Intelligent ball picking car

Abstract

The present invention proposes an intelligent ball pickup vehicle, comprising a mobile body and a pickup device. The mobile body is equipped with a vision system and a drive control system. The vision system includes a laser radar and an image acquisition system. The drive control system includes a signal processing chip and a wheel drive device. The wheel drive device controls the movement of the mobile body. The laser radar and the image acquisition system are both signal-connected to the signal processing chip, and the wheel drive device is control-connected to the signal processing chip. The pickup device includes an openable and closable shaft control device and a ball pickup roller. The ball pickup roller is rotatably fixed to the mobile body via the shaft control device, and the ball pickup roller rotates and moves with the horizontal movement of the mobile body. In this application, the openable and closable shaft control device combines the pickup device and the mobile body into a single unit. The shaft control device enables the automatic loading and unloading function of the intelligent ball pickup vehicle, thereby improving the flexibility and functionality of the intelligent ball pickup vehicle.

Description

Technical Field

[0001] The present invention relates to the field of intelligent robots, and in particular to an intelligent ball-picking vehicle. Background Art

[0002] Table tennis is a common fitness activity in everyday life. Numerous balls are used during practice sessions, and after practice, they are often scattered around the court. Retrieving the balls after a long session is a significant challenge. Besides table tennis, other small spheres, such as tennis balls, billiard balls, and golf balls, present the same challenge. Therefore, a ball retrieval device is needed to accomplish this task.

[0003] There are two types of ball picking devices on the market: one is a manual picking device, which consumes more physical strength and cannot complete the picking of balls in corners; the other is a ball picking car, which simply assembles a robot and a ball picking device together, using the robot instead of manual labor, but it is also helpless for ping-pong balls in corners or small spaces. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent ball picking car, which can detachably connect the picking device and the mobile car body through a rotating shaft control device, thereby reducing the volume of the intelligent ball picking car and improving the picking efficiency and range of movement.

[0005] In order to achieve the above-mentioned object, the present invention proposes an intelligent ball picking car, comprising a mobile body and a picking device, wherein the mobile body is provided with a visual system and a drive control system;

[0006] The visual system includes a laser radar and an image acquisition system, and the drive control system includes a signal processing chip, a wheel drive device and a power supply mechanism. The wheel drive device controls the movement of the mobile body. The laser radar and the image acquisition system are both signal-connected to the signal processing chip. The wheel drive device is control-connected to the signal processing chip. The power supply mechanism supplies power to the visual system and the drive control system.

[0007] The picking device includes an openable and closable rotating shaft control device and a ball picking roller, the ball picking roller is rotatably fixed to the mobile body through the rotating shaft control device, and the ball picking roller rotates and moves with the horizontal movement of the mobile body;

[0008] The first roller wheel and the second roller wheel are both support frames, and the support frames are in the shape of a Lello triangle. Connecting rods connecting the first roller wheel and the second roller wheel at corresponding positions are respectively provided at each end corner and the middle section of each end side of the support frame, and the elastic clips are evenly distributed between adjacent connecting rods.

[0009] A wire drum is provided at the center of the support frame, and six groups of telescopic deformable rods are evenly arranged around the outer circumference of the wire drum. Active hinges are provided at the ends of adjacent telescopic deformable rods. The wire drum is controlled to rotate by a wire drum control motor. The rotating wire drum drives the telescopic deformable rods to perform telescopic activities and drives the active hinges to move, so that the side walls of the outer side of the support frame are deformed.

[0010] The telescopic deformable rod includes a steel wire, a sleeve, a spring and a movable rod. One end of the steel wire is wound on the wire drum, and the other end is connected to the movable rod. One end of the movable rod is placed in the sleeve, and the other end is connected to the connecting rod. The spring is provided between the movable rod and the sleeve; the winding directions of adjacent steel wires and the wire drum are opposite to each other.

[0011] Furthermore, the drive control system also includes a display control panel, which is signal-connected to the signal processing chip; the laser radar is placed at the top of the mobile body; the image acquisition system includes a camera, which is placed at the front end of the mobile body.

[0012] Furthermore, the wheel drive device includes a power wheel, an auxiliary wheel and a drive system for controlling the operation of the power wheel, the power wheel and the auxiliary wheel are both arranged on the bottom side of the mobile body, a pair of the power wheels are placed at the tail end of the ball picking roller, a pair of the auxiliary wheels are placed on both sides of the ball picking roller, and the power wheel and the auxiliary wheel are both symmetrical with the central axis of the ball picking roller, and the auxiliary wheels are placed below the rotating shaft control device.

[0013] Furthermore, the interior of the ball picking roller is a hollow storage space, and the two sides of the ball picking roller are symmetrically arranged with a first roller wheel and a second roller wheel. An elastic clip arranged at intervals along the edge is provided between the first roller wheel and the second roller wheel. The first roller wheel and the second roller wheel are connected and fixed by a central support rod, and the ball picking roller rotates around the support rod as the axis.

[0014] Furthermore, a sphere is stored in the storage space, the elastic clip is an elastic rope, the diameter of the sphere is larger than the parallel spacing between adjacent elastic clips under normal conditions, and the diameter of the sphere is smaller than or equal to the maximum spacing between adjacent elastic clips under deformation.

[0015] Furthermore, the rotating shaft control device includes a main shaft, a rolling bearing and a clamping part, the top end of the main shaft is fixed on the mobile vehicle body, and the clamping part is provided at the bottom end of the main shaft; the inner side of the clamping part is a longitudinally arranged movable groove, the top side of the movable groove is provided with an upper clamping hoop connected by an upper spring, and the bottom side is provided with a lower clamping hoop connected by a lower spring, and the side edge of the clamping part is provided with an installation opening connected to the movable groove, the end of the support rod is provided with the rolling bearing, and the upper clamping hoop and the lower clamping hoop are clamped on the rolling bearing.

[0016] Furthermore, the upper clamping hoop has a semicircular ring with an opening facing downward, and the lower clamping hoop has a semicircular ring with an opening facing upward. Electromagnets are provided in the semicircular rings of the upper clamping hoop and the lower clamping hoop, and the signal processing chip is electrically connected to the electromagnets.

[0017] Furthermore, it also includes a storage and charging device, which includes a charging connector, a storage slot and a replacement slot, and the power supply mechanism includes a battery and a charging system; a magnetic charging interface is provided on the mobile body, and the magnetic charging interface is electrically connected to the battery through the charging system, and the magnetic charging interface is connected to the charging connector in cooperation, and the storage slot is used to store the fully loaded ball picking roller that is disassembled and replaced by the rotating shaft control device, and the replacement slot is used to store the empty ball picking roller that is convenient for the rotating shaft control device to clamp and install.

[0018] Compared with existing technologies, the present invention's advantages are primarily reflected in the following: A retractable shaft control device integrates the pickup device and mobile body into a single unit, enabling automatic loading and unloading of the intelligent ball retrieval vehicle, thereby improving its flexibility and functionality. Active obstacle avoidance is achieved through the coordination of the image acquisition system and the drive control system, achieving precise control over the operation of the intelligent ball retrieval vehicle.

[0019] The intelligent ball retrieval vehicle's pickup mechanism has also been redesigned to enable it to pick up balls from corners, improving its operational range and efficiency. While maintaining a large ball storage capacity, the vehicle's size has been reduced, allowing it to pick up and store a maximum of balls equal in size to the vehicle itself. The modular design of the vehicle's various components facilitates the replacement of rollers and wheel drive units of varying sizes for balls of varying sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the side structure of the intelligent ball picking car in the present invention;

[0021] Figure 2 for Figure 1 A top view of

[0022] Figure 3 This is a schematic diagram of the three-dimensional structure of the intelligent ball-picking vehicle of the present invention;

[0023] Figure 4 Schematic diagram of the structure of the rotating shaft control device of the present invention;

[0024] Figure 5 and Figure 6 This is a schematic diagram of the ball picking roller in the present invention picking up balls at a corner;

[0025] Figure 7 Schematic diagram of the structure of the support frame of the ball picking roller in the present invention;

[0026] Figure 8 Schematic diagram of the telescopic direction of the telescopic deformable rod when the support frame is deformed in the present invention;

[0027] Figure 9 This is a schematic diagram of the tensile state of the steel wire and the movable rod when the support frame is deformed in the present invention.

[0028] Among them: mobile body 1, battery 11, magnetic charging port 12, laser radar 21, camera 22, signal processing chip 31, display control panel 32, shaft control device 4, main shaft 41, clamping part 42, ball picking roller 5, first roller wheel 51, second roller wheel 52, elastic clip 53, support rod 54, connecting rod 55, power wheel 61, auxiliary wheel 62, wheel drive motor 63, movable groove 71, upper spring 72, upper clamping hoop 73, lower spring 74, lower clamping hoop 75, installation port 76, sphere 8, wire drum 91, wire drum control motor 92, movable hinge 93, steel wire 94, sleeve 95, spring 96, movable rod 97. DETAILED DESCRIPTION

[0029] The following is a more detailed description of the intelligent ball retrieval vehicle of the present invention with reference to a schematic diagram, which shows a preferred embodiment of the present invention. It should be understood that those skilled in the art may modify the present invention described herein while still achieving the advantageous effects of the present invention. Therefore, the following description should be understood as being generally known to those skilled in the art and not as limiting the present invention.

[0030] In the description of the present invention, it should be noted that, for directional words, such as the terms "center", "horizontal", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and so on, indicating directions and positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and cannot be understood as limiting the specific scope of protection of the present invention.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. Therefore, the terms "first" and "second" may explicitly or implicitly include one or more of these features. Throughout the description of the present invention, "at least" means one or more than one, unless otherwise specifically defined.

[0032] The following paragraphs describe the present invention in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are greatly simplified and not to exact scale, and are provided solely for the purpose of assisting in the description of the embodiments of the present invention.

[0033] like Figures 1 to 2 As shown, the present invention proposes an intelligent ball picking car, including a mobile body 1 and a picking device. The mobile body 1 is provided with a visual system and a drive control system. The visual system includes a laser radar 21 and an image acquisition system. The laser radar 21 is placed at the top of the mobile body 1. The laser radar 21 is used to scan the operating environment around the intelligent ball picking car, realize the design of the operating trajectory of the intelligent ball picking car and avoidance of obstacles; the image acquisition system includes a camera 22, and the camera 22 is placed at the front end of the mobile body 1. The image acquisition system is used to scan the position of the balls 8 scattered at the front end of the mobile body 1 and convert the position of the balls 8 into two-dimensional coordinates.

[0034] The drive control system includes a signal processing chip 31, a wheel drive device, a power supply mechanism and a display control panel 32. The wheel drive device controls the movement of the mobile body 1. The laser radar 21, the image acquisition system and the display control panel 32 are all connected to the signal processing chip 31 for signals. The wheel drive device is control-connected to the signal processing chip 31. The power supply mechanism supplies power to the visual system and the drive control system, that is, the laser radar 21, the camera 22, the signal processing chip 31, the wheel drive device and the display control panel 32 are all electrically connected to the power supply mechanism.

[0035] The pickup device includes an openable and retractable rotational axis control device 4 and a ball pickup roller 5. The roller 5 is rotatably fixed to the mobile body 1 via the rotational axis control device 4 and rotates with the horizontal movement of the mobile body 1. As the pickup device for the balls 8, the roller 5 has no inherent driving force and is primarily driven by the wheel drive device. This allows it to pick up balls 8 in complex environments and corners.

[0036] Further, if Figures 1 to 3 As shown, the wheel drive device includes a power wheel 61, an auxiliary wheel 62, and a drive system for controlling the operation of the power wheel 61. The drive system includes a wheel drive motor 63. The power wheel 61 and the auxiliary wheel 62 are both located on the bottom side of the mobile body 1. A pair of power wheels 61 are placed at the rear end of the ball pickup roller 5, and a pair of auxiliary wheels 62 are placed on both sides of the ball pickup roller 5. The power wheels 61 and the auxiliary wheels 62 are symmetrical about the central axis of the ball pickup roller 5, and the auxiliary wheels 62 are placed below the shaft control device 4. The mobile body 1 is differentially driven by the pair of power wheels 61 at the rear. That is, the wheel drive motor 63 controls the rotation of the power wheel 61, and the auxiliary wheels 62 are driven synchronously by the mobile body 1 to rotate horizontally, so that the mobile body 1 has a better turning radius and improves the flexibility of the mobile body 1 when moving.

[0037] Further, if Figure 3 As shown, the interior of the ball pickup drum 5 is a hollow storage space. A first roller 51 and a second roller 52 are symmetrically arranged on either side of the ball pickup drum 5. Elastic clips 53 are spaced circumferentially between the first and second rollers 51, 52. The first and second rollers 51, 52 are connected and fixed by a central support rod 54, and the ball pickup drum 5 rotates around the support rod 54. Preferably, the elastic clip 53 is an elastic rope. Simultaneously, the signal processing chip 31 controls movement to the position where the ball 8 is picked up based on the ball 8 detected by the camera 22. It then records the information about the ball being picked up and determines the number of balls 8 stored within the ball pickup drum 5. Once the number reaches a predetermined value, the signal processing chip 31 notifies the user that the ball pickup drum 5 needs to be replaced.

[0038] In addition, a calculation device for calculating the number of balls 8 inside can be set inside the ball picking roller 5. The calculation device can be a counter to count the number of individual balls 8; the calculation device can also be a height measuring device to measure the highest height of the stack of balls 8 within a fixed time; the calculation device can also be a weight measuring device to measure the overall weight of the balls 8. When a predetermined value is reached, it can be known that the ball picking roller 5 needs to be replaced.

[0039] Among them, such as Figure 3As shown, the first roller wheel 51 and the second roller wheel 52 are both supporting frames, which set up the overall structure of the ball picking roller 5 and form a storage space inside. The surface of the supporting frame is in the form of a protective mesh, which can prevent the balls 8 in the storage space from rolling out. In addition, the first roller wheel 51 and the second roller wheel 52 are both in the form of a Lello triangle, which facilitates the rotation of the ball picking roller 5 under moderate friction and can also realize the positioning and storage of the ball picking roller 5. That is, the replaced ball picking roller 5 can be stably placed in a fixed position, such as Figure 5 As shown, when the ball picking roller 5 moves to the corner in an equilateral triangle shape, it can also ensure that the dead angle area for picking up balls at the corner is reduced. The ball picking roller 5 on the market is often designed as a cylindrical round roller. In the absence of an external fixation, the ball 8 will drive the round roller to move, which is inconvenient to use.

[0040] like Figure 6 As shown in FIG, when the ball picking roller 5 moves to the corner in an inverted triangle shape, the ball picking roller 5 cannot pick up the ball 8 at the corner. Figures 7 to 9 As shown, by deforming the ball picking roller 5 so that the supporting frame of the ball picking roller 5 is transformed from a right triangle to a right triangle, the ball 8 can be picked up again.

[0041] Specifically, such as Figures 8 and 9 As shown, a wire drum 91 is provided at the center of the supporting frame, and six groups of telescopic deformable rods are evenly arranged on the outer circumference of the wire drum 91. The ends of adjacent telescopic deformable rods are provided with movable hinges 93. The wire drum 91 is controlled to rotate by a wire drum control motor 92. The rotating wire drum 91 drives the telescopic deformable rod to perform telescopic activities, and drives the movable hinge 93 to rotate, so that the side wall on the outer side of the supporting frame can be deformed, which can change the overall shape of the ball picking roller 5.

[0042] Further, if Figures 7 to 9 As shown, the telescopic deformable rod includes a steel wire 94, a sleeve 95, a spring 96 and a movable rod 97. One end of the steel wire 94 is wound around the wire drum 91, and the other end is connected to the movable rod 97. One end of the movable rod 97 is placed in the sleeve 95, and the other end is connected to the connecting rod 55 through a movable hinge 93. A spring 96 is provided between the movable rod 97 and the sleeve 95; the winding directions of adjacent steel wires 94 and the wire drum 91 are opposite to each other, that is, three steel wires 94 arranged at intervals are grouped as a group, with a total of six steel wires 94, which are divided into two groups, one group is wound around the wire drum 91 clockwise, and the other group is wound around the wire drum 91 counterclockwise.

[0043] When the ball pickup roller 5 needs to be deformed, the reel control motor 92 controls the rotation of the reel 91. The wires 94 wound around the reel 91 are wound in the direction of rotation of the reel control motor 92, causing one set of wires 94 to tighten while the other set of wires 94 is loosened. The tightened wires 94 pull the movable rod 97 toward the inside of the sleeve 95, driving the connected connecting rod 55 inward. Springs 96 ensure smooth movement of the movable rod 97. The loosened wires 94 facilitate movement of the movable rod 97. The elastic restoring force of the springs 96 pushes the movable rod 97 outward from the sleeve 95, driving the connected connecting rod 55 outward. Simultaneously, the movable hinges 93 rotate in response to the expansion and contraction of the various deformable rods, ensuring smooth transformation of the support frames on both sides of the ball pickup roller 5. The provision of springs 96 ensures smooth deformation of the support frames and imparts a certain degree of elasticity to the entire ball pickup roller 5.

[0044] At the same time, if Figure 3 As shown, the storage space is used to store the sphere 8. In order to facilitate the picking up of the sphere 8, the diameter of the sphere 8 is larger than the parallel spacing between adjacent elastic clips 53 under normal conditions, and the diameter of the sphere 8 is less than or equal to the maximum spacing between adjacent elastic clips 53 under deformation.

[0045] Further, if Figures 1 to 2 As shown, the shaft control device 4 includes a main shaft 41, a rolling bearing and a clamping portion 42. The top end of the main shaft 41 is fixed on the mobile body 1, and the bottom end of the main shaft 41 is provided with a clamping portion 42. Specifically, as Figure 4 As shown, the inner side of the clamping portion 42 is a longitudinally arranged movable channel 71. An upper clamping hoop 73 is connected to the top side of the movable channel 71 via an upper spring 72, and a lower clamping hoop 75 is connected to the bottom side via a lower spring 74. A mounting opening 76 is provided on the side of the clamping portion 42, communicating with the movable channel 71. A rolling bearing is provided at the end of the support rod 54, and the upper clamping hoop 73 and the lower clamping hoop 75 cooperate to clamp onto the rolling bearing. The rolling bearing reduces friction between the support rod 54 and the main shaft 41 during the movement of the ball pickup roller 5, thereby improving the efficiency of the mobile body 1. The rolling bearing, constrained by the upper spring 72 and the lower spring 74, moves up and down only within the movable channel 71, achieving a shock-absorbing and fixed effect. Specifically, the upper clamping hoop 73 has a semicircular ring with an opening downward, and the lower clamping hoop 75 has a semicircular ring with an opening upward. Electromagnets are provided in the semicircular rings of the upper clamping hoop 73 and the lower clamping hoop 75. The signal processing chip 31 is electrically connected to the electromagnet. When the electromagnet is energized with DC power under the control of the signal processing chip 31, the upper clamping hoop 73 and the lower clamping hoop 75 are attracted by magnetic force, and the upper clamping hoop 73 and the lower clamping hoop 75 are tightly adsorbed on the rolling bearing of the support rod 54, so that the support rod 54 moves up and down in the movable groove 71 with the horizontal movement of the mobile body 1.

[0046] At the same time, if Figure 1 and Figure 3 As shown, since the ball pickup roller 5 in the present application is a triangular roller with rounded triangular sides, its support rod 54, which serves as a rotating shaft, moves up and down as the triangular roller moves forward, maintaining the stability of the mobile body 1. Conventional fixing devices have difficulty controlling the roller structure and realizing automatic loading and unloading of the ball pickup roller 5 of the intelligent ball pickup vehicle. The retractable rotating shaft control device 4 in the embodiment alleviates the interference of the up and down movement of the ball pickup roller 5 on the movement of the intelligent ball pickup vehicle and realizes automatic loading and unloading of the balls 8. The mobile body 1 is L-shaped, with one side horizontally placed on the top side of the ball picking roller 5 and the other side vertically standing on the rear side of the ball picking roller 5. When the upper clamping hoop 73 and the lower clamping hoop 75 are loosened, the wheel drive device controls the movement of the mobile body 1 to move the support rod 54 out of the movable groove 71, and the mobile body 1 is separated from the ball picking roller 5, making it convenient for the mobile body 1 to move to the replaced ball picking roller 5, and then the upper clamping hoop 73 and the lower clamping hoop 75 are tightened to realize the replacement of ball picking rollers 5 of different sizes for picking up balls of different types, such as table tennis balls, tennis balls, billiard balls, golf balls, etc.

[0047] In addition, the picking device and wheel drive device of the smart ball picking car can be detachably installed on the mobile body 1. When dealing with balls of different sizes, the ball picking rollers 5 of different sizes can be replaced, and different wheel drive devices can be replaced to cooperate with them, so that the smart ball picking car can better adapt to various working environments and be used in various places.

[0048] Further, if Figure 1 As shown, the power supply mechanism includes a battery 11 and a charging system. The battery 11 is arranged on the top side of the mobile body 1 for easy disassembly and replacement.

[0049] In addition, the intelligent ball picking car also includes a storage and charging device, which includes a charging connector, a storage slot and a replacement slot. A magnetic charging interface 12 is provided at the front end of the mobile body 1. The magnetic charging interface 12 is electrically connected to the battery 11 through the charging system. The magnetic charging interface 12 is connected to the charging connector. The storage slot is used to store the fully loaded ball picking roller 5 that is disassembled and replaced by the rotating shaft control device 4, and the replacement slot is used to store the empty ball picking roller 5 that is convenient for the rotating shaft control device 4 to clamp and install.

[0050] The specific operations are as follows:

[0051] The camera 22 on the mobile vehicle 1 captures images and transmits them to the signal processing chip 31 for identification and counting of the balls 8. The wheel drive mechanism is then controlled to move to the corresponding position of the balls 8. The balls 8 are then picked up by the ball pickup roller 5. The display control panel 32 displays the remaining battery life of the intelligent ball pickup vehicle and controls the start / stop of the pickup operation. During operation, the SLAM lidar 21 scans the surrounding working environment, enabling the intelligent ball pickup vehicle to plan its path and avoid obstacles. The signal processing chip 31 calculates the number of balls 8 within the ball pickup roller 5. Once the number of balls 8 within the roller 5 reaches a certain level, the intelligent ball pickup vehicle is controlled to return to a specified position and replace the roller 5.

[0052] When the smart ball picking car is running in the work area, the smart ball picking car automatically plans a path based on the data obtained by the camera 22 and the SLAM laser radar 21 of the smart ball picking car. The rear wheel of the smart ball picking car is the power wheel 61, which drives the front ball picking roller 5 to move. The wheel drive device operates the mobile body 1 to move to the ball 8. After the ball picking roller 5 presses over the ball 8, the ball 8 falls into the ball picking roller 8. It can be known from common sense that as long as the center of the ball enters the ball picking roller 5, the ball 8 will fall into the ball picking roller 5.

[0053] When the intelligent ball picking car needs to replace the ball picking roller 5, the signal processing chip 31 controls the mobile body 1 to move to the receiving slot for accommodating the charging device, and controls the opening and closing of the semicircular ring through the electromagnet, that is, the upper clamping hoop 73 and the lower clamping hoop 75 release the clamping of the support rod 54 on the ball picking roller 5, and the support rod 54 can be moved out of the movable groove 71 through the installation opening 76 to replace the ball picking roller 5 filled with balls 8, and the mobile body 1 is controlled to move to the replacement slot for accommodating the charging device, and the hollow ball picking roller 5 stored in the replacement slot, its support rod 54 is moved into the movable groove 71 at the installation opening 76, and the two semicircular rings are controlled to be attracted by the electromagnet, that is, the upper clamping hoop 73 and the lower clamping hoop 75 are clamped on the support rod 54, completing the replacement process of the ball picking roller 5.

[0054] In summary, the intelligent ball retrieval vehicle proposed in this embodiment incorporates a retractable shaft control device, integrating the retrieval device and the mobile vehicle into a single unit. This shaft control device enables automatic loading and unloading of the intelligent ball retrieval vehicle, improving its flexibility and functionality. Active obstacle avoidance is achieved through the coordination of the image acquisition system and the drive control system, achieving precise control of the intelligent ball retrieval vehicle's operation.

[0055] The intelligent ball retrieval vehicle's pickup mechanism has also been redesigned to enable it to pick up balls from corners, improving its operational range and efficiency. While maintaining a large ball storage capacity, the vehicle's size has been reduced, allowing it to pick up and store a maximum of balls equal in size to the vehicle itself. The modular design of the vehicle's various components facilitates the replacement of rollers and wheel drive units of varying sizes for balls of varying sizes.

[0056] The above description is merely a preferred embodiment of the present invention and does not limit the present invention in any way. Any person skilled in the art who, without departing from the scope of the present invention, makes any equivalent substitution, modification, or other changes to the technical solution and technical content disclosed in the present invention shall be deemed to be within the scope of the present invention and still fall within the scope of protection of the present invention.

Claims

1. An intelligent ball picking car, characterized in that: It comprises a mobile body (1) and a picking device, wherein the mobile body (1) is provided with a visual system and a drive control system; The visual system includes a laser radar (21) and an image acquisition system, the drive control system includes a signal processing chip (31), a wheel drive device and a power supply mechanism, the wheel drive device controls the movement of the mobile body (1), the laser radar (21) and the image acquisition system are both signal-connected to the signal processing chip (31), the wheel drive device is control-connected to the signal processing chip (31), and the power supply mechanism supplies power to the visual system and the drive control system; The picking device comprises an openable and closable rotating shaft control device (4) and a ball picking roller (5), wherein the ball picking roller (5) is rotatably fixed on the mobile vehicle (1) via the rotating shaft control device (4), and the ball picking roller (5) rotates and moves along with the horizontal movement of the mobile vehicle (1); The interior of the ball picking roller (5) is a hollow storage space, and the two sides of the ball picking roller (5) are symmetrically arranged with a first roller wheel (51) and a second roller wheel (52), and an elastic clip (53) is provided between the first roller wheel (51) and the second roller wheel (52) and spaced along the circumference of the edge. The first roller wheel (51) and the second roller wheel (52) are connected and fixed by a central support rod (54), and the ball picking roller (5) rotates with the support rod (54) as the axis. The first roller wheel (51) and the second roller wheel (52) are both support frames, and the support frames are in the shape of a Lello triangle. Connecting rods (55) are respectively provided at each end corner and the middle section of each end edge of the support frame to connect the first roller wheel (51) and the second roller wheel (52) at corresponding positions, and the elastic clips (53) are evenly distributed between adjacent connecting rods (55). A wire drum (91) is provided at the center of the support frame, and six groups of telescopic deformable rods are evenly arranged around the outer side of the wire drum (91). Ends of adjacent telescopic deformable rods are provided with movable hinges (93). The wire drum (91) is controlled to rotate by a wire drum control motor (92). The rotating wire drum (91) drives the telescopic deformable rods to perform telescopic activities and drives the movable hinges (93) to move, so that the side wall of the outer side of the support frame is deformed. The telescopic deformable rod comprises a steel wire (94), a sleeve (95), a spring (96) and a movable rod (97); one end of the steel wire (94) is wound on the wire drum (91), and the other end is connected to the movable rod (97); one end of the movable rod (97) is placed in the sleeve (95), and the other end is connected to the connecting rod (55); the spring (96) is provided between the movable rod (97) and the sleeve (95); the winding directions of adjacent steel wires (94) and the wire drum (91) are opposite to each other.

2. The intelligent ball picking car according to claim 1, characterized in that: The drive control system further comprises a display control panel (32), wherein the display control panel (32) is signal-connected to the signal processing chip (31); the laser radar (21) is placed at the top of the mobile body (1); and the image acquisition system comprises a camera (22), wherein the camera (22) is placed at the front end of the mobile body (1).

3. The intelligent ball picking car according to claim 1, characterized in that: The wheel drive device includes a power wheel (61), an auxiliary wheel (62) and a drive system for controlling the operation of the power wheel (61), the power wheel (61) and the auxiliary wheel (62) are both arranged on the bottom side of the mobile body (1), a pair of the power wheels (61) are placed at the tail end of the ball picking roller (5), a pair of the auxiliary wheels (62) are placed on both sides of the ball picking roller (5), and the power wheels (61) and the auxiliary wheels (62) are both symmetrical about the central axis of the ball picking roller (5), and the auxiliary wheels (62) are placed below the rotating shaft control device (4).

4. The intelligent ball picking car according to claim 1, characterized in that: The sphere (8) is stored in the storage space, the elastic clip (53) is an elastic rope, the diameter of the sphere (8) is larger than the parallel spacing between adjacent elastic clips (53) in a normal state, and the diameter of the sphere (8) is smaller than or equal to the maximum spacing between adjacent elastic clips (53) in a deformed state.

5. The intelligent ball picking car according to claim 1, characterized in that: The rotating shaft control device (4) includes a main shaft (41), a rolling bearing and a clamping portion (42), wherein the top end of the main shaft (41) is fixed on the mobile vehicle body (1), and the bottom end of the main shaft (41) is provided with the clamping portion (42); the inner side of the clamping portion (42) is a longitudinally arranged movable groove (71), the top side of the movable groove (71) is connected to an upper clamping hoop (73) via an upper spring (72), and the bottom side is connected to a lower clamping hoop (75) via a lower spring (74), and the side of the clamping portion (42) is provided with a mounting opening (76) connected to the movable groove (71), the end of the support rod (54) is provided with the rolling bearing, and the upper clamping hoop (73) and the lower clamping hoop (75) cooperate to clamp on the rolling bearing.

6. The intelligent ball picking car according to claim 5, characterized in that: The upper clamping hoop (73) has a semicircular ring with an opening facing downward, and the lower clamping hoop (75) has a semicircular ring with an opening facing upward. Electromagnets are provided in the semicircular rings of the upper clamping hoop (73) and the lower clamping hoop (75), and the signal processing chip (31) is electrically connected to the electromagnets.

7. The intelligent ball picking car according to claim 1, characterized in that: The vehicle also includes a charging storage device, which includes a charging connector, a storage slot and a replacement slot. The power supply mechanism includes a battery (11) and a charging system. The mobile vehicle body (1) is provided with a magnetic charging interface (12), which is electrically connected to the battery (11) through the charging system. The magnetic charging interface (12) is connected to the charging connector in a coordinated manner. The storage slot is used to store the fully loaded ball picking roller (5) removed and replaced by the shaft control device (4), and the replacement slot is used to store the empty ball picking roller (5) for easy clamping and installation by the shaft control device (4).

Images