CN107115637A - A kind of golf ball picking robot of view-based access control model - Google Patents
A kind of golf ball picking robot of view-based access control model Download PDFInfo
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- CN107115637A CN107115637A CN201710345421.1A CN201710345421A CN107115637A CN 107115637 A CN107115637 A CN 107115637A CN 201710345421 A CN201710345421 A CN 201710345421A CN 107115637 A CN107115637 A CN 107115637A
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- ball
- box body
- filling box
- picking
- golf
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- A63B2102/32—Golf
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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
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/805—Optical or opto-electronic sensors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/806—Video cameras
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of golf ball picking robot of view-based access control model, including the ball picking up device and ball-filling box body set gradually, and main control MCU, power supply unit and the traction unit being arranged in ball-filling box body；Device of playing ball is additionally provided with the top of the ball picking up device, vision inspection apparatus is provided with the top of device of playing ball；The ball-filling box body is provided with to pick up to be additionally provided with ball mechanical arm, ball-filling box body and picked up for picking up ball mechanical arm by the opening of ball input ball-filling box body after ball, and ball-filling box body bottom, one end close with picking up ball mechanical arm are additionally provided with and put ball device；The device of playing ball, vision inspection apparatus, ball mechanical arm is picked up, ball device, power supply unit and traction unit is put and is connected with main control MCU.The ball picking robot can carry out efficiently quick reclaim to the golf being scattered in the golf stadium under a variety of different conditions.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of golf ball picking robot of view-based access control model.
Background technology
Golf sports are a kind of sunshine sports that enjoyment the Nature enjoyment and physical training can be combined together, in west
Fang Guojia has been carried out popular, and in the Yue Reneilu Olympic Games of 2016, golf is returned to once more
Olympic Stadium, so development golf sports trend of the times.But want to accomplish fluently the exercise that golf then needs to grow very much
Experience, particularly perfects and swings, so needing to be practised in special golf range.As many people of golf range
When carrying out golf sports exercise for a long time, it will get more golf, and golf be can be with recycling
, then pick up the problem of ball is just more bothered into one.The light weight balls such as golf difference table tennis, vollyball, it has table
Face is smooth, the characteristics of heavier mass, so requiring higher to picking tool, to overcome anti-skidding and larger power during pickup to go to pick up
The difficulties such as ball.In the current situation, many golf, which pick up ball mode and use artificial caddie, pick up ball and with as special
Sharp Application No. 201610709008.4, patent name are that a kind of golf picks up ball car, and number of patent application is
201510187438.X, patent name be golf pick up ball car etc. pick up ball aid realize pick up ball exercise make, it is such to pick up ball
Mode is to pick up ball car by people's driving to carry out picking up ball, and this mode is only applicable to ultra-large type court, and not only the careless duckweed in court can be made
Into destruction, artificial participation has also been required for, human cost has been considerably increased, and have the shortcomings that ball picking-up efficiency is low.Foreign countries are to height
Golf ball is picked up during ball mode researched and developed, " the The Ball manufactured by large automatic maintenance service manufacturer TrueBots
Picker " ball picking robots are the most advanced, and its pattern used is the sweeping robot mode of operation of family expenses, by golf
Court carry out " blind to sweep " though mode pick up ball automaticity higher, it is also higher that rate is picked up in leakage, to site requirements also pole
Height, is only adapted to very smooth golf course.Therefore, various golf courts, intelligence can not only be applied to by developing one kind
Change degree is high, ball picking-up efficiency is high, and cost-effective golf ball picking robot has best application prospect.
The content of the invention
The invention aims to solve above-mentioned technical problem there is provided a kind of golf of view-based access control model to pick up ball machine device
People, the ball picking robot can carry out efficiently quick to the golf being scattered in the golf stadium under a variety of different conditions
Reclaim.
To achieve the above object, the technical solution adopted by the present invention is as follows：
A kind of golf ball picking robot of view-based access control model, including the ball picking up device and ball-filling box body set gradually, and
It is arranged on main control MCU, power supply unit and traction unit in ball-filling box body；Device of playing ball is additionally provided with the top of the ball picking up device,
Device top play ball provided with vision inspection apparatus；The ball-filling box body is provided with to pick up and is additionally provided with ball mechanical arm, ball-filling box body
Pick up for picking up ball mechanical arm and ball is put into the opening of ball-filling box body after ball, it is ball-filling box body bottom, close with picking up ball mechanical arm
One end be additionally provided with and put ball device；The device of playing ball, vision inspection apparatus, pick up ball mechanical arm, put ball device, power supply unit
It is connected with traction unit with main control MCU.
Specifically, the ball picking up device includes picking up ball roller, and is arranged on and picks up outside ball roller and connect with ball-filling box body phase
Mechanical shell；It is described to pick up the fixing axle that mallet is connected including two ends with mechanical shell, and be uniformly socketed in multiple in fixing axle
Pick up mallet drum piece；Each pick up symmetrically is provided with four manholes on mallet drum piece also centered on middle part, and all
Pick up mallet drum piece to extend through the through hole picked up on mallet drum piece using four connecting rods and be connected in series, mallet drum piece is picked up per adjacent two
Between formed one pick up alley；The mechanical shell bottom is provided with ball hole, mechanical shell-side face, is provided with out with ball-filling box body joint
Ball mouthful.
Specifically, the device of playing ball is arranged at the top of mechanical shell, including is cut and parallel with fixing axle with mechanical shell phase
The rotary shaft of setting, sets on the rotating shaft and section is in four groups of groups of playing ball of cruciform shape, respectively with rotary shaft two ends phase
Connect and drive rotary shaft rotate two connecting shaft synchronous motors, and cover on play ball group outside and with beating that mechanical shell is fixedly connected
Global shell；Described every group group of playing ball includes piece of playing ball with picking up alley quantity Matching, and every piece of playing ball to fixing axle most
Small distance is more than connecting rod to the distance of fixing axle, to hit the golf picked up on alley down；Two connecting shaft synchronous motors are equal
It is connected with main control MCU.
Specifically, the vision inspection apparatus includes being arranged on the housing above housing of playing ball, and is arranged on housing
Interior and can carry out 360 ° of two freely rotated binocular cameras, each binocular camera is connected with main control MCU.
In particular, said supply unit includes electric pressure converter, the charge and discharge protecting electricity being connected with electric pressure converter
Road, the battery being connected with charge-discharge protection circuit module；The input of the electric pressure converter is terminated with dc source and the sun
Can cell panel；The electric pressure converter and battery are also connected with main control MCU, for providing power supply to whole robot.
Further, the traction unit is including being arranged on ball-filling box body bottom, for driving whole ball picking robot to move
Dynamic two front vehicle wheels and two rear wheels, are arranged on bottom and the traction that is connected with two front vehicle wheels and fixing axle in ball-filling box body
Motor；The traction electric machine is connected with main control MCU.
Further, it is described to pick up the linking arm that ball mechanical arm is arranged on including one end on ball-filling box body, and linking arm
At least one section lever arm being sequentially connected on the other end, is arranged on linking arm and ball picking up device junction, can be achieved to horizontally rotate
270 ° of the first steering wheel, and be arranged on linking arm and lever arm junction and/or adjacent activities arm junction, can be achieved 720 °
The second steering wheel rotated；First steering wheel and each second steering wheel are connected with main control MCU.
Further, the ball device of putting puts ball plate and expansion link including activity；One end of the expansion link and activity
Put ball plate one end to be connected, the expansion link other end is connected with ball-filling box body side surface bottom；The activity put the other end of ball plate then with
Ball-filling box body bottom is rotatably connected.
Further, the ball picking robot also includes the laser sensing for being used to detect whether ball is filled in ball-filling box body
Device, the laser sensor is arranged on ball-filling box body upper inside wall and is connected with main control MCU.
It is preferred that, the ball picking robot also includes avoidance unit, and the avoidance unit includes with main control MCU being connected
Obstacle sensor and rotary electric machine, the obstacle sensor is arranged in front of mechanical shell, and the rotary electric machine is arranged on
It is connected in ball-filling box body and with front vehicle wheel.
Compared with prior art, the invention has the advantages that：
Ball mode is picked up with existing golf use artificial caddie carry out picking up ball and include Gao Er with aid
Husband's ball is picked up ball car etc. and pick up ball and compare, and present invention greatly reduces the input of human resources, overcomes and picks up ball car to Gao Er
The careless duckweed in husband place damages problem, is asked while can preferably overcome leakage to pick up plus machine vision technique and mechanical arm
Topic.
Brief description of the drawings
Fig. 1 is ball picking robot structural representation of the present invention.
Fig. 2 is that the present invention picks up ball roll structure schematic diagram.
Fig. 3 is that the present invention picks up ball roller drum chip architecture schematic diagram.
Fig. 4 is ball-filling box body bottom schematic view of the present invention.
Fig. 5 is that the present invention picks up ball roller and the mutually embedding schematic diagram of piece of playing ball.
Fig. 6 is that the present invention picks up ball schematic diagram.
Wherein, reference is corresponding entitled：
1- ball picking up device, 11- machinery shells, 12- fixing axles, 13- picks up ball roller drum piece, and 14- through holes, 15- connecting rods, 16- picks up ball
Road, 17- ball holes, 18- ball mouths, 2- ball-filling box bodies, 3- plays ball device, 31- rotary shafts, and 32- plays ball group, and 33- connecting shafts are synchronous
Motor, 34- plays ball housing, and 35- plays ball piece, and 4- vision inspection apparatus, 41- housings, 42- binocular cameras, 5- picks up ball manipulator
Arm, 51- linking arms, 52- lever arms, the steering wheels of 53- first, the steering wheels of 54- second, 6- puts ball device, and ball plate, 62- are put in 61- activities
Expansion link, 7- front vehicle wheels, 8- rear wheels, 9- laser sensors.
Embodiment
The invention will be further described with embodiment for explanation below in conjunction with the accompanying drawings, and mode of the invention includes but not only limited
In following examples.
The purpose of the present embodiment be to provide for one kind can not only be applied to various golf courts, intelligence degree it is high,
Ball picking-up efficiency is high, also cost-effective golf ball picking robot.
As shown in figure 1, a kind of golf ball picking robot of view-based access control model, include ball picking up device 1 and the right on the left side
Ball-filling box body 2；Wherein, the section of the ball picking up device is rounded, and ball picking up device upper right side is rotated provided with drive ball picking up device
In order to which ball picking up device picks up the device 3 of playing ball of ball, device top of playing ball, which is provided with, to be used to observe regarding for situation in golf field
Feel detection means 4；In order that the observing effect of vision inspection apparatus 4 is more preferably, the right in the section of ball-filling box body 2 is arc knot
Structure.
The ball-filling box body 2 is mainly used in placing the golf got back.Bottom is provided with whole for controlling in ball-filling box body
The main control MCU of individual ball picking robot, the power supply unit powered to whole ball picking robot, and drive whole ball picking robot to move
Dynamic traction unit；Be additionally provided with arcuate structure on ball-filling box body and pick up ball mechanical arm 5, and ball-filling box body bottom, with pick up ball
The close one end of mechanical arm, which is additionally provided with, puts ball device 6.For the ease of control, the device 3 of playing ball, vision inspection apparatus 4, pick up
Ball mechanical arm 5, put ball device 6, power supply unit and traction unit and be connected with main control MCU.
As shown in Figure 1 and Figure 4, the top of ball-filling box body 2 is provided with to be used to picking up ball mechanical arm and pick up after ball puts into ball-filling box by ball
The opening of body, bottom is smooth fixed plate, and fixed plate both sides are slightly above centre；The bottom of ball-filling box body 2, which is additionally provided with, puts ball dress
6 are put, this is put ball device and puts ball plate 61 and expansion link 62 including activity；Ball plate one end phase is put with activity in one end of the expansion link 62
Even, the expansion link other end is connected with the bottom right side of ball-filling box body 2；The activity put the other end of ball plate 61 then with ball-filling box body 2
The fixed plate of bottom is rotatably connected.When normally dress ball, the characteristics of there is smooth surface, heavier mass because of golf, ball
Activity will be freely rolled into from fixed edges of boards and puts the afterbody of ball plate 61, and ball picking robot is constantly moved during entirely ball is picked up,
Enable golf is tightly neat to be stored in ball-filling box body.Returned to when filling ball and filling at golf recovery and put ball
When, afterbody expansion link is stretched, and activity can be made to put the afterbody of ball plate 61 down, to golf is rolled out, then completes to put ball at recovery
Process.
As shown in figure 1, the vision inspection apparatus 4 includes being arranged on the housing 41 above housing of playing ball, and it is arranged on
It in housing and can carry out 360 ° of two freely rotated binocular cameras 42, each binocular camera is and main control MCU
It is connected.When picking up ball using the golf ball picking robot of the present embodiment, video information is gathered by vision inspection apparatus and passed
Deliver to main control MCU to judge whether there is golf to be to realize the first step for picking up ball on court, therefore, the present embodiment typically will
Binocular camera is set to first rear right-hand circular counterclockwise, to reach the purpose for detecting whole court.
As shown in figure 1, the ball picking up device 1 includes picking up ball roller, and be arranged on pick up outside ball roller and with ball-filling box body phase
The mechanical shell 11 connect；The bottom of mechanical shell 11 is provided with the right side of ball hole 17, mechanical shell, is provided with out with the joint of ball-filling box body 2
Ball mouthful 18, in order to which the golf picked up can be being rolled down to smoothly in ball-filling box body after being picked up by ball picking up device.It is described to pick up
Mallet is as shown in Fig. 2 the fixing axle 12 being connected including two ends with two circular side walls before and after mechanical shell, and is uniformly socketed in fixation
21 on axle are picked up mallet drum piece 13；As shown in figure 3, each middle part of mallet drum piece 13 of picking up has one to be used to cover
The set hole in fixing axle is connected to, and around set hole provided with four manholes 14 on mallet drum piece 13 is picked up, four circles are led to
The head and the tail connecting line in hole is in positive square, and mallet is picked up in the square diagonal crosspoint with set hole center superposition, every adjacent two
One, which is formd, between drum piece picks up alley 16；In addition, 21 are picked up mallet drum piece and are extended through using four connecting rods 15 and pick up ball
Through hole on rod drum piece and be connected in series, can make entirely that to pick up ball roller stability more preferable.Also, it is to use high abrasion to pick up mallet drum piece
Integrally compacting is formed superpower tough PU, and anti-wear performance is good, and service life is long.
As shown in Figure 1 and Figure 5, the present embodiment is also specially provided with device of playing ball, and the device 3 of playing ball is arranged on mechanical shell
11 upper right side, including the rotary shaft 31 cut and be arranged in parallel with fixing axle 12 with mechanical shell phase, are set on the rotating shaft and section
Played ball in four groups of cruciform shape and organize 32, two connecting shafts for being connected respectively with rotary shaft two ends and driving rotary shaft to rotate are synchronous
Motor 33, and cover on play ball group outside and the housing 34 of playing ball that is fixedly connected with mechanical shell；Described every group group of playing ball is included
20 pieces 35 of playing ball, and correspond and pick up alley 16 in picking up 20 on mallet, every piece of playing ball is to the minimum of fixing axle
Distance is more than the distance that connecting rod arrives fixing axle, i.e., described in piece 35 of playing ball mutually be embedded with picking up ball roller and put, pick up ball in order to hit down to be stuck in
Golf in road；Two connecting shaft synchronous motors are connected with main control MCU.
In order that picking up ball exercise makees smooth implementation, said supply unit includes electric pressure converter, is connected with electric pressure converter
Charge-discharge protection circuit, the battery being connected with charge-discharge protection circuit module；The input of the electric pressure converter is terminated with directly
Flow power supply and solar panel；The electric pressure converter and battery are also connected with main control MCU, for whole robot
Power supply is provided.Powered by external power source, solar powered or storage battery power supply, can meet the need for electricity of robot.
In order that the position that ball picking robot can be smoothly moved to where golf to be picked up, the traction unit includes setting
Put in ball-filling box body bottom, two front vehicle wheels 7 and two rear wheels 8 for driving whole ball picking robot movement, be arranged on
Bottom and the traction electric machine that is connected with two front vehicle wheels and fixing axle in ball-filling box body；The traction electric machine is connected with main control MCU.
The ball mechanical arm 5 of picking up is then that in order to aid in picking up ball, including one end is arranged on ball-filling box body at arcuate structure
Linking arm 51, and the lever arm 52 connected on the linking arm other end is arranged on linking arm and ball picking up device junction, can be real
The second of 720 ° of rotations can be realized by now horizontally rotating 270 ° of the first steering wheel 53, and being arranged on linking arm and lever arm junction
Steering wheel 54；First steering wheel and each second steering wheel are connected with main control MCU.The video information gathered by vision sensor
It was found that still there is golf in the place for having been carried out picking up ball, then main control MCU is driven by steering wheel picks up ball mechanical arm, i.e.,
It can implement to pick up ball.
In addition, the ball picking robot also includes the laser sensor 9 for being used to detect whether ball is filled in ball-filling box body 2,
The laser sensor 9 is arranged on ball-filling box body upper inside wall and is connected by data line with main control MCU, when detecting
When ball is full, then main control MCU terminates entirely to pick up ball process, and drives ball picking robot at golf recovery by traction unit
Motion.
The ball picking robot of the present embodiment picks up comprising the following steps that for ball：
1) video information that is gathered by vision inspection apparatus is simultaneously sent to main control MCU, and judges to learn that region A has found to have
Golf.
2) main control MCU sends information to traction unit, and traction unit drives whole ball picking robot to A by traction electric machine
The golf place motion at place, and ball is picked up by ball picking up device implementation.When ball picking up device picks up ball, golf is picked up on ball roller
Any two panels is picked up ball roller drum piece and clamped, and is clamped from region A and passes sequentially through region B again to the panel region C that plays ball, then through piece of playing ball by ball
It is driven into ball-filling box body, completes to pick up ball again to region E from region C to region D successively.
3) video information that is gathered by vision inspection apparatus, which finds to have been carried out to pick up ball place, still golf,
Such as region G in Fig. 6, then main control MCU is driven by steering wheel picks up ball mechanical arm and implements to pick up ball, and golf is picked up from region G
Breach is put into above from ball-filling box body, successively from region G to region D again to region E.
By the above-mentioned means, the present invention can realize that high-efficient automatic picks up ball, the utilization rate of training field golf is improved,
Reduce golf driving cages human cost.
Embodiment 2
The present embodiment is the further improvement done on the basis of embodiment 1, i.e., increased one newly on the basis of embodiment 1
Individual avoidance unit, the avoidance unit includes the obstacle sensor and rotary electric machine being connected with main control MCU, the barrier
Sensor is arranged in front of mechanical shell, and the rotary electric machine is arranged in ball-filling box body and is connected with front vehicle wheel, can drive front truck
Wheel is turned with avoiding obstacles.
Above-described embodiment is only the preferred embodiment of the present invention, should not be taken to limit protection scope of the present invention, but
It is all the present invention body design thought and mentally make have no the change of essential meaning or polishing, its technology solved
Problem is still consistent with the present invention, should be included within protection scope of the present invention.
Claims (10)
1. the golf ball picking robot of a kind of view-based access control model, it is characterised in that including the ball picking up device (1) and dress set gradually
Ball casing (2), and main control MCU, power supply unit and the traction unit being arranged in ball-filling box body；At the top of the ball picking up device also
Provided with device of playing ball (3), vision inspection apparatus (4) is provided with the top of device of playing ball；The ball-filling box body (2) is provided with and picks up ball machine tool
It is additionally provided with and is picked up the opening of ball input ball-filling box body, ball-filling box body for picking up ball mechanical arm after ball on arm (5), ball-filling box body
Bottom, one end close with picking up ball mechanical arm, which are additionally provided with, puts ball device (6)；The device of playing ball (3), vision inspection apparatus
(4) ball mechanical arm (5), is picked up, ball device (6), power supply unit and traction unit is put and is connected with main control MCU.
2. the golf ball picking robot of a kind of view-based access control model according to claim 1, it is characterised in that described to pick up ball dress
Putting (1) includes picking up ball roller, and is arranged on the mechanical shell (11) picked up and connect outside ball roller and with ball-filling box body phase；It is described to pick up mallet bag
The fixing axle (12) that two ends are connected with mechanical shell is included, and the uniform multiple mallets of picking up being socketed in fixing axle rouse piece (13)；Institute
State it is each pick up on mallet drum piece (13) also centered on middle part symmetrically provided with four manholes (14), and all pick up mallet
Drum piece using four connecting rods (15) extend through pick up mallet drum piece on through hole and be connected in series, per adjacent two pick up mallet drum piece it
Between formed one pick up alley (16)；The mechanical shell bottom be provided with ball hole (17), mechanical shell-side face, with ball-filling box body (2) phase
Meet place and be provided with ball mouth (18).
3. a kind of golf ball picking robot of view-based access control model according to claim 2, it is characterised in that the dress of playing ball
(3) are put to be arranged at the top of mechanical shell (11), including the rotary shaft (31) cut and be arranged in parallel with fixing axle (12) with mechanical shell phase,
Set on the rotating shaft and section is in four groups of groups of playing ball (32) of cruciform shape, being connected respectively with rotary shaft two ends and driving turns
Two connecting shaft synchronous motors (33) that moving axis is rotated, and cover on play ball group outside and the housing of playing ball that is fixedly connected with mechanical shell
(34)；Described every group group of playing ball includes the piece of playing ball (35) with picking up alley quantity Matching, and every piece of playing ball arrives fixing axle
Minimum range is more than connecting rod to the distance of fixing axle, to hit the golf picked up on alley down；Two connecting shaft synchronous motors
It is connected with main control MCU.
4. the golf ball picking robot of a kind of view-based access control model according to claim 1 or 3, it is characterised in that described to regard
Feeling detection means (4) includes being arranged on housing (41) above housing of playing ball, and is arranged in housing and can carry out 360 °
Two binocular cameras (42) freely rotated, each binocular camera is connected with main control MCU.
5. a kind of golf ball picking robot of view-based access control model according to claim 4, it is characterised in that the power supply list
Member includes electric pressure converter, and the charge-discharge protection circuit being connected with electric pressure converter is connected with charge-discharge protection circuit module
Battery；The input of the electric pressure converter is terminated with dc source and solar panel；The electric pressure converter and electric power storage
Pond is also connected with main control MCU, for providing power supply to whole robot.
6. the golf ball picking robot of a kind of view-based access control model according to claim 1 or 5, it is characterised in that described to lead
Draw two front vehicle wheels (7) and two of the unit including being arranged on ball-filling box body bottom, for driving whole ball picking robot movement
Rear wheel (8), is arranged on bottom and the traction electric machine that is connected with two front vehicle wheels and fixing axle in ball-filling box body；The traction electric machine
It is connected with main control MCU.
7. the golf ball picking robot of a kind of view-based access control model according to claim 6, it is characterised in that described to pick up ball machine
Tool arm (5) includes one end and is arranged on linking arm (51) on ball-filling box body, and be sequentially connected on the linking arm other end to
A few section lever arm (52), is arranged on linking arm and ball picking up device junction, can be achieved to horizontally rotate 270 ° of the first steering wheel
(53), and linking arm and lever arm junction and/or adjacent activities arm junction is arranged on, the second of 720 ° of rotations is can be achieved
Steering wheel (54)；First steering wheel and each second steering wheel are connected with main control MCU.
8. the golf ball picking robot of a kind of view-based access control model according to claim 1 or 6, it is characterised in that described to put
Ball device (6) puts ball plate (61) and expansion link (62) including activity；One end of the expansion link is put ball plate one end with activity and is connected,
The expansion link other end is connected with ball-filling box body (2) side bottom；The activity put the other end of ball plate then with ball-filling box body (2) bottom
Portion is rotatably connected.
9. the golf ball picking robot of a kind of view-based access control model according to claim 8, it is characterised in that described to pick up ball machine
Device people also includes being used to detect the laser sensor (9) whether ball-filling box body (2) interior ball is filled, and the laser sensor (9) sets
Put in ball-filling box body upper inside wall and be connected with main control MCU.
10. the golf ball picking robot of a kind of view-based access control model according to claim 6, it is characterised in that described to pick up ball
Robot also includes avoidance unit, and the avoidance unit includes the obstacle sensor and rotary electric machine that are connected with main control MCU,
The obstacle sensor is arranged in front of mechanical shell, and the rotary electric machine is arranged in ball-filling box body and is connected with front vehicle wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108363411A (en) * | 2018-04-23 | 2018-08-03 | 济南大学 | A kind of system design of golf course intelligent ball collecting unmanned vehicle |
| CN108837434A (en) * | 2018-06-13 | 2018-11-20 | 汪洁 | A kind of training place special table tennis ball pick-up unit |
| CN110292756A (en) * | 2019-07-16 | 2019-10-01 | 南京工业职业技术学院 | Golf ball picking robot and the golf ball picking robot of view-based access control model exploitation |
| CN115501559A (en) * | 2022-10-21 | 2022-12-23 | 深圳市一岭高尔夫科技有限公司 | Golf ball collection tool, intelligent autonomous ball collection robot and recovery system |
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Application publication date: 20170901 |