, the ball collection device of roller, electric-motor drive device, obstacle avoidance apparatus, myRIO central control systems, power supply and obstacle avoidance apparatus；Machine vision detection device is used to acquire image, and image information is sent to myRIO central control systems；The ball collection device of roller is used to take in bead wherein and does not fall out out；Electric-motor drive device is used to that trolley to be driven to move；The barrier that obstacle avoidance apparatus is used for hiding surrounding provides guidance for trolley steering；Table tennis sharing means are ranked up it, and used for user for receiving the bead that trolley is collected into；MyRIO central control systems are responsible for controlling entire shared system；The present invention can find some short gaps, table bottom, the table tennis that is scattered, save cost of labor, improve the utilization rate of table tennis and realize the unmanned management of table tennis billiard-room.
Description
Technical field
The present invention relates to ball system is picked up, more particularly to a kind of table tennis intelligent ball collecting shared system and its application method.
Background technology
With the gradually popularization and application in each field and the continuous promotion of manpower use cost is automated at this stage, altogether
It is more popular to enjoy economy；Some present table tennis fields, ping-pong table intensive the features such as small there are place；If ball under table,
It will appear difficulty of bending over, influence whether that other people play ball what is more；Now it is badly in need of a kind of to solve with the shared system of intelligent ball collecting
The above problem.
Invention content
The technical problem to be solved in the present invention is to provide one kind quickly, accurately and reliably can detect and collect table tennis,
Manpower is reduced frequently to bend over to pick up the fatigue of ball, and the table tennis being collected into is put into sharing means and realizes shared table tennis intelligence
Ball shared system and its application method can be picked up.
In order to achieve the above objectives, technical scheme is as follows：
A kind of table tennis intelligent ball collecting shared system, the shared system include：
One trolley；
One is arranged on the machine vision detection device on trolley, and machine vision detection device will scheme for acquiring image
As information is sent to myRIO central control systems；
The one ball collection device of the roller being arranged on trolley, the ball collection device of roller are used to bead taking in it
In and do not fall out out；
One is arranged on the electric-motor drive device on trolley, and electric-motor drive device is used to that trolley to be driven to move；
One is arranged on the obstacle avoidance apparatus on trolley, and the barrier that obstacle avoidance apparatus is used for hiding surrounding provides finger for trolley steering
It leads；
One table tennis sharing means for receiving the bead that trolley is collected into, are ranked up it, and make for user
With；
One is arranged on the myRIO central control systems on trolley, and myRIO central control systems are responsible for the entire shared system of control
System；
One power supply.
In one embodiment of the invention, the machine vision detection device includes camera, and the camera on camera is used
Acquire surrounding table tennis image information, camera is connected to myRIO central control systems by USB, and by the image collected
Information is sent to myRIO central control systems to carry out the processing of image identification.
In one embodiment of the invention, the ball collection device of the roller is cylinder shape, and it includes an axle center
With two idler wheels, it is equidistantly equipped with elastic string between the rollers 27 and 28 so that table tennis can be entered collection by collection device gravity
Inside device, without dropping out collector.
In one embodiment of the invention, the electric-motor drive device includes two decelerating motors and two motors drive
Movable plate, motor driving plate are used for the driving of decelerating motor, and decelerating motor execution is sent treated from motor driving plate
Electric signal realizes rotating.
In one embodiment of the invention, the obstacle avoidance apparatus includes being arranged on the infrared sensing at left and right sides of trolley
Ultrasonic sensor before and after device and trolley, infrared sensor and ultrasonic sensor are respectively used to left and right directions obstacle with before
Rear direction obstacle.
In one embodiment of the invention, the table tennis sharing means include：
One babinet, babinet are used to store shared table tennis；
One display screen being arranged on babinet and swipe the card mouth, display screen for show the Quick Response Code of payment lease table tennis and
Person's advertisement；
One is arranged on the motor in babinet, and motor end is equipped with plectrum, and the table tennis being disposably put into order to prevent is excessive
Storage bulb road is blocked so having motor to drive plectrum in pipeline opening；
One table tennis recover, table tennis recover are used to the table tennis being collected into pouring into table tennis recover, rattle
Ball recover can allow table tennis to roll down in storage bulb road；
One storage bulb road, the storage bulb road plastic conduit more slightly larger than table tennis for the diameter of a bending, top and ground
Angle is larger, and lower part and ground angle are smaller, facilitates table tennis sequence and goes out ball；
One electronic switch, electronic switch carries out control and host computer there are one communicating by microcontroller, when host computer has ball
A ball mistake is just put during signal, all balls is avoided all to pour in ball mouth and are resulted in blockage；
One host computer；
One baffle, when electronic switch opening falls a ball, baffle opening releases ball, and table tennis is blocked when not having signal not
It is allowed to fall；
Babinet is equipped with ball mouth, and ball mouth is connected with storage bulb road.
In one embodiment of the invention, the myRIO central control systems are the arithmetic cores of whole system, it is
One embedded real time system, onboard number and analog port, can be programmed by labview；It will receive from camera, infrared
The signal of sensor and ultrasonic sensor is handled, and makes corresponding response；Furthermore it is dynamic that control motor makes steering
Make.
In one embodiment of the invention, steering engine is equipped with below the camera of the camera, servos control camera
The elevation angle is so as not to same angle acquisition table tennis image information.
In one embodiment of the invention, steering engine is equipped with below the ultrasonic sensor, servos control ultrasonic wave passes
The elevation angle of sensor controls the different directions of ultrasonic wave, the barrier judgment of used different directions.
A kind of application method of table tennis intelligent ball collecting shared system, the application method are as follows：
(1) it receives by radio communication after picking up ball instruction, the initialization of system, myRIO central control systems control camera
Camera rotate upwardly and downwardly, make camera and ground into 90 degree；
(2) camera sends collected table tennis image information to myRIO central control systems, the control of myRIO centers
System processed handles image information, for obtaining location information of the table tennis in picture；
(3) for trolley according to the location information of picture, itself, which is adjusted, makes headstock face rattle after obtaining location information
Ball；
(4) obstacle avoidance module judges ambient enviroment, if there is barrier just rotates, until not having barrier；
(5) advance to table tennis ball position, counted after ball enters the ball collection device of roller and carry out picking stream next time
Journey is filled until the ball collection device of roller；
(6) table tennis in the ball collection device of roller is put into table tennis sharing means, user is waited for use.
In one embodiment of the invention, the myRIO central control systems are handled image information specific
Method is：
(1) binaryzation is carried out to the pictorial information received, by the colour removal of table tennis, other colouring informations retain
Come；
(2) image of binaryzation is filtered, removal influences the pocket identified below；
(3) binaryzation region reversion is carried out, leaves the appearance information of table tennis；
(4) circular information in binary image is found, and obtains location information of the table tennis in picture.
In one embodiment of the invention, the use step of the table tennis sharing means is as follows：
(1) motor starts rotation 1 minute, until table tennis is all filled into storage bulb road or storage bulb road；
(2) user is by swiping the card or network typing information；
(3) microcontroller control electronic switch and baffle release a table tennis；
(4) user takes ball in ball mouth.
Through the above technical solutions, the beneficial effects of the invention are as follows：
The present invention is coordinated myRIO inter-process, is calculated misalignment angle, then sent out to motor using intelligent video camera head
Fine tuning instruction, makes bead and trolley obtain an appropriate relative position, so as to carry out picking up ball；If ultrasonic sensor in the process
Or infrared sensor detects obstacle, then preferentially carries out avoidance instruction；After having the trolley, manpower money can be greatlyd save
Source；The people of movement is graceful by all means after having played ball to go away, and trolley receives to pick up to perform automatically after ball instructs and picks up ball program and will receive
The table tennis collected is sent to sharing means so that next time uses；System has flexibly, light, small, the features such as sharing.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is shared system structure diagram of the present invention；
Fig. 2 is shared system structure diagram of the present invention；
Fig. 3 is table tennis sharing means internal structure chart of the present invention；
Fig. 4 is shared system work flow diagram of the present invention；
Corresponding component title of the number represented by with letter in figure：
100th, the ball collection device 400 of trolley 200, machine vision detection device 210, camera 300, roller, electricity
Motivation transmission device 410, decelerating motor 420, motor driving plate 500, obstacle avoidance apparatus 510, infrared sensor 520, ultrasound
Wave sensor 600, table tennis sharing means 610, babinet 620, display screen 630, mouth 640 of swiping the card, motor 641, plectrum
650th, table tennis recover 660, storage bulb road 670, electronic switch 680, baffle 690, ball mouth 700, myRIO centers
Control system 800, power supply 900, steering engine.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
Referring to shown in Fig. 1 to Fig. 3, the invention discloses a kind of table tennis intelligent ball collecting shared system, including trolley 100,
The machine vision detection device 200 that is arranged on trolley, is arranged on the ball collection device 300 of roller being arranged on trolley
Electric-motor drive device 400 on trolley, table tennis sharing means 600, is arranged on the obstacle avoidance apparatus 500 being arranged on trolley
MyRIO central control systems 700 and power supply 800 on trolley.
Machine vision detection device 200 is used to acquire image, and image information is sent to myRIO central control systems；
The ball collection device 300 of roller is used to take in bead wherein and does not fall out out；Electric-motor drive device 400 is used to drive
Dynamic trolley movement；The barrier that obstacle avoidance apparatus 500 is used for hiding surrounding provides guidance for trolley steering；Table tennis sharing means
600, for receiving the bead that trolley is collected into, are ranked up it, and used for user；MyRIO central control systems 700
It is responsible for the entire shared system of control.
Machine vision detection device 200 includes camera 210, and the camera on camera is used for acquiring surrounding table tennis image letter
Breath, camera are connected to myRIO central control systems, and the image collected information is sent to the control of myRIO centers by USB
System identifies to carry out the processing of image.
The ball collection device 300 of roller is cylinder shape, it includes an axle center and two idler wheels, between the rollers 27 and 28
It being spaced certain radian and is equidistantly equipped with elastic string so that table tennis can be entered by collection device gravity inside collection device, without
Collection device can be dropped out；The ball collection device 300 of roller is common table tennis ball collecting device, is not specifically described herein,
It as long as can be to detecting that table tennis is collected.
Electric-motor drive device 400 includes two decelerating motors 410 and two motor driving plates 420, and motor driving plate is used
In the driving of decelerating motor, it is connected to myRIO central control systems on one side to be connected on motor so that myRIO centers control system
System can be by I/O mouthful control motors rotating speed and direction, receive the data of motor encoder transmission to be precisely controlled trolley
Movement, such as the angle of steering；Ball picking robot rotating is can control using the rotating of two decelerating motors；Decelerating motor
The treated electric signal sent from motor driving plate is performed, reversion is such as rotated forward, the signal of grating is sent back to motor
Driving plate, to be sent to myRIO central control systems after its coding.
Obstacle avoidance apparatus 500 includes being arranged on the ultrasound before and after infrared sensor 510 and trolley at left and right sides of trolley
Wave sensor 520, infrared sensor 510 and ultrasonic sensor 520 are respectively used to left and right directions obstacle and front-rear direction obstacle；
Infrared sensor 510 can set the distance of inspection by the potentiometer on infrared sensor, be controlled by I/O mouthfuls to myRIO centers
System processed sends signal；MyRIO central control systems judge whether there is barrier according to the signal received；Ultrasonic sensor
520 its chip one piece 32 included and LED charactrons display distance；May be provided in the range of what by three buttons send it is assorted
Signal is connect with myRIO central control systems by I/O mouthfuls and coordinates following steering engine 900, and whether detectable different directions have
Obstacle.
Table tennis sharing means 600 include babinet 610, the display screen 620 being arranged on babinet 610 and mouth 630 of swiping the card, set
Put motor 640, table tennis recover 650, storage bulb road 660, electronic switch 670, host computer and baffle in babinet
680。
For babinet 610 for storing shared table tennis, babinet 610 is equipped with ball mouth 690, ball mouth 690 and storage bulb road 660
It connects, the table tennis fallen facilitates user to take ball in ball mouth 690；Display screen 620 pays the two of lease table tennis for showing
Tie up code and advertisement；Mouth 630 of swiping the card is used to pay the rental charge of table tennis and typing information；640 end of motor is equipped with plectrum
641, the table tennis being disposably put into order to prevent excessively blocks storage bulb road so having motor to drive plectrum in pipeline opening, normally
During work, when trolley, which is fully loaded with ball, returns to table tennis recover, host computer sends out signal control motor and drives plectrum work, so as to
Solve the problems, such as that ball excessively blocks storage bulb road；Table tennis recover 650 is used to the table tennis being collected into pouring into table tennis time
Device is received, table tennis recover has certain angle that table tennis can be allowed to roll down in storage bulb road；It is curved for one to store up bulb road 660
The diameter of the folding plastic conduit more slightly larger than table tennis, top and ground angle are larger, and lower part and ground angle are smaller, facilitate table tennis
Ball sorts and goes out ball；Electronic switch 670 carries out control and host computer there are one communicating by microcontroller, when host computer has ball signal
When just put a ball mistake, all balls is avoided all to pour in ball mouth and are resulted in blockage；
When electronic switch opening falls a ball, baffle opening releases ball, and blocking table tennis when not having signal does not allow it to fall
It falls.
MyRIO central control systems 700 are the arithmetic cores of whole system, it is an embedded real time system, onboard
Number and analog port, can be programmed by labview；It will receive from camera, infrared sensor and ultrasonic sensor
Signal handled, make corresponding response；Furthermore control motor makes go to action.
Steering engine 900 is equipped with below the camera of camera 210, steering engine 900 controls the elevation angle of camera so that different angle is adopted
Collect table tennis image information；520 lower section of ultrasonic sensor is equipped with steering engine 900, and steering engine 900 controls ultrasonic sensor 520
The elevation angle controls the different directions of ultrasonic wave, the barrier judgment of used different directions.
Power supply 800 is one piece of 12V rechargeable lithium battery, since myRIO central control system input voltage ranges are to allow
12v is inputted, and motor driving plate needs 12V voltages and 5V voltage outputs so power supply is respectively connected to the control of myRIO centers here
System and motor driving plate, then by the 5V power supplys that are exported in myRIO central control systems to 5V equipment for electric steering engine, red
Outer sensor etc..
The operation principle of shared system of the present invention is as follows：
First, the camera of camera substantially judges whether there is table tennis by changing the elevation angle to 90 degree perpendicular to the ground, if not having
Have, change trolley positive direction and judge that, if all directions do not have, trolley returns to designated position.
If having detected table tennis, then ball picking robot is moved near table tennis and is adjusted to camera relatively
60 degree of face is further detected, judges whether it is really to have ball again, if error detection, then reenter previous step, if detecting
Really there is table tennis, then finely tune the angle of ball picking robot, table tennis is made to be in the position that can pass through under ball picking robot, with
Just collector can enter pingpong collection；It is completed when picking up ball action, reenters the first step and detected whether ball.
Avoidance performs always in this process, no matter it is above-mentioned which action performing, detect barrier all can first by
Program halt, until avoidance is finished, without barrier, then progress normally picks up ball flow.
The specifically used method of table tennis intelligent ball collecting shared system of the present invention is as follows：
The situation of trolley before use is：The normal direction of advance of trolley is using camera as headstock, pingpong collection
Device is the tailstock, and the chassis height of vehicle is more than a table tennis diameter, when the ping-pong ball collector meeting of the trolley diameter tail portion of heading straight for over
Table tennis is rolled into.
(1) system is initialized, when opening trolley, 90 degree of the camera elevation angle and the ground of camera start to acquire image, and will
Image transmitting gives myRIO central control systems；
(2) whether there is table tennis in myRIO central control systems identification image, at this time since detection range is larger, so
It is possible that the situation of error detection；
(3) it if nothing, adjusts direction immediately ahead of vehicle body and turns again to (2) detection, if all directions do not have, program is stopped
Only, it if there is ball, then adjusts robot direction and walks close to table tennis；
(4) the camera elevation angle is adjusted to and 60 degree of ground；
(5) image detection is carried out again, judges whether there is table tennis；
(6) if not having, step (3) is returned to, if so, then carrying out in next step；
(7) fine tuned robot direction makes bead that can pass through under small vehicle body；
(8) trolley is gone ahead, by the ping-pong ball collector of trolley tail portion, by pingpong collection into ping-pong ball collector；
(9) step (3) is returned to；
(10) no matter perform which step always judges whether there is barrier；
(11) if there is barrier to perform avoidance；
(12) infrared sensor and ultrasonic sensor any one detect barrier, then it is assumed that have barrier；
(13) if only infrared sensor has barrier, low-angle deviates the one side for having obstacle；
(14) if ultrasonic sensor has detected barrier, i.e., there is a barrier in front, below ultrasonic sensor
Steering engine left-right rotary, which is turn 90 degrees, judges whether there is barrier；
(15) trolley steering there is not the direction of barrier；
(16) if not having barrier, restore to pick up the execution of ball program；
(17) if the trolley that full ball is picked up by counting returns to the table tennis to be recycled such as designated position；
(18) ball of recycling is put into sharing means, and user is waited for use.
MyRIO central control systems identify that the specific method of image is：
(1) binaryzation is carried out to the pictorial information received, by the colour removal of table tennis, other colouring informations retain
Come；
(2) image of binaryzation is filtered, removal influences the pocket identified below；
(3) binaryzation region reversion is carried out, leaves the appearance information of table tennis；
(4) circular information in binary image is found, and obtains location information of the table tennis in picture.
Shared system specific works step is as follows：
(1) it sends out signal to trolley the ball found is fitted into table tennis recover；
(2) motor starts rotation 1 minute, until table tennis is all filled into storage bulb road or storage bulb road；
(3) user is by swiping the card or network typing information,
(4) microcontroller control electronic valve and baffle release a table tennis
(5) user takes ball in ball mouth.
The concrete operations flow that collection bead is detected using present system is as follows：
Step 1) loads onto battery, and robot starts automatically, and robot, which can automatically begin to find in place, collects table tennis
Ball；
The button emergent stopping that can be pressed on myRIO if step 2), robot break down；
Step 3) terminates.
The basic principles, main features and the advantages of the invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (12)
1. a kind of table tennis intelligent ball collecting shared system, which is characterized in that the shared system includes：
One trolley；
One is arranged on the machine vision detection device on trolley, and machine vision detection device is used to acquire image, and believing image into
Breath is sent to myRIO central control systems；
The one ball collection device of the roller being arranged on trolley, the ball collection device of roller be used for by bead income wherein and
It does not fall out out；
One is arranged on the electric-motor drive device on trolley, and electric-motor drive device is used to that trolley to be driven to move；
One is arranged on the obstacle avoidance apparatus on trolley, and the barrier that obstacle avoidance apparatus is used for hiding surrounding provides guidance for trolley steering；
One table tennis sharing means for receiving the bead that trolley is collected into, are ranked up it, and are used for user；
One is arranged on the myRIO central control systems on trolley, and myRIO central control systems are responsible for controlling entire shared system；
One power supply.
A kind of 2. table tennis intelligent ball collecting shared system according to claim 1, which is characterized in that the machine vision inspection
It surveys device and includes camera, the camera on camera is used for acquiring surrounding table tennis image information, and camera is connected to by USB
MyRIO central control systems, and the image collected information is sent to myRIO central control systems to carry out the place of image
Reason identification.
3. a kind of table tennis intelligent ball collecting shared system according to claim 1, which is characterized in that the roller is ball
Collection device is cylinder shape, and it includes an axle center and two idler wheels, are equidistantly equipped with elastic string between the rollers 27 and 28 so that
Table tennis can be entered by collection device gravity inside collection device, without dropping out collector.
A kind of 4. table tennis intelligent ball collecting shared system according to claim 1, which is characterized in that the electric-motor drive
Device includes two decelerating motors and two motor driving plates, and motor driving plate is used for the driving of decelerating motor, and decelerating motor is held
The treated electric signal that row is sent from motor driving plate realizes rotating.
A kind of 5. table tennis intelligent ball collecting shared system according to claim 1, which is characterized in that the obstacle avoidance apparatus packet
Include the ultrasonic sensor before and after the infrared sensor and trolley being arranged at left and right sides of trolley, infrared sensor and ultrasound
Wave sensor is respectively used to left and right directions obstacle and front-rear direction obstacle.
6. a kind of table tennis intelligent ball collecting shared system according to claim 1, which is characterized in that the table tennis is shared
Device includes：
One babinet, babinet are used to store shared table tennis；
It one display screen being arranged on babinet and swipes the card mouth, display screen is for showing the Quick Response Code of payment lease table tennis and wide
It accuses；
One is arranged on the motor in babinet, and motor end is equipped with plectrum, and the table tennis being disposably put into order to prevent excessively blocks
Storage bulb road in pipeline opening so have motor to drive plectrum；
One table tennis recover, table tennis recover are used to the table tennis being collected into pouring into table tennis recover, and table tennis returns
Receiving device can allow table tennis to roll down in storage bulb road；
One storage bulb road, the storage bulb road plastic conduit more slightly larger than table tennis for the diameter of a bending, top and ground angle
Larger, lower part and ground angle are smaller, facilitate table tennis sequence and go out ball；
One electronic switch, electronic switch carries out control and host computer there are one communicating by microcontroller, when host computer has ball signal
When just put a ball mistake, all balls is avoided all to pour in ball mouth and are resulted in blockage；
One host computer；
One baffle, when electronic switch opening falls a ball, baffle opening releases ball, and blocking table tennis when not having signal does not allow it
It falls；
Babinet is equipped with ball mouth, and ball mouth is connected with storage bulb road.
A kind of 7. table tennis intelligent ball collecting shared system according to claim 1, which is characterized in that the myRIO centers
Control system is the arithmetic core of whole system, it is an embedded real time system, and onboard number and analog port can pass through
Labview is programmed；The signal from camera, infrared sensor and ultrasonic sensor will be received to handle, make phase
The response answered；Furthermore control motor makes go to action.
A kind of 8. table tennis intelligent ball collecting shared system according to claim 2, which is characterized in that the camera shooting of the camera
Head lower section is equipped with steering engine, and the elevation angle of servos control camera is so as not to same angle acquisition table tennis image information.
A kind of 9. table tennis intelligent ball collecting shared system according to claim 5, which is characterized in that the supersonic sensing
It is equipped with steering engine below device, the elevation angle of servos control ultrasonic sensor controls the different directions of ultrasonic wave, used different directions
Barrier judgment.
A kind of 10. application method of table tennis intelligent ball collecting shared system, which is characterized in that the specific steps of the application method
It is as follows：
(1) it receives by radio communication after picking up ball instruction, the initialization of system, myRIO central control systems control camera is taken the photograph
As head rotates upwardly and downwardly, make camera with ground into 90 degree；
(2) camera sends collected table tennis image information to myRIO central control systems, myRIO centers control system
System handles image information, for obtaining location information of the table tennis in picture；
(3) for trolley according to the location information of picture, itself, which is adjusted, makes headstock face table tennis after obtaining location information；
(4) obstacle avoidance module judges ambient enviroment, if there is barrier just rotates, until not having barrier；
(5) advance to table tennis ball position, counted after ball enters the ball collection device of roller and carry out picking flow next time straight
It is filled to the ball collection device of roller；
(6) table tennis in the ball collection device of roller is put into table tennis sharing means, user is waited for use.
A kind of 11. application method of table tennis intelligent ball collecting shared system according to claim 10, which is characterized in that institute
Stating the specific method that myRIO central control systems handle image information is：
(1) binaryzation is carried out to the pictorial information received, by the colour removal of table tennis, other colouring informations remain；
(2) image of binaryzation is filtered, removal influences the pocket identified below；
(3) binaryzation region reversion is carried out, leaves the appearance information of table tennis；
(4) circular information in binary image is found, and obtains location information of the table tennis in picture.
A kind of 12. application method of table tennis intelligent ball collecting shared system according to claim 10, which is characterized in that institute
The use step for stating table tennis sharing means is as follows：
(1) motor starts rotation 1 minute, until table tennis is all filled into storage bulb road or storage bulb road；
(2) user is by swiping the card or network typing information；
(3) microcontroller control electronic switch and baffle release a table tennis；
(4) user takes ball in ball mouth.
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| CN111481895A (en) * | 2020-05-18 | 2020-08-04 | 华东师范大学附属枫泾中学 | Automatic table tennis ball collecting method, system, storage medium, equipment and device |
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| CN108211277B (en) | 2020-07-07 |
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Application publication date: 20180629 Assignee: Benchuang (Shanghai) Technology Service Co.,Ltd. Assignor: Shanghai Polytechnic University Contract record no.: X2021310000050 Denomination of invention: A table tennis intelligent ball picking sharing system and its application method Granted publication date: 20200707 License type: Common License Record date: 20211220 |
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