CN109821205A - A kind of tennis is picked up hair equipment and is picked up the control method of hair equipment based on tennis - Google Patents
A kind of tennis is picked up hair equipment and is picked up the control method of hair equipment based on tennis Download PDFInfo
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- CN109821205A CN109821205A CN201910255143.XA CN201910255143A CN109821205A CN 109821205 A CN109821205 A CN 109821205A CN 201910255143 A CN201910255143 A CN 201910255143A CN 109821205 A CN109821205 A CN 109821205A
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Abstract
The present invention provides the control method that a kind of tennis is picked up hair equipment and picked up hair equipment based on tennis, it includes: subsystem that the tennis, which picks up hair equipment, tennis recognition subsystem, pick up ball subsystem, service subsystem, and wireless remote control subsystem, the wireless remote control subsystem is used to pick up the remote controler in the corresponding controlled range of hair equipment with the tennis and be used cooperatively, the tennis, which picks up hair equipment, has the function of that autonomous picks up ball, the tennis recognizer of view-based access control model, it can be improved ball picking-up efficiency, the tennis picks up hair equipment can be according to the telecommand that remote controler is sent to serving position, serve speed, ball launch angle and service height are adjusted；The remote controler can be worn on arm by user, picked up hair equipment by tennis described in remote control control at any time and switched corresponding service mode, simulate artificial actual combat hitting situation, practice batting mode is more flexible, training effect is more preferable.
Description
Technical field
Hair equipment is picked up the present invention relates to technical field of intelligent equipment more particularly to a kind of tennis and hair equipment is picked up based on tennis
Control method.
Background technique
With the development of the social economy, people's lives level is continuously improved, outdoor activities are increasing, especially recently
Several years, tennis activity development was swift and violent, and fan's number sharply increases.Artificial ball picking-up efficiency is low, artificial training mate is of a high price, though
So have automatically picking up balls machine and service robot at present, but function is excessively single, lacks flexibility, comprehensive performance not by force, intelligent journey
It spends not high.Need a reliability is higher, comprehensive performance is stronger, flexibility and intelligence degree it is higher pick up service integral type machine
Device people.
Summary of the invention
Hair equipment is picked up the main purpose of the present invention is to provide a kind of tennis and the control method of hair equipment is picked up based on tennis,
It aims to solve the problem that at present due to conventional automatically picking up balls machine and service robot has a single function, inflexible, intelligence degree is not high asks
Topic.
To achieve the above object, the present invention provides a kind of tennis and picks up hair equipment, and it includes: master control that the tennis, which picks up hair equipment,
System, the subsystem include the master control borad picked up in hair equipment set on the tennis；Tennis recognition subsystem, the tennis
Recognition subsystem includes the tennis recognizer of view-based access control model and picks up the camera in hair equipment set on the tennis；Pick up ball
Subsystem, the ball subsystem of picking up includes picking up the mobile chassis of hair equipment set on the tennis and picking up ball machine structure；Service subsystem,
The service subsystem includes the serving mechanism picked up in hair equipment set on the tennis；Wireless remote control subsystem, the wireless remote
Control subsystem, which is used to pick up the remote controler in the corresponding controlled range of hair equipment with the tennis, to be cooperated；
The wireless remote control subsystem, the telecommand sent for incuding the remote controler, and by the telecommand
It is transferred to the subsystem；
The subsystem for receiving the telecommand, and detects the instruction type of the telecommand, is examining
Measure the telecommand instruction type be pick up ball instruction when, by it is described pick up ball instruction be sent to the tennis recognition subsystem
Ball subsystem is picked up with described；When the instruction type for detecting the telecommand is service instruction, the service is instructed and is sent out
Give the service subsystem；
The tennis recognition subsystem starts for being acquired by the camera to current scene video image
The tennis recognizer of the view-based access control model is to carry out collected current scene video image with tennis feature vector is prestored
It compares, and determines according to comparison result the current location of the target tennis in the current scene video image, and by the mesh
Ball subsystem is picked up described in being sent in the current location of mark tennis；
It is described to pick up ball subsystem, for picking up mobile chassis described in ball order-driven according to so that the tennis picks up hair
Equipment is mobile towards the current location of the target tennis, picks up the current location that hair equipment is in the target tennis in the tennis
When, the work of ball machine structure is picked up described in driving；
The service subsystem determines current service ginseng for parsing to service instruction based on analysis result
Number generates corresponding service mode according to the service parameter, and drives the serving mechanism to send out according to the service mode
Tennis is penetrated, the service parameter includes serving position parameter, service height parameter, serve speed parameter and ball launch angle parameter.
Preferably, the ball subsystem of picking up further includes ball collection box, vertical ball bobbin road, and the ball machine structure of picking up is equipped with stepping electricity
Machine；
It is described to pick up ball subsystem, it is also used to when the tennis picks up hair equipment and is in the current location of the target tennis,
Drive the stepper motor so that it is described pick up ball machine structure execute pick up tennis movement, and by the tennis picked up pass through described in
The ball collection box is sent into vertical ball bobbin road.
Preferably, the ball collection box is equipped with weighing sensor；
The subsystem is also used to when the stepper motor is in driving condition, is obtained in real time by the weighing
The ball collection box weight that sensor detects stops when the ball collection box weight reaches the first preset weight to the stepping electricity
The driving of machine.
Preferably, the subsystem is also used to after service instruction is sent to the service subsystem,
The ball collection box weight detected by the weighing sensor is obtained in real time, when the ball collection box weight is the second preset weight,
Generate it is new pick up ball instruction, the new target is picked up into ball instruction and is sent to the tennis recognition subsystem and described picks up ball subsystem
System.
Preferably, the wireless remote control subsystem includes WiFi communication interface module；The WiFi communication interface module is used
In the telecommand that the reception remote controler is sent, and the telecommand is transferred to the subsystem；
Wherein, it is wearable remote controler, the wearable remote control that the corresponding remote controler of hair equipment is picked up with the tennis
Device is used to receive the telecommand of user's input；
Correspondingly, the tennis recognition subsystem, for being adopted by the camera to current scene video image
Collection, start the tennis recognizer of the view-based access control model with by collected current scene video image and prestore tennis feature to
Amount is compared, and the current location of the target tennis in the current scene video image is determined according to comparison result, and will
Ball subsystem is picked up described in being sent in the current location of the target tennis；
In addition, the tennis picks up hair equipment and includes: the present invention also provides a kind of control method for picking up hair equipment based on tennis
Subsystem, the subsystem include the master control borad picked up in hair equipment set on the tennis；Tennis recognition subsystem, institute
State the tennis recognizer and pick up the camera shooting in hair equipment set on the tennis that tennis recognition subsystem includes view-based access control model
Head；Ball subsystem is picked up, the ball subsystem of picking up includes picking up the mobile chassis of hair equipment set on the tennis and picking up ball machine structure；Service
Subsystem, the service subsystem include the serving mechanism picked up in hair equipment set on the tennis；Wireless remote control subsystem, it is described
Wireless remote control subsystem, which is used to pick up the remote controler in the corresponding controlled range of hair equipment with the tennis, to be cooperated；
The wireless remote control subsystem incudes the telecommand that the remote controler is sent, and the telecommand is transferred to
The subsystem；
The subsystem receives the telecommand, and detects the instruction type of the telecommand, is detecting
The instruction type of the telecommand be pick up ball instruction when, by it is described pick up ball instruction be sent to the tennis recognition subsystem and institute
It states and picks up ball subsystem；When the instruction type for detecting the telecommand is service instruction, service instruction is sent to
The service subsystem；
The tennis recognition subsystem is acquired current scene video image by the camera, starts the base
In vision tennis recognizer collected current scene video image to be compared with tennis feature vector is prestored, and
Determine the current location of the target tennis in the current scene video image according to comparison result, and by the target tennis
Ball subsystem is picked up described in being sent in current location；
The ball subsystem of picking up picks up mobile chassis described in ball order-driven so that the tennis picks up hair equipment according to
It is mobile towards the current location of the target tennis, when the tennis picks up hair equipment and is in the current location of the target tennis,
The work of ball machine structure is picked up described in driving；
The service subsystem parses service instruction, determines current service parameter, root based on analysis result
Corresponding service mode is generated according to the service parameter, and drives the serving mechanism launch network according to the service mode
Ball, the service parameter include serving position parameter, service height parameter, serve speed parameter and ball launch angle parameter.
Preferably, the ball subsystem of picking up further includes ball collection box, vertical ball bobbin road, and the ball machine structure of picking up is equipped with stepping electricity
Machine；
Correspondingly, it is described pick up ball subsystem the tennis pick up hair equipment be in the current location of the target tennis when,
The step of work of ball machine structure is picked up described in driving, specifically includes:
The ball subsystem of picking up is when the tennis picks up hair equipment and is in the current location of the target tennis, described in driving
Stepper motor is so that the ball machine structure of picking up executes the movement for picking up tennis, and the tennis picked up is passed through the vertical ball cylinder
Pipeline is sent into the ball collection box.
Preferably, the ball collection box is equipped with weighing sensor；
Correspondingly, it is described pick up ball subsystem the tennis pick up hair equipment be in the current location of the target tennis when,
Drive the stepper motor so that it is described pick up ball machine structure execute pick up tennis movement, and by the tennis picked up pass through described in
After the step of ball collection box is sent into vertical ball bobbin road, the method also includes:
The subsystem obtains examined by the weighing sensor in real time when the stepper motor is in driving condition
The ball collection box weight measured stops the driving to the stepper motor when the ball collection box weight reaches the first preset weight.
Preferably, the subsystem is after being sent to the service subsystem for service instruction, the side
Method further include:
The subsystem obtains the ball collection box weight detected by the weighing sensor in real time, in the ball collection box
It when weight is the second preset weight, generates new ball of picking up and instructs, the new target is picked up into ball instruction and is sent to the tennis knowledge
Small pin for the case system and it is described pick up ball subsystem so that the tennis recognition subsystem and the ball subsystem of picking up execute corresponding work
Make.
Preferably, the tennis recognition subsystem starts the tennis recognizer of the view-based access control model to work as collected
Preceding scene video image is compared with tennis feature vector is prestored, and determines the current scene video figure according to comparison result
The current location of target tennis as in, and the current location of the target tennis is sent to the step for picking up ball subsystem
Suddenly, it specifically includes:
The tennis recognition subsystem starts the tennis recognizer of the view-based access control model with by collected current scene
In video image with prestore tennis feature vector and be compared, comparison result reach it is default be consistent threshold value when, work as described in judgement
There are target tennises in preceding scene video image, and obtain tennis of the target tennis in the current scene video image
Size, according to the tennis-ball size size determine the target tennis and the tennis pick up hair equipment between it is current away from
From determining the current location of the target tennis according to the current distance, and the current location is sent to and described picks up ball
Subsystem；
Wherein, it is described prestore tennis feature vector by the tennis recognition subsystem first pass through in advance the camera obtain it is each
The tennis scene that kind court is scattered, analyzes the tennis scene that various courts are scattered by machine learning, will analyze result
It is obtained after being stored as tennis feature vector
The present invention provides the control method that a kind of tennis is picked up hair equipment and picked up hair equipment based on tennis, and the tennis is picked up hair and set
Standby includes: subsystem, tennis recognition subsystem, picks up ball subsystem, serve a ball subsystem and wireless remote control subsystem, institute
It states wireless remote control subsystem to be used cooperatively for picking up the remote controler in the corresponding controlled range of hair equipment with the tennis, the net
Ball, which picks up hair equipment, has the function of that autonomous picks up ball, and the tennis recognizer of view-based access control model can be improved ball picking-up efficiency, described
Tennis picks up hair equipment can be high to serving position, serve speed, ball launch angle and service according to the telecommand that remote controler is sent
Degree is adjusted；The remote controler can be worn on arm by user, picked up hair by tennis described in remote control control at any time and set
It is standby to switch corresponding service mode, artificial actual combat hitting situation is simulated, practice batting mode is more flexible, training effect is more preferable.
Detailed description of the invention
Fig. 1 is the structural block diagram that tennis picks up hair equipment in one embodiment of the invention；
Fig. 2 is the another structural block diagram that tennis picks up hair equipment in one embodiment of the invention；
Fig. 3 is a kind of flow diagram of the first embodiment for the control method that hair equipment is picked up based on tennis of the present invention；
Fig. 4 is a kind of flow diagram of the second embodiment for the control method that hair equipment is picked up based on tennis of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Referring to Fig.1, one embodiment of the invention provides a kind of tennis and picks up hair equipment, and it includes: master control that the tennis, which picks up hair equipment,
Subsystem 10, the subsystem 10 include the master control borad 101 picked up in hair equipment set on the tennis；Tennis recognition subsystem
11, the tennis recognition subsystem 11 includes the tennis recognizer of view-based access control model and picks up in hair equipment set on the tennis
Camera 111；Ball subsystem 13 is picked up, the ball subsystem 13 of picking up includes the mobile chassis that hair equipment is picked up set on the tennis
131 and pick up ball machine structure 132；Service subsystem 12, the service subsystem 12 include the hair picked up in hair equipment set on the tennis
Ball machine structure 121；Wireless remote control subsystem 14, the wireless remote control subsystem 14 be used for the tennis pick up hair equipment is corresponding can
Control the remote controler cooperation in range.
The wireless remote control subsystem 14 is used to incude the telecommand that the remote controler is sent, and by the telecommand
It is transferred to the subsystem 10；
In the present embodiment, the wireless remote control subsystem includes a wireless communication interface module and remote control procedure, for connecing
The telecommand that the remote controler is sent is received, and the telecommand is transferred to the subsystem；The wireless telecommunications
Interface module is preferably WiFi (WIreless-FIdelity) wireless communication interface module, and the transmission range of WiFi module is universal
At 100 meters or more, the size for meeting tennis court can be very good.Further, the corresponding remote control of hair equipment is picked up with the tennis
Device is preferably wearable remote controler, and the wearable remote controler is used to receive the telecommand of user's input, wearable
It is again provided on remote controler wireless communication interface module (WiFi module), wearable remote controler can be worn on arm by user
On, the wearable remote controler is furnished with two kinds of control models of voice and key, and user is by voice and key two ways to wearing
Formula remote controler input telecommand is worn to control the operation that the tennis picks up hair equipment.
The subsystem 10 for receiving the telecommand, and detects the instruction type of the telecommand,
The instruction type for detecting the telecommand is when picking up ball instruction, by it is described pick up ball instruction and be sent to the tennis identify subsystem
System picks up ball subsystem with described；When the instruction type for detecting the telecommand is service instruction, the service is instructed
It is sent to the service subsystem；
Specifically, the tennis, which picks up hair equipment, can be considered an integral type robot, the master control of the subsystem 10
It include CPU, memory, controller and corresponding primary control program etc. on plate, the subsystem is the brain centres of robot,
Control and coordinate every behavior that the tennis picks up hair equipment.
The tennis recognition subsystem 11 is opened for being acquired by the camera to current scene video image
Move the tennis recognizer of the view-based access control model with by collected current scene video image and prestore tennis feature vector into
Row compares, and the current location of the target tennis in the current scene video image is determined according to comparison result, and will be described
Ball subsystem is picked up described in being sent in the current location of target tennis；
It is described to prestore tennis feature vector the camera is first passed through by the tennis recognition subsystem in advance in the present embodiment
The tennis scene being scattered in various courts is obtained, the tennis scene that various courts are scattered is analyzed by machine learning, will be divided
Analysis result obtains after being stored as tennis feature vector；Wherein, the tennis feature vector includes the shape of tennis, face
The attributes such as color, size.
In the concrete realization, the tennis recognition subsystem starts the tennis recognizer of the view-based access control model will acquire
To current scene video image in prestore tennis feature vector and be compared, reach the default threshold value that is consistent in comparison result
When, determine that there are target tennises in the current scene video image, and obtain the target tennis and regard in the current scene
Tennis-ball size size in frequency image determines that the target tennis and the tennis pick up hair equipment according to the tennis-ball size size
Between current distance, the current location of the target tennis is determined according to the current distance, and the current location is sent out
Ball subsystem is picked up described in giving.
It is described to pick up ball subsystem 13, for picking up mobile chassis described in ball order-driven according to so that the tennis is picked up
Equipment is sent out towards the movement of the current location of the target tennis, picks up the present bit that hair equipment is in the target tennis in the tennis
The work of ball machine structure is picked up when setting, described in driving；
Specifically, the mobile chassis may include that the mobile control of steerable drive wheel and car body and can pick up ball program, described to pick up
Ball instruction can be sent into the mobile control of the car body and pick up in ball program, to drive the ball machine structure of picking up to work；
In the concrete realization, the ball subsystem of picking up further includes ball collection box, vertical ball bobbin road, and the ball machine structure of picking up is equipped with
Stepper motor, the ball machine structure of picking up can be including mechanical arm, and the stepper motor is installed in mechanical arm；It is described to pick up ball subsystem
When the tennis picks up hair equipment and is in the current location of the target tennis, the stepper motor is driven so that described pick up ball
Mechanism executes the movement for picking up tennis, and the tennis picked up is sent into the ball collection box by the vertical ball bobbin road.
The service subsystem 12 determines current service for parsing to service instruction based on analysis result
Parameter generates corresponding service mode according to the service parameter, and drives the serving mechanism according to the service mode
Emit tennis, the service parameter includes serving position parameter, service height parameter, serve speed parameter and ball launch angle ginseng
Number.
Specifically, the serving mechanism 121 of the service subsystem 12 of the present embodiment includes service fort, and the service fort can
Built-in motor and compressed spring specifically can drive compressed spring by built-in motor, preset different to emit tennis
Compressive strength sends tennis at different rates；
The service fort is additionally provided with telescopic rod and turning-bar, telescopic rod and turning-bar be respectively positioned below service fort and with
The service fort connection drives telescopic rod and turning-bar to work by the built-in motor of the service fort；The telescopic rod
For adjusting service height, the turning-bar is for adjusting service upper and lower, left and right angle.What sportsman can practise a ball game according to oneself
Actual needs, the wearable remote controler dressed at any time by left hand select the service mode of robot (tennis picks up hair equipment),
Such as transformation serving position (divide left, center, right, before, during and after), service height (high, medium and low), serve speed (fast, in, slow),
Ball launch angle (divides left, right, up, down), and the tennis that the present embodiment can be used in sportsman picks up the different batting mode of hair equipment training,
Such as forehand stroke, backhand, net interception, high pressure slam-shot etc..
Further, the service subsystem 12 of the present embodiment can also include a pulping apparatus structure, and pulping apparatus structure is located at service
Fort side, the pulping apparatus structure further include a release pipeline, the release pipeline respectively with the ball collection box and the service
Fort is connected.
The tennis of the present embodiment, which picks up hair equipment, can have the function of that autonomous picks up ball, and the tennis of view-based access control model identifies journey
Sequence can be improved ball picking-up efficiency, and the tennis picks up hair equipment can be according to the telecommand that remote controler is sent to serving position, hair
Ball speed, ball launch angle and service height are adjusted；The remote controler can be worn on arm by user, at any time by distant
Control device controls the tennis and picks up the corresponding service mode of hair equipment switching, simulates artificial actual combat hitting situation, practices batting mode
It is more flexible, training effect is more preferable.
Further, in one embodiment, the ball collection box is equipped with weighing sensor；
The subsystem 10 is also used to when the stepper motor is in driving condition, is obtained in real time by the title
The ball collection box weight that sensor detects is retransmitted, when the ball collection box weight reaches the first preset weight, is stopped to the stepping
The driving of motor.
In the concrete realization, first preset weight is the cumulative weight of the tennis for the maximum quantity that ball collection box can load
The sum of amount, the tennis pick up hair equipment and pick up tennis by picking up ball machine structure, and the tennis picked up is passed through the vertical ball bobbin
The ball collection box is sent into road, can be counted to the ball collection box being put into the ball collection box, until accumulated quantity reach with it is described
When first preset weight of ball collection box weight corresponds to the maximum count threshold value, stops the driving to the stepper motor, that is, allow
The ball machine structure of picking up that tennis picks up hair equipment stops working.
Further, in one embodiment, the subsystem 10 is also used to service instruction being sent to institute
After stating service subsystem, the ball collection box weight detected by the weighing sensor is obtained in real time, in the ball collection box weight
When for the second preset weight, generate it is new pick up ball instruction, the new target picked up into ball instruction be sent to the tennis and identify son
System and described pick up ball subsystem.
It will be appreciated that the present embodiment is when the corresponding function of service subsystem that the tennis picks up hair equipment is triggered,
The subsystem can obtain the ball collection box weight detected by the weighing sensor in real time, be in the ball collection box weight
When the second preset weight (tennis loaded in the second preset weight characterization ball collection box is sky), alarm voice, such as " net can be issued
Ball is empty, please picks up ball again ", the subsystem can generate new ball of picking up and instruct, and the new target is picked up ball instruction hair
Give the tennis recognition subsystem and it is described pick up ball subsystem, the tennis, which is picked up hair equipment and can be re-started, picks up ball exercise work.
Further, hair equipment is picked up based on tennis based on shown in FIG. 1, proposes that the present invention is a kind of and hair equipment is picked up based on tennis
Control method embodiment, with reference to Fig. 3, Fig. 3 be the present invention it is a kind of based on tennis pick up hair equipment control method first implement
The flow diagram of example.
In the present embodiment, the article-storage device includes such as the subsystem in Fig. 1 and Fig. 2, tennis identification
Subsystem described picks up ball subsystem, the service subsystem and the wireless remote control subsystem；
Correspondingly, the control method for picking up hair equipment based on tennis includes:
Step S10: the wireless remote control subsystem incudes the telecommand that the remote controler is sent, and the remote control is referred to
Order is transferred to the subsystem；
In the present embodiment, in the present embodiment, the wireless remote control subsystem includes a wireless communication interface module and remote control
Program, the telecommand sent for receiving the remote controler, and the telecommand is transferred to the subsystem；Institute
Stating wireless communication interface module is preferably WiFi (WIreless-FIdelity) wireless communication interface module, the biography of WiFi module
Defeated distance can be very good the size for meeting tennis court generally at 100 meters or more.Further, hair equipment is picked up with the tennis
Corresponding remote controler is preferably wearable remote controler, and the remote control that the wearable remote controler is used to receive user's input refers to
It enables, is again provided with wireless communication interface module (WiFi module) on wearable remote controler, user can be by wearable remote controler
It is worn on arm, the wearable remote controler is furnished with two kinds of control models of voice and key, and user passes through voice and key two
Kind mode inputs telecommand to wearable remote controler to control the operation that the tennis picks up hair equipment.
Step S20: the subsystem receives the telecommand, and detects the instruction type of the telecommand,
When the instruction type for detecting the telecommand is to pick up ball instruction, by it is described pick up ball instruction and be sent to the tennis identify son
System and described pick up ball subsystem；When the instruction type for detecting the telecommand is service instruction, the service is referred to
Order is sent to the service subsystem；
In the concrete realization, the tennis, which picks up hair equipment, can be considered an integral type robot, the subsystem 10
Master control borad on include CPU, memory, controller and corresponding primary control program etc., the subsystem is the big of robot
Mesencephalic centre controls and coordinates every behavior that the tennis picks up hair equipment.
Step S30: the tennis recognition subsystem is acquired current scene video image by the camera, opens
Move the tennis recognizer of the view-based access control model with by collected current scene video image and prestore tennis feature vector into
Row compares, and the current location of the target tennis in the current scene video image is determined according to comparison result, and will be described
Ball subsystem is picked up described in being sent in the current location of target tennis.
It is described to prestore tennis feature vector the camera is first passed through by the tennis recognition subsystem in advance in the present embodiment
The tennis scene being scattered in various courts is obtained, the tennis scene that various courts are scattered is analyzed by machine learning, will be divided
Analysis result obtains after being stored as tennis feature vector；Wherein, the tennis feature vector includes the shape of tennis, face
The attributes such as color, size.
In the concrete realization, the tennis recognition subsystem starts the tennis recognizer of the view-based access control model will acquire
To current scene video image in prestore tennis feature vector and be compared, reach the default threshold value that is consistent in comparison result
When, determine that there are target tennises in the current scene video image, and obtain the target tennis and regard in the current scene
Tennis-ball size size in frequency image determines that the target tennis and the tennis pick up hair equipment according to the tennis-ball size size
Between current distance, the current location of the target tennis is determined according to the current distance, and the current location is sent out
Ball subsystem is picked up described in giving.
Step S40: the ball subsystem of picking up picks up mobile chassis described in ball order-driven so that the tennis according to
It is mobile towards the current location of the target tennis to pick up hair equipment, picks up hair equipment in the tennis and is in the current of the target tennis
The work of ball machine structure is picked up when position, described in driving.
Specifically, the mobile chassis may include that the mobile control of steerable drive wheel and car body and can pick up ball program, described to pick up
Ball instruction can be sent into the mobile control of the car body and pick up in ball program, to drive the ball machine structure of picking up to work；
In the concrete realization, the ball subsystem of picking up further includes ball collection box, vertical ball bobbin road, and the ball machine structure of picking up is equipped with
Stepper motor, the ball machine structure of picking up can be including mechanical arm, and the stepper motor is installed in mechanical arm；It is described to pick up ball subsystem
When the tennis picks up hair equipment and is in the current location of the target tennis, the stepper motor is driven so that described pick up ball
Mechanism executes the movement for picking up tennis, and the tennis picked up is sent into the ball collection box by the vertical ball bobbin road.
Step S50: the service subsystem parses service instruction, determines current service based on analysis result
Parameter generates corresponding service mode according to the service parameter, and drives the serving mechanism according to the service mode
Emit tennis, the service parameter includes serving position parameter, service height parameter, serve speed parameter and ball launch angle ginseng
Number.
Specifically, the serving mechanism of the service subsystem of the present embodiment includes service fort, and the service fort is built-in
Motor and compressed spring specifically can drive compressed spring by built-in motor, preset different compressions to emit tennis
Intensity sends tennis at different rates；
The service fort is additionally provided with telescopic rod and turning-bar, telescopic rod and turning-bar be respectively positioned below service fort and with
The service fort connection drives telescopic rod and turning-bar to work by the built-in motor of the service fort；The telescopic rod
For adjusting service height, the turning-bar is for adjusting service upper and lower, left and right angle.What sportsman can practise a ball game according to oneself
Actual needs, the wearable remote controler dressed at any time by left hand select the service mode of robot (tennis picks up hair equipment),
Such as transformation serving position (divide left, center, right, before, during and after), service height (high, medium and low), serve speed (fast, in, slow),
Ball launch angle (divides left, right, up, down), and the tennis that the present embodiment can be used in sportsman picks up the different batting mode of hair equipment training,
Such as forehand stroke, backhand, net interception, high pressure slam-shot etc..
Further, the service subsystem of the present embodiment can also include a pulping apparatus structure, and pulping apparatus structure is located at service big gun
Platform side, the pulping apparatus structure further include a release pipeline, the release pipeline respectively with the ball collection box and the service big gun
Platform is connected.
The tennis of the present embodiment, which picks up hair equipment, can have the function of that autonomous picks up ball, and the tennis of view-based access control model identifies journey
Sequence can be improved ball picking-up efficiency, and the tennis picks up hair equipment can be according to the telecommand that remote controler is sent to serving position, hair
Ball speed, ball launch angle and service height are adjusted；The remote controler can be worn on arm by user, at any time by distant
Control device controls the tennis and picks up the corresponding service mode of hair equipment switching, simulates artificial actual combat hitting situation, practices batting mode
It is more flexible, training effect is more preferable.
Further, in an embodiment, it further includes power supply and power sub-system that the tennis, which picks up hair equipment, the power supply with
Power sub-system: including rechargeable battery, provides power supply for robot, provides power for all drivings.
With reference to Fig. 4, Fig. 4 is that a kind of process of the second embodiment for the control method that hair equipment is picked up based on tennis of the present invention is shown
It is intended to, is based on above-mentioned Fig. 3, proposes a kind of second embodiment for the control method for picking up hair equipment based on tennis of the present invention.
In the present embodiment, the ball collection box is equipped with weighing sensor；
Correspondingly, it is described pick up ball subsystem the tennis pick up hair equipment be in the current location of the target tennis when,
Drive the stepper motor so that it is described pick up ball machine structure execute pick up tennis movement, and by the tennis picked up pass through described in
After the step of ball collection box is sent into vertical ball bobbin road, the method also includes:
Step S41: the subsystem is obtained by the weighing in real time when the stepper motor is in driving condition
The ball collection box weight that sensor detects stops when the ball collection box weight reaches the first preset weight to the stepping electricity
The driving of machine.
In the concrete realization, first preset weight is the cumulative weight of the tennis for the maximum quantity that ball collection box can load
The sum of amount, the tennis pick up hair equipment and pick up tennis by picking up ball machine structure, and the tennis picked up is passed through the vertical ball bobbin
The ball collection box is sent into road, can be counted to the ball collection box being put into the ball collection box, until accumulated quantity reach with it is described
When first preset weight of ball collection box weight corresponds to the maximum count threshold value, stops the driving to the stepper motor, that is, allow
Tennis pick up hair equipment ball machine structure of picking up stop working so that tennis pick up hair equipment it is more intelligent.
Further, in this embodiment service instruction is being sent to the service subsystem by the subsystem
After system, the method also includes:
Step S51: the subsystem obtains the ball collection box weight detected by the weighing sensor in real time, in institute
When to state ball collection box weight be the second preset weight, generate it is new pick up ball instruction, the new target is picked up into ball instruction and is sent to institute
State tennis recognition subsystem and it is described pick up ball subsystem so that the tennis recognition subsystem and it is described pick up ball subsystem execution
Corresponding work.
It will be appreciated that the present embodiment is when the corresponding function of service subsystem that the tennis picks up hair equipment is triggered,
The subsystem can obtain the ball collection box weight detected by the weighing sensor in real time, be in the ball collection box weight
When the second preset weight (tennis loaded in the second preset weight characterization ball collection box is sky), alarm voice, such as " net can be issued
Ball is empty, please picks up ball again ", the subsystem can generate new ball of picking up and instruct, and the new target is picked up ball instruction hair
Give the tennis recognition subsystem and it is described pick up ball subsystem, the tennis, which is picked up hair equipment and can be re-started, picks up ball exercise work.Into
And it is more intelligent to make tennis pick up hair equipment.
In one embodiment, when user (tennis player) picks up hair equipment (robot) using the tennis, tennis picks up hair equipment
Workflow can be as follows:
Process one, tennis player is charged by robot Rechargeable battery in advance, puts it into court, and startup power supply is pressed
Whether key, robot autonomous each component work of detection are normal；
The remote controler voice or button operation Digiplex that process two, sportsman are dressed by left hand, robot according to
The corresponding movement of the instruction execution received；
Process three, if it is ball instruction is picked up, robot will start the tennis recognition subsystem of view-based access control model, passes through camera
(left and right, upper and lower angle is adjustable) obtains the tennis image on court, distinguishes the azimuth-range where tennis, then
The autonomous subsystem for driving robot, moves close to tennis, obtains tennis finally by ball machine structure is picked up, is put into collection ball
Case, and count, until filling (accumulative total reaches maximum threshold values)；
Process four is instructed if it is service, and robot selects a position (point left side for service according to the service mode received
Position, middle position, right position, front court, midfield, back court), service height (high, medium and low), serve speed (fast, in, slow), ball launch angle
(point left click ball, right click ball, tossing ball, lower pressure ball), sportsman can neatly select different batting modes, such as forehand stroke,
Backhand, net interception, high pressure slam-shot etc., repeatedly intensive training.
Process five, sportsman can pass through at any time the remote controler termination machine human hair ball of left arm according to the training of oneself,
Or change service mode；
Process six, when ball sky in robot ball collection box, issue alarm voice " tennis is empty, please picks up ball again "；Work as electricity
The deficiency of source electricity is equally sending alarm voice " not enough power supply please recharge ".
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, computer, clothes
Business device, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of tennis picks up hair equipment, which is characterized in that it includes: subsystem that the tennis, which picks up hair equipment, master control
System includes the master control borad picked up in hair equipment set on the tennis；Tennis recognition subsystem, the tennis recognition subsystem include
The tennis recognizer of view-based access control model and set on the tennis pick up hair equipment on camera；Ball subsystem is picked up, it is described to pick up ball
Subsystem includes picking up the mobile chassis of hair equipment set on the tennis and picking up ball machine structure；Service subsystem, the service subsystem
The serving mechanism sent out in equipment is picked up including being set to the tennis；Wireless remote control subsystem, the wireless remote control subsystem be used for
The tennis picks up the remote controler cooperation in the corresponding controlled range of hair equipment；
The wireless remote control subsystem, the telecommand sent for incuding the remote controler, and the telecommand is transmitted
To the subsystem；
The subsystem for receiving the telecommand, and detects the instruction type of the telecommand, is detecting
The instruction type of the telecommand be pick up ball instruction when, by it is described pick up ball instruction be sent to the tennis recognition subsystem and institute
It states and picks up ball subsystem；When the instruction type for detecting the telecommand is service instruction, service instruction is sent to
The service subsystem；
The tennis recognition subsystem, for being acquired by the camera to current scene video image, described in starting
The tennis recognizer of view-based access control model collected current scene video image to be compared with tennis feature vector is prestored,
And the current location of the target tennis in the current scene video image is determined according to comparison result, and by the target tennis
Current location be sent to and described pick up ball subsystem；
It is described to pick up ball subsystem, for picking up mobile chassis described in ball order-driven according to so that the tennis picks up hair equipment
It is mobile towards the current location of the target tennis, when the tennis picks up hair equipment and is in the current location of the target tennis,
The work of ball machine structure is picked up described in driving；
The service subsystem determines current service parameter, root for parsing to service instruction based on analysis result
Corresponding service mode is generated according to the service parameter, and drives the serving mechanism launch network according to the service mode
Ball, the service parameter include serving position parameter, service height parameter, serve speed parameter and ball launch angle parameter.
2. tennis as described in claim 1 picks up hair equipment, which is characterized in that the ball subsystem of picking up further includes ball collection box, erects
To ball bobbin road, the ball machine structure of picking up is equipped with stepper motor；
It is described to pick up ball subsystem, it is also used to the driving when the tennis picks up hair equipment and is in the current location of the target tennis
The stepper motor so that it is described pick up ball machine structure execute pick up tennis movement, and by the tennis picked up by it is described vertically
The ball collection box is sent into ball bobbin road.
3. tennis as claimed in claim 2 picks up hair equipment, which is characterized in that the ball collection box is equipped with weighing sensor；
The subsystem is also used to when the stepper motor is in driving condition, is obtained in real time by the weighing and sensing
The ball collection box weight that device detects stops when the ball collection box weight reaches the first preset weight to the stepper motor
Driving.
4. tennis as claimed in claim 2 picks up hair equipment, which is characterized in that the subsystem is also used to will be described
Service instruction is sent to after the service subsystem, obtains the ball collection box weight detected by the weighing sensor in real time,
When the ball collection box weight is the second preset weight, generates new ball of picking up and instruct, the new target is picked up into ball instruction and is sent
To the tennis recognition subsystem and described pick up ball subsystem.
5. tennis according to any one of claims 1-4 picks up hair equipment, which is characterized in that the wireless remote control subsystem includes
WiFi communication interface module；The WiFi communication interface module is used to receive the telecommand that the remote controler is sent, and by institute
It states telecommand and is transferred to the subsystem；
Wherein, it is wearable remote controler that the corresponding remote controler of hair equipment is picked up with the tennis, and the wearable remote controler is used
In the telecommand for receiving user's input；
Correspondingly, the tennis recognition subsystem is opened for being acquired by the camera to current scene video image
Move the tennis recognizer of the view-based access control model with by collected current scene video image and prestore tennis feature vector into
Row compares, and the current location of the target tennis in the current scene video image is determined according to comparison result, and will be described
Ball subsystem is picked up described in being sent in the current location of target tennis.
6. a kind of control method for picking up hair equipment based on tennis, which is characterized in that it includes: master control subsystem that the tennis, which picks up hair equipment,
System, the subsystem include the master control borad picked up in hair equipment set on the tennis；Tennis recognition subsystem, the tennis are known
Small pin for the case system includes the tennis recognizer of view-based access control model and picks up the camera in hair equipment set on the tennis；Pick up ball
System, the ball subsystem of picking up includes picking up the mobile chassis of hair equipment set on the tennis and picking up ball machine structure；Service subsystem, institute
Stating service subsystem includes the serving mechanism picked up in hair equipment set on the tennis；Wireless remote control subsystem, the wireless remote control
Subsystem, which is used to pick up the remote controler in the corresponding controlled range of hair equipment with the tennis, to be cooperated；
Correspondingly, the control method includes:
The wireless remote control subsystem incudes the telecommand that the remote controler is sent, and the telecommand is transferred to described
Subsystem；
The subsystem receives the telecommand, and detects the instruction type of the telecommand, described detecting
The instruction type of telecommand is when picking up ball instruction, picks up ball instruction by described and is sent to the tennis recognition subsystem and described picks up
Ball subsystem；When the instruction type for detecting the telecommand is service instruction, service instruction is sent to described
Service subsystem；
The tennis recognition subsystem is acquired current scene video image by the camera, and starting is described based on view
The tennis recognizer of feel collected current scene video image to be compared with tennis feature vector is prestored, and according to
Comparison result determines the current location of the target tennis in the current scene video image, and by the current of the target tennis
Ball subsystem is picked up described in being sent in position；
The ball subsystem of picking up picks up mobile chassis described in ball order-driven so that the tennis picks up hair equipment towards institute according to
The current location for stating target tennis is mobile, when the tennis picks up hair equipment and is in the current location of the target tennis, driving
It is described to pick up the work of ball machine structure；
The service subsystem parses service instruction, current service parameter is determined based on analysis result, according to institute
It states service parameter and generates corresponding service mode, and drive the serving mechanism transmitting tennis, institute according to the service mode
Stating service parameter includes serving position parameter, service height parameter, serve speed parameter and ball launch angle parameter.
7. method as claimed in claim 6, which is characterized in that the ball subsystem of picking up further includes ball collection box, vertical ball bobbin
Road, the ball machine structure of picking up is equipped with stepper motor；
Correspondingly, the ball subsystem of picking up is when the tennis picks up hair equipment and is in the current location of the target tennis, driving
It described the step of picking up the work of ball machine structure, specifically includes:
The ball subsystem of picking up drives the stepping when the tennis picks up hair equipment and is in the current location of the target tennis
Motor is so that the ball machine structure of picking up executes the movement for picking up tennis, and the tennis picked up is passed through the vertical ball bobbin road
It is sent into the ball collection box.
8. the method for claim 7, which is characterized in that the ball collection box is equipped with weighing sensor；
Correspondingly, the ball subsystem of picking up is when the tennis picks up hair equipment and is in the current location of the target tennis, driving
The stepper motor so that it is described pick up ball machine structure execute pick up tennis movement, and by the tennis picked up by it is described vertically
Ball bobbin road was sent into after the step of ball collection box, the method also includes:
The subsystem obtains detected by the weighing sensor in real time when the stepper motor is in driving condition
Ball collection box weight stop driving to the stepper motor when the ball collection box weight reaches the first preset weight.
9. the method for claim 7, which is characterized in that service instruction is being sent to institute by the subsystem
After stating service subsystem, the method also includes:
The subsystem obtains the ball collection box weight detected by the weighing sensor in real time, in the ball collection box weight
When for the second preset weight, generate it is new pick up ball instruction, the new target picked up into ball instruction be sent to the tennis and identify son
System and it is described pick up ball subsystem so that the tennis recognition subsystem and the ball subsystem of picking up execute corresponding work.
10. method as claim in any one of claims 6-9, which is characterized in that the tennis recognition subsystem starts the base
In vision tennis recognizer collected current scene video image to be compared with tennis feature vector is prestored, and
Determine the current location of the target tennis in the current scene video image according to comparison result, and by the target tennis
Current location is sent to described the step of picking up ball subsystem, specifically includes:
The tennis recognition subsystem starts the tennis recognizer of the view-based access control model with by collected current scene video
In image with prestore tennis feature vector and be compared, comparison result reach it is default be consistent threshold value when, determine described to work as front court
There are target tennises in scape video image, and obtain tennis-ball size of the target tennis in the current scene video image
Size determines that the target tennis and the tennis pick up the current distance between hair equipment, root according to the tennis-ball size size
It determines the current location of the target tennis according to the current distance, and the current location is sent to and described picks up ball subsystem
System；
Wherein, it is described prestore tennis feature vector the camera first passed through by the tennis recognition subsystem in advance obtain each bulb
The tennis scene be scattered of field, analyzes the tennis scene that various courts are scattered by machine learning, will analysis result as
Tennis feature vector obtains after being stored.
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|---|---|---|---|
| CN201910255143.XA CN109821205A (en) | 2019-03-29 | 2019-03-29 | A kind of tennis is picked up hair equipment and is picked up the control method of hair equipment based on tennis |
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|---|---|---|---|
| CN201910255143.XA CN109821205A (en) | 2019-03-29 | 2019-03-29 | A kind of tennis is picked up hair equipment and is picked up the control method of hair equipment based on tennis |
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| CN110917583A (en) * | 2019-11-26 | 2020-03-27 | 新石器慧通（北京）科技有限公司 | Automatic ball training device for movable carrier and unmanned vehicle |
| CN114797069A (en) * | 2022-04-08 | 2022-07-29 | 山东石油化工学院 | Tennis service robot capable of automatically picking up and serving tennis, control method and tennis serving machine |
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Application publication date: 20190531 |