A badminton ball feeding device, method and medium capable of adaptively adjusting clamping displacement

Abstract

The present application relates to a kind of self-adapting adjustment clamping displacement badminton ball outlet device, method and medium, device includes conveying cylinder, moving assembly, clamping assembly, drive unit and control unit, control unit is electrically connected with first drive unit, second drive unit, first drive unit can drive mobile station along first direction moves, second drive unit can drive clamping mechanism to clamp or loosen, control unit obtains the relevant state parameters of badminton ball at ball outlet, can obtain clamping displacement information, based on the movement distance of first drive unit in first direction based on clamping displacement information adjustment.It is compared to prior art, because the deviation of ball head position each time, and clamping mechanism is always clamped at the same height, so that badminton deformation, even the problem of abnormal ball, the present technical solution can make the clamping point of clamping mechanism can match with the specific position of ball head at current badminton ball outlet, to further realize the accurate clamping of badminton.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic ball dispensing, in particular to a shuttlecock dispensing device and method for self-adaptive adjustment of clamping displacement and a medium. BACKGROUND

[0002] Shuttlecock is a sport that can be played indoors and outdoors. It is not very demanding in terms of physical fitness, and it is more about endurance. It is a sport suitable for all ages and has developed rapidly in China. Shuttlecock courts and shuttlecock halls are very popular now. However, shuttlecock is a consumable product that will be damaged after a period of use due to the falling or breaking of the feather. In order to make it more convenient to purchase shuttlecock, many shuttlecock courts now have shuttlecock vending machines that can be purchased by scanning a code with a mobile phone.

[0003] A shuttlecock automatic dispensing mechanism with publication number CN209895424U has been disclosed, which provides a technical solution for automatic dispensing of shuttlecock. A push rod is arranged below the ball storage cylinder, the ball head of the shuttlecock is clamped by the outer end of the push rod, and the shuttlecock is taken out from the ball storage cylinder by rotating the drive wheel. However, this method has the following problems: the push rod is rotated to a fixed height position after each dispensing of the shuttlecock, but the ball head of the shuttlecock is not always at the same height as the fixed height, so when the ball head of the shuttlecock is offset, the push rod cannot clamp the ball head of the shuttlecock, which makes the shuttlecock unable to be dispensed, or the push rod clamps the feather of the shuttlecock, which causes the shuttlecock to deform and damages the shuttlecock, resulting in abnormal dispensing of the shuttlecock. SUMMARY

[0004] In view of the above problems, the present application provides a shuttlecock dispensing device and method for self-adaptive adjustment of clamping displacement, which solves the problem of fixed clamping position of the shuttlecock, which cannot accurately clamp the shuttlecock, resulting in abnormal dispensing of the shuttlecock.

[0005] To achieve the above object, in a first aspect, the present application provides a shuttlecock discharging device capable of adaptively adjusting clamping displacement, the shuttlecock comprising a feather piece and a head, the device comprising a conveying cylinder, a moving assembly, a clamping assembly, a driving unit and a control unit, the conveying cylinder being filled with a plurality of shuttlecocks, the conveying cylinder comprising a discharging opening through which the shuttlecocks are moved out; the moving assembly comprising a first driving unit and a moving table, the first driving unit being configured to drive the moving table to move in a first direction; the clamping assembly comprising a clamping mechanism and a second driving unit, the clamping mechanism being arranged on the moving table, the second driving unit being configured to drive the clamping mechanism to be in a clamping state or a loosening state; the control unit being electrically connected with the first driving unit, configured to acquire relevant state parameters of the shuttlecock at the discharging opening, obtain clamping displacement information according to the relevant state parameters, and control the first driving unit to drive the moving table to move based on the clamping displacement information, so as to drive the clamping mechanism to move to the discharging opening, and drive the clamping mechanism to be in the clamping state by the second driving unit, so as to clamp the head of the shuttlecock at the discharging opening.

[0006] In some embodiments, the discharging device further comprises a sensing unit electrically connected with the control unit, configured to collect the relevant state parameters of the shuttlecock at the discharging opening; the sensing unit comprising any one of an image collection unit, a pressure sensor and a photoelectric sensor.

[0007] In a second aspect, the present application further provides a control method of a shuttlecock discharging device capable of adaptively adjusting clamping displacement, the method being applicable to the shuttlecock discharging device capable of adaptively adjusting clamping displacement as described in the first aspect, the method comprising the following steps:

[0008] The control unit acquires relevant state parameters of the shuttlecock at the discharging opening, obtains clamping displacement information according to the relevant state parameters, and controls the first driving unit to drive the moving table to move based on the clamping displacement information, so as to drive the clamping mechanism to move to the discharging opening, and drive the clamping mechanism to be in the clamping state by the second driving unit, so as to clamp the head of the shuttlecock at the discharging opening.

[0009] In some embodiments, the relevant state parameters are first image information of the discharging opening collected by the image collection unit;

[0010] The control unit acquires relevant state parameters of the shuttlecock at the discharging opening, obtains clamping displacement information according to the relevant state parameters, and controls the first driving unit to drive the moving table to move based on the clamping displacement information, so as to drive the clamping mechanism to move to the discharging opening, and drive the clamping mechanism to be in the clamping state by the second driving unit, so as to clamp the head of the shuttlecock at the discharging opening.

[0011] The control unit receives the first image information, identifies the head position information of the shuttlecock at the discharging opening according to the first image information, determines first coordinate position information of the head of the shuttlecock at the discharging opening according to the head position information, and calculates the clamping displacement information based on the first coordinate position information and initial position information of the clamping mechanism.

[0012] In some embodiments, the identifying the ball head position information of the shuttlecock at the current ball outlet according to the first image information comprises:

[0013] The first image information is preprocessed to obtain a preprocessed image;

[0014] The feature information of the shuttlecock is extracted from the preprocessed image, and a target detection algorithm is used to locate the potential position information of the ball head of the shuttlecock in the first image information based on the feature information of the shuttlecock;

[0015] It is judged whether the potential position information meets a preset screening condition, and if so, the current potential position information is determined as the ball head position information.

[0016] In some embodiments, the relevant state parameter is weight information of the current conveying cylinder or pressure information corresponding to the ball head of the shuttlecock at the current ball outlet obtained through a pressure sensor;

[0017] The control unit obtains the relevant state parameter of the shuttlecock at the current ball outlet, and the obtaining of the clamping displacement information according to the relevant state parameter comprises:

[0018] The control unit calculates the number of shuttlecocks in the current conveying cylinder according to the weight information or the pressure information, determines the optimal clamping height corresponding to the number of shuttlecocks in the current conveying cylinder according to the mapping relationship between the number of shuttlecocks and the optimal clamping height, and generates the clamping displacement information according to the corresponding optimal clamping height and the initial position information of the current clamping mechanism;

[0019] The optimal clamping height is the clamping height corresponding to the clamping mechanism being able to clamp the ball head of the shuttlecock at the ball outlet when the clamping mechanism is controlled to move to the ball outlet along the horizontal direction of the current clamping height.

[0020] In some embodiments, the device further comprises a counter for counting the number of shuttlecocks removed from the conveying cylinder up to the current timestamp;

[0021] The control unit is further configured to calculate the number of shuttlecocks remaining in the current conveying cylinder according to the number of shuttlecocks removed from the conveying cylinder and the initial total number of shuttlecocks;

[0022] The control unit obtains the relevant state parameter of the shuttlecock at the current ball outlet, and the obtaining of the clamping displacement information according to the relevant state parameter comprises:

[0023] The control unit determines the optimal clamping height corresponding to the number of shuttlecocks in the current conveying cylinder according to the mapping relationship between the number of shuttlecocks remaining in the conveying cylinder and the optimal clamping height, and generates the clamping displacement information according to the corresponding optimal clamping height and the initial position information of the current clamping mechanism;

[0024] The optimal clamping height is a clamping height corresponding to a clamping position at which the clamping mechanism can clamp the head of the shuttlecock at the outlet when the clamping mechanism is controlled to move to the outlet along a horizontal direction of the current clamping height.

[0025] In some embodiments, the mapping relationship is obtained according to the following manner:

[0026] The distance of the head of the shuttlecock located at the outlet from the cross section of the outlet when the different numbers of shuttlecocks remaining in the conveying cylinder are obtained;

[0027] The optimal clamping height corresponding to the different numbers of shuttlecocks remaining in the conveying cylinder is calculated according to the distance, and the optimal clamping height and the corresponding number of shuttlecocks remaining in the conveying cylinder are mapped and stored to obtain a plurality of discrete points;

[0028] The mapping relationship between the number of shuttlecocks remaining in the conveying cylinder and the optimal clamping height is obtained by fitting the plurality of discrete points.

[0029] In some embodiments, the relevant state parameter is head position information of the current shuttlecock at the outlet obtained by an optical-electricity sensor;

[0030] The head position information is obtained according to the following manner:

[0031] After the last shuttlecock is pulled out from the cylinder, the distance of the head of the current shuttlecock from the cross section of the outlet is recorded, and the head position information is determined according to the distance.

[0032] In a third aspect, the present application further provides a computer readable storage medium, which stores computer program instructions, and the computer program instructions realize the method of the second aspect when executed by a processor.

[0033] Different from the prior art, in the above technical solution, the control unit is electrically connected with the first driving unit and the second driving unit, the first driving unit can drive the moving table to move in the first direction, and the second driving unit can drive the clamping mechanism to clamp or release, the control unit can obtain the clamping displacement information by acquiring the relevant state parameter of the shuttlecock at the outlet, and the moving distance of the first driving unit in the first direction is adjusted based on the clamping displacement information. Compared with the prior art, because the head position deviates each time the shuttlecock is discharged, the clamping mechanism always clamps at the same height, which causes the shuttlecock to deform and even the problem of abnormal discharge, the technical solution can make the clamping point of the clamping mechanism match the specific position of the head of the current shuttlecock at the outlet, and then realize accurate clamping of the shuttlecock.

[0034] The above summary of the invention is related to the description of the technical scheme of the present application, in order to let the ordinary skilled in the art can more clearly understand the technical scheme of the present application, and then can be implemented according to the content of the description and the drawings, and in order to let the above-mentioned purpose and other purposes, characteristics and advantages of the present application can be more easily understood, the following combining with the specific embodiments of the present application and the drawings are described. BRIEF DESCRIPTION OF DRAWINGS

[0035] The drawings are only used to show the principles, implementation modes, applications, characteristics and effects of the specific embodiments of the present application and other related contents, and cannot be considered as the limitation of the present application.

[0036] In the drawings of the specification:

[0037] Figure 1 The schematic diagram of the badminton ball feeding device with self-adaptive adjustment of clamping displacement is described for a specific embodiment of the present application.

[0038] Figure 2 The method step diagram is described for the first exemplary embodiment of the present application.

[0039] Figure 3 The method step diagram is described for the second exemplary embodiment of the present application.

[0040] Figure 4 The method step diagram is described for the third exemplary embodiment of the present application.

[0041] Figure 5 The method step diagram is described for the fourth exemplary embodiment of the present application.

[0042] The reference signs involved in the above drawings are explained as follows:

[0043] 1, conveying cylinder;

[0044] 11, ball outlet;

[0045] 2, moving assembly;

[0046] 21, first driving unit;

[0047] 22, ball screw;

[0048] 23, moving table;

[0049] 3, clamping assembly;

[0050] 31, second driving unit;

[0051] 32, clamping mechanism;

[0052] 321, first clamping arm;

[0053] 322, second clamping arm;

[0054] 4. A shuttlecock;

[0055] 5. An induction unit;

[0056] a. A first direction. DETAILED DESCRIPTION

[0057] In order to describe the possible application scenarios, technical principles, specific implementation schemes, and the purposes and effects of the present application in detail, the following will be described in detail in combination with the specific embodiments listed and the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical schemes of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0058] In this article, the term "embodiment" means that the specific features, structures or characteristics described in combination with the embodiment can be included in at least one embodiment of the present application. The term "embodiment" appearing at various positions in the specification does not necessarily refer to the same embodiment, and does not particularly limit the independence or association between other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, each technical feature mentioned in each embodiment can be combined in any way to form a corresponding implementable technical scheme.

[0059] Unless otherwise defined, the meanings of the technical terms used herein are the same as those commonly understood by those skilled in the art to which the present application belongs; the use of related terms herein is only for the purpose of describing specific embodiments, and is not intended to limit the present application.

[0060] In the description of the present application, the phrase "and / or" is a description of the logical relationship between objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally represents that the associated objects before and after are a kind of "or" logical relationship.

[0061] In the present application, terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantity, primary and secondary or order relationship between the entities or operations.

[0062] In the present application, the terms "comprise", "contain", "include", or other similar expressions, used in the description of the present application, without more limitations, are intended to cover the non-exclusive inclusion, and the terms do not exclude the presence of other elements in the process, method or product comprising the elements, so that the process, method or product comprising a series of elements can not only include those defined elements, but also include other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0063] As the same understanding in the "Examination Guidelines", in the present application, the terms "greater than", "less than", "exceed" and the like are understood as not including the number; the terms "above", "below", "within" and the like are understood as including the number. In addition, in the description of the embodiments of the present application, the meaning of "a plurality of" is more than two (including two), and similar expressions related to "a plurality of" are also understood in this way, for example, "a plurality of groups", "a plurality of times" and the like, unless otherwise explicitly specified.

[0064] In the description of the embodiments of the present application, the spatial-related expressions used, such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "perpendicular", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or the drawings, and are only for the convenience of describing the specific embodiments of the present application or for the reader to understand, and do not indicate or imply that the indicated device or component must have a particular position, a particular orientation, or be constructed or operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0065] Unless otherwise explicitly specified or limited, in the description of the embodiments of the present application, the terms "mount", "connect", "connect", "fix", "set" and the like should be understood broadly. For example, the "connection" can be a fixed connection, or a detachable connection, or an integral setting; it can be a mechanical connection, or an electrical connection, or a communication connection; it can be directly connected, or indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art to which the present application belongs, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0066] Please refer to Figure 1In the first aspect, the embodiment provides a shuttlecock 4 dispensing device capable of self-adapting clamping displacement, the shuttlecock 4 comprises a feather piece and a ball head, the device comprises a conveying cylinder 1, a moving assembly 2, a clamping assembly 3 and a control unit, the conveying cylinder 1 is filled with a plurality of shuttlecocks 4, the conveying cylinder 1 comprises a dispensing opening 11, and the shuttlecocks 4 are moved out through the dispensing opening 11; the moving assembly 2 comprises a first driving unit 21 and a moving table 23, the first driving unit 21 is used to drive the moving table 23 to move in a first direction a; the clamping assembly 3 comprises a clamping mechanism 32 and a second driving unit 31, the clamping mechanism 32 is arranged on the moving table 23, and the second driving unit 31 is used to drive the clamping mechanism 32 to be in a clamping state or a loosening state; the control unit is electrically connected with the first driving unit 21, is used to acquire relevant state parameters of the shuttlecock 4 at the dispensing opening 11, obtains clamping displacement information according to the relevant state parameters, and controls the first driving unit 21 to drive the moving table 23 to move based on the clamping displacement information, drives the clamping mechanism 32 to move to the dispensing opening 11, and drives the clamping mechanism 32 to be in the clamping state through the second driving unit 31, so as to clamp the ball head of the shuttlecock 4 at the dispensing opening 11.

[0067] The first direction a is the axis direction of the conveying cylinder 1, and is also the stacking direction of the shuttlecock 4. The conveying cylinder 1 is vertically placed, and the dispensing opening 11 is arranged at the downward end of the conveying cylinder 1, so that when the lowermost shuttlecock 4 is taken out, the remaining shuttlecocks 4 are automatically moved to the dispensing opening 11 due to gravity, so as to realize displacement adjustment of the shuttlecock 4.

[0068] The first driving unit 21 shown in the embodiment can be a pneumatic cylinder, a hydraulic cylinder, a motor or an oil cylinder, and it is worth noting that when the first driving unit 21 is a motor, the moving assembly 2 further comprises a transmission mechanism, which converts the rotation of the motor into linear reciprocating motion in the first direction a. Figure 1 A specific embodiment of the moving assembly 2 is shown: the first driving unit 21 is a motor, the moving table 23 is a flat piece, the first driving unit 21 is in transmission connection with the moving table 23 through a ball screw 22, and the specific connection mode is that the output end of the first driving unit 21 is connected with the screw rod through a shaft coupling, a screw nut is sleeved on the screw rod, and the moving table 23 is arranged on the screw nut; when the first driving unit 21 rotates, the screw rod can be rotated, so as to realize linear movement of the screw nut and the moving table 23 in the first direction a; and by changing the rotation direction of the first driving unit 21, reciprocating movement of the moving table 23 in the first direction a can be realized.

[0069] Figure 1Also shown is a specific structure of the clamping assembly 3: the second driving unit 31 is a clamping cylinder, which includes two oppositely arranged clamping jaws that can move towards or away from each other under the driving of the clamping cylinder. The clamping mechanism 32 includes two identically structured first clamping arms 321 and second clamping arms 322, the first clamping arms 321 are arranged on one of the clamping jaws, and the second clamping arms 322 are arranged on the other clamping jaw, and the first clamping arms 321 and the second clamping arms 322 can be clamped to form a clamping opening under the driving of the clamping jaws. Specifically, the clamping opening is a semicircular groove that is adapted to the shape of the ball head. The clamping state is that the first clamping arms 321 and the second clamping arms 322 are clamped to form a clamping opening, and the operation state of clamping the ball head; the loosening state is that the first clamping arms 321 and the second clamping arms 322 move away from each other, and the operation state of loosening the ball head.

[0070] The control unit is electrically connected with the first driving unit 21 and the second driving unit 31, and the control unit can obtain the relevant state parameters of the shuttlecock 4 at the current ball outlet 11. It is worth noting that the clamping displacement information can be obtained through the relevant state parameters, and the relevant state parameters include multiple types, which can be referred to in the following description.

[0071] The clamping displacement information includes the movement displacement of the moving table 23, i.e., the movement displacement of the moving table 23 in the first direction a. Optionally, the clamping displacement information also includes the distance that the clamping mechanism 32 needs to move inward in the clamping state.

[0072] The technical solution shown in the embodiment increases the control unit, so that the control unit can continuously track the state of the shuttlecock 4 at the ball outlet 11 and obtain the specific position information of the ball head of the shuttlecock 4 in real time. Through effective control of the first driving unit 21 and the second driving unit 31, the clamping mechanism 32 can be moved to the specific position of the ball head of the shuttlecock 4 at the current ball outlet 11, so as to realize accurate clamping of the ball head of the shuttlecock 4.

[0073] In some embodiments, the ball outlet device further includes a sensing unit 5 electrically connected with the control unit, for collecting the relevant state parameters of the shuttlecock 4 at the current ball outlet 11; the sensing unit 5 includes any one of an image acquisition unit, a pressure sensor, and a photoelectric sensor.

[0074] It is worth noting that the specific setting position of the sensing unit 5 is different according to the category of the sensing unit 5. For example, when the sensing unit 5 is an image acquisition sensor, the sensing unit 5 needs to be set at a place where the position of the head of the shuttlecock 4 at the ball outlet 11 can be acquired, i.e. the side of the ball outlet 11, and cannot be set directly below the ball outlet 11, because in this way the image acquisition sensor cannot acquire the position information of the head of the shuttlecock 4 in the vertical direction; when the sensing unit 5 is a pressure sensor, it can be set on the end face of the ball outlet 11 or at the support point of the ball outlet 11 to perceive the specific pressure value at the ball outlet 11 through pressure; when the sensing unit 5 is a photoelectric sensor, preferably a photoelectric distance measuring sensor, the photoelectric sensor is set directly below the ball outlet 11, and when the head of the shuttlecock 4 protrudes from the end face of the ball outlet 11, it will enter the distance measuring range of the photoelectric sensor, and the distance between the head of the current shuttlecock 4 and the ball outlet 11 is obtained through the photoelectric sensor.

[0075] Please refer to Figure 2 In the second aspect, the embodiment also provides a shuttlecock ball outlet control method for adaptively adjusting the clamping displacement, which is suitable for the shuttlecock ball outlet device for adaptively adjusting the clamping displacement in the first aspect, and the method comprises the following steps:

[0076] S11, the control unit acquires the relevant state parameters of the shuttlecock at the current ball outlet;

[0077] S12, the clamping displacement information is obtained according to the relevant state parameters, and the first driving unit is controlled to drive the moving table to move based on the clamping displacement information, so as to drive the clamping mechanism to move to the ball outlet;

[0078] S13, and the second driving unit is used to drive the clamping mechanism to be in the clamping state, so as to clamp the head of the shuttlecock at the ball outlet.

[0079] The control unit is electrically connected with the first driving unit and the second driving unit, the control unit can acquire the relevant state parameters of the shuttlecock at the current ball outlet, it is worth noting that the clamping displacement information can be obtained through the relevant state parameters, and the relevant state parameters include multiple types, which can be referred to in the following description.

[0080] The clamping displacement information includes the movement displacement of the moving table, i.e. the movement displacement information of the moving table in the first direction, and optionally, the clamping displacement information also includes the distance that the clamping mechanism needs to move inward when it is in the clamping state.

[0081] The technical scheme shown in the embodiment adds the control unit, so that the control unit can continuously track the state of the badminton at the ball outlet, and obtain the specific position information of the head of the badminton in real time. Through effective control of the first driving unit and the second driving unit, the clamping mechanism can be moved to the specific position where the head of the badminton at the current ball outlet is located, so as to realize accurate clamping of the head of the badminton, that is, the self-adaptive adjustment function of the clamping mechanism during clamping of the head of the badminton is realized.

[0082] In some embodiments, the relevant state parameter is first image information of the ball outlet obtained by the image acquisition unit.

[0083] The control unit obtains the relevant state parameter of the badminton at the current ball outlet, and obtains the clamping displacement information according to the relevant state parameter, including:

[0084] The control unit receives the first image information, identifies the head position information of the badminton at the current ball outlet according to the first image information, determines the first coordinate position information of the head of the badminton at the ball outlet according to the head position information, and calculates the clamping displacement information based on the first coordinate position information and the initial position information of the current clamping mechanism.

[0085] It is worth noting that the head position information is the position information of the head of the badminton at the ball outlet protruding out of the ball outlet. Based on the head position information, the first coordinate position information is calculated. This calculation method can be understood as conversion of the reference point. The reference point of the head position information is the end face of the ball outlet, and the reference point of the first coordinate position information is the movement origin of the first driving unit in the first direction. When calculating, the position information of the end face of the ball outlet relative to the movement origin of the first driving unit in the first direction is calculated, and then the head position information is converted into the first coordinate position information based on this.

[0086] The significance of the above conversion is that the reference point of the initial position information of the clamping mechanism is also the movement origin of the first driving unit in the first direction. The reference point of the converted first coordinate position information is the same as that of the initial position information. Therefore, the clamping displacement information can be obtained by calculating the difference between the first coordinate position information and the initial position information.

[0087] Through the embodiment, the specific position information corresponding to the head at the current ball outlet can be obtained by using the image acquisition sensor, so that the clamping mechanism adjusts the movement distance of the clamping mechanism in the first direction according to the specific position information, and realizes the self-adaptive adjustment function of the clamping mechanism during clamping of the head of the badminton.

[0088] Please refer to Figure 3 In some embodiments, the head position information of the badminton at the current ball outlet is identified according to the first image information, including:

[0089] S21, pre-processing the first image information to obtain a pre-processed image;

[0090] S22, extracting feature information of the shuttlecock from the pre-processed image, and using a target detection algorithm to locate potential position information of the head of the shuttlecock in the first image information based on the feature information of the shuttlecock;

[0091] S23, determining whether the potential position information meets a preset screening condition, and if so, determining the current potential position information as the head position information.

[0092] The pre-processing method of the first image information can include pre-processing the input image, including image scaling, cropping, denoising, etc., to improve the accuracy and effect of recognition. The target detection algorithm is a class of computer vision algorithms that aims to detect specific objects in images or videos and accurately mark their positions, including R-CNN, YOLO, SSD, etc. These algorithms can detect and locate specific objects by learning a large number of images with annotation information. After locating the area of the shuttlecock, the position of the head is further extracted, which can be achieved by shape analysis, pattern matching, etc. For example, a circle detection algorithm such as Hough circle detection can be used to identify the circular area where the head is located. According to the need, the detected head position is finely adjusted to improve the accuracy of positioning. This can be achieved by algorithm optimization, feedback of deep learning network, etc.

[0093] The preset screening condition shown in the embodiment can be the size of the connected domain in the first image information, or the proportion of the pixel points corresponding to the color of the head in the first image information, etc., to obtain the head position information.

[0094] In some embodiments, the relevant state parameter is the weight information of the current conveying cylinder or the pressure information corresponding to the head of the shuttlecock at the current ball outlet obtained by the pressure sensor;

[0095] The control unit obtains the relevant state parameter of the shuttlecock at the current ball outlet, and obtains the clamping displacement information according to the relevant state parameter, including:

[0096] The control unit calculates the number of shuttlecocks in the current conveying cylinder according to the weight information or the pressure information, and determines the optimal clamping height corresponding to the number of shuttlecocks in the current conveying cylinder according to the mapping relationship between the number of shuttlecocks and the optimal clamping height, generates the clamping displacement information according to the corresponding optimal clamping height and the initial position information of the current clamping mechanism; the optimal clamping height is the clamping height corresponding to the clamping mechanism when the clamping mechanism is controlled to move to the ball outlet along the horizontal direction of the current clamping height, and the clamping mechanism can clamp the head of the shuttlecock at the ball outlet.

[0097] The embodiment shows a specific conversion relationship between the pressure information of the pressure sensor and the position information of the ball head:

[0098] The pressure sensor can obtain the weight information of the conveying cylinder. After deducting the self weight of the conveying cylinder by the control unit, the pressure information corresponding to the ball head of the shuttlecock at the current ball outlet is obtained by combining the weight of a single shuttlecock. The pressure sensor can also be directly arranged at the ball outlet to detect the pressure information corresponding to the ball head of the shuttlecock at the current ball outlet.

[0099] It is worth noting that the embodiment needs to obtain the mapping relationship between the number of shuttlecocks and the optimal clamping height in advance. The specific obtaining steps can be referred to in the subsequent description. After obtaining the mapping relationship, the number of shuttlecocks in the current conveying cylinder is converted by the pressure information or the weight information collected by the pressure sensor. By comparing the optimal clamping height corresponding to the number of shuttlecocks in the conveying cylinder, the optimal clamping height is taken as the actual position information of the ball head of the shuttlecock at the current ball outlet. The difference between the actual position information and the initial position information is calculated to obtain the distance required for the clamping mechanism to move in the first direction, that is, the clamping displacement information.

[0100] By the embodiment, the specific position information corresponding to the ball head at the current ball outlet can be obtained by using the pressure sensor, so that the clamping mechanism adjusts the moving distance of the clamping mechanism in the first direction according to the specific position information, and realizes the self-adaptive adjustment function of the clamping mechanism during clamping the ball head of the shuttlecock.

[0101] In some embodiments, the device further comprises a counter for counting the number of shuttlecocks removed from the conveying cylinder up to the current timestamp;

[0102] The control unit is further configured to calculate the number of shuttlecocks remaining in the current conveying cylinder according to the number of shuttlecocks removed from the conveying cylinder and the initial total number of shuttlecocks;

[0103] The control unit obtains the relevant state parameters of the shuttlecock at the current ball outlet, and obtains the clamping displacement information according to the relevant state parameters, including:

[0104] The control unit determines the optimal clamping height corresponding to the number of shuttlecocks in the current conveying cylinder according to the mapping relationship between the number of shuttlecocks in the conveying cylinder and the optimal clamping height, and generates the clamping displacement information according to the corresponding optimal clamping height and the initial position information of the current clamping mechanism;

[0105] The optimal clamping height is the clamping height corresponding to the clamping mechanism capable of clamping the ball head of the shuttlecock at the ball outlet when the clamping mechanism is controlled to move to the ball outlet along the horizontal direction of the current clamping height.

[0106] It is worth noting that the embodiment needs to obtain the mapping relationship between the number of shuttlecock and the optimal clamping height in advance, and the specific obtaining steps can be referred to the subsequent description. After obtaining the mapping relationship, the number of shuttlecock remaining in the conveying cylinder is converted by the number of shuttlecock recorded by the counter and removed from the conveying cylinder. By comparing the optimal clamping height corresponding to the number of shuttlecock in the conveying cylinder, the optimal clamping height is taken as the actual position information of the head of the shuttlecock at the current ball outlet. The difference between the actual position information and the initial position information is obtained, and the distance required for the clamping mechanism to move in the first direction, i.e. the clamping displacement information, is obtained.

[0107] By the embodiment, the specific position information corresponding to the head of the shuttlecock at the current ball outlet can be obtained by the counter, so that the clamping mechanism adjusts the moving distance of the clamping mechanism in the first direction according to the specific position information, and the self-adaptive adjustment function of the clamping mechanism during clamping the head of the shuttlecock is realized.

[0108] Please refer to Figure 4 In some embodiments, the mapping relationship is obtained according to the following manner:

[0109] S31, obtaining the distance of the head of the shuttlecock located at the ball outlet from the end surface of the ball outlet when different numbers of shuttlecock remain in the conveying cylinder;

[0110] S32, calculating the optimal clamping height corresponding to different numbers of shuttlecock remaining in the conveying cylinder according to the protruding distance, mapping and storing the optimal clamping height and the corresponding number of shuttlecock remaining in the conveying cylinder, and obtaining a plurality of discrete points;

[0111] S33, fitting the plurality of discrete points to obtain the mapping relationship between the number of shuttlecock remaining in the conveying cylinder and the optimal clamping height.

[0112] It should be noted that the distance of the head of the shuttlecock located at the ball outlet from the end surface of the ball outlet refers to the distance from the end surface of the head of the shuttlecock at the ball outlet to the end surface of the ball outlet. Specifically, the distance of the head of the shuttlecock from the end surface of the ball outlet can be collected by the image collection sensor.

[0113] The optimal clamping height is based on the region for clamping previously reserved for the head of the shuttlecock. The optimal judgment criterion is that the clamping mechanism can stably clamp the head of the shuttlecock without slipping.

[0114] In the embodiment, the fitting function in matlab can be used to fit the plurality of discrete points to obtain the corresponding fitting curve. Preferably, the optimal clamping height has a floating range, which can compensate for the assembly error and movement error of the existing device, and improve the clamping speed.

[0115] Please refer to Figure 5In some embodiments, the relevant state parameter is the position information of the head of the shuttlecock at the current out-socket obtained by the photoelectric sensor;

[0116] The position information of the head is obtained in the following manner:

[0117] S41, after the previous shuttlecock is pulled out from the ball barrel, record the distance of the head of the current shuttlecock extending out of the end surface of the out-socket, and determine the position information of the head according to the extending distance.

[0118] In this embodiment, the setting position of the photoelectric sensor on the device is different according to the type of the photoelectric sensor used, for example, when the photoelectric sensor is a distance measuring sensor, the end surface of the out-socket should be placed within the distance measuring range of the photoelectric sensor.

[0119] In a third aspect, the present application also provides a computer readable storage medium, which stores computer program instructions, and the computer program instructions realize the method of the second aspect when executed by a processor.

[0120] In the above technical solution, the control unit is electrically connected with the first driving unit and the second driving unit, the first driving unit can drive the moving table to move in the first direction, and the second driving unit can drive the clamping mechanism to clamp or release, the control unit can obtain the clamping displacement information by acquiring the relevant state parameter of the shuttlecock at the out-socket, and adjust the moving distance of the first driving unit in the first direction based on the clamping displacement information. Compared with the prior art, because the head position deviates every time the shuttlecock is out, the clamping mechanism always clamps at the same height, which causes the shuttlecock to deform and even the problem of abnormal out-socket, the technical solution can make the clamping point of the clamping mechanism match the specific position of the head of the current shuttlecock at the out-socket, and then realize accurate clamping of the shuttlecock.

[0121] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of the present application, they should not limit the patent protection scope of the present application. Any equivalent structure or equivalent flow replacement or modification based on the essential concept of the present application, using the content described in the specification and drawings of the present application, and directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, etc., are all included in the patent protection scope of the present application.

Claims

1. A shuttlecock launching device with self-adapting clamping displacement, the shuttlecock comprising a feather and a head, characterized in that, The device comprises: a conveying cylinder, which is filled with a plurality of shuttlecocks, and comprises a ball outlet through which the shuttlecocks are moved out; a moving assembly, which comprises a first driving unit and a moving table, and the first driving unit is used to drive the moving table to move in a first direction; a clamping assembly, which comprises a clamping mechanism and a second driving unit, and the clamping mechanism is arranged on the moving table, and the second driving unit is used to drive the clamping mechanism to be in a clamping state or a loosening state; a control unit, which is electrically connected with the first driving unit, is used to acquire relevant state parameters of the shuttlecock at the ball outlet, obtain clamping displacement information according to the relevant state parameters, and control the first driving unit to drive the moving table to move based on the clamping displacement information, so as to drive the clamping mechanism to move to the ball outlet, and drive the clamping mechanism to be in the clamping state through the second driving unit, so as to clamp the head of the shuttlecock at the ball outlet; the relevant state parameters are first image information of the ball outlet acquired through an image acquisition unit; the control unit acquires the relevant state parameters of the shuttlecock at the ball outlet, and obtains the clamping displacement information according to the relevant state parameters, which comprises: the control unit receives the first image information, identifies the head position information of the shuttlecock at the ball outlet according to the first image information, determines first coordinate position information of the head of the shuttlecock at the ball outlet according to the head position information, and calculates the clamping displacement information based on the first coordinate position information and initial position information of the clamping mechanism.

2. The shuttlecock launching device of claim 1, wherein the adjustment mechanism is configured to adjust the clamping displacement based on the detected distance between the shuttlecock and the launching device. It also comprises: a sensing unit, which is electrically connected with the control unit, is used to acquire the relevant state parameters of the shuttlecock at the ball outlet; the sensing unit comprises any one of an image acquisition unit, a pressure sensor and a photoelectric sensor.

3. A badminton ball launching control method of self-adapting adjustment of clamping displacement, characterized in that, The method is suitable for the shuttlecock ball outlet device for adaptively adjusting clamping displacement, and comprises the following steps: the control unit acquires the relevant state parameters of the shuttlecock at the ball outlet, obtains the clamping displacement information according to the relevant state parameters, and controls the first driving unit to drive the moving table to move based on the clamping displacement information, so as to drive the clamping mechanism to move to the ball outlet, and drive the clamping mechanism to be in the clamping state through the second driving unit, so as to clamp the head of the shuttlecock at the ball outlet; the relevant state parameters are first image information of the ball outlet acquired through an image acquisition unit; the control unit acquires the relevant state parameters of the shuttlecock at the ball outlet, and obtains the clamping displacement information according to the relevant state parameters, which comprises: the control unit receives the first image information, identifies the head position information of the shuttlecock at the ball outlet according to the first image information, determines first coordinate position information of the head of the shuttlecock at the ball outlet according to the head position information, and calculates the clamping displacement information based on the first coordinate position information and initial position information of the clamping mechanism.

4. The method of claim 3, wherein the ball shooting control method of adjusting the gripping displacement according to the situation of the badminton game is characterized in that, The ball head position information of the shuttlecock at the current outlet is identified according to the first image information, and the ball head position information includes: The first image information is preprocessed to obtain a preprocessed image; Feature information of the shuttlecock is extracted from the preprocessed image, and a target detection algorithm is used to locate potential position information of the ball head of the shuttlecock in the first image information based on the feature information of the shuttlecock; It is judged whether the potential position information meets a preset screening condition, and if so, the current potential position information is determined as the ball head position information.

5. The method of claim 3, wherein the ball shooting control method of adjusting the gripping displacement according to the situation of the badminton game is characterized in that, The related state parameter is weight information of the current conveying cylinder obtained by a pressure sensor or pressure information corresponding to the ball head of the shuttlecock at the current outlet; The control unit obtains the related state parameter of the shuttlecock at the current outlet, and the clamping displacement information is obtained according to the related state parameter, including: The control unit calculates the number of shuttlecocks in the current conveying cylinder according to the weight information or the pressure information, determines the optimal clamping height corresponding to the number of shuttlecocks in the current conveying cylinder according to the mapping relationship between the number of shuttlecocks and the optimal clamping height, and generates the clamping displacement information according to the corresponding optimal clamping height and the initial position information of the current clamping mechanism. The optimal clamping height is the clamping height corresponding to the clamping of the ball head of the shuttlecock at the outlet when the clamping mechanism is controlled to move to the outlet along the horizontal direction of the current clamping height.

6. The badminton shuttlecock release control method with adaptive adjustment of clamping displacement as described in claim 3, characterized in that, The device further includes: A counter is configured to count the number of shuttlecocks removed from the conveying cylinder up to the current timestamp; The control unit is further configured to calculate the number of shuttlecocks remaining in the current conveying cylinder according to the number of shuttlecocks removed from the conveying cylinder and the initial total number of shuttlecocks. The control unit obtains the related state parameter of the shuttlecock at the current outlet, and the clamping displacement information is obtained according to the related state parameter, including: The control unit determines the optimal clamping height corresponding to the number of shuttlecocks in the current conveying cylinder according to the mapping relationship between the number of shuttlecocks remaining in the conveying cylinder and the optimal clamping height, and generates the clamping displacement information according to the corresponding optimal clamping height and the initial position information of the current clamping mechanism. The optimal clamping height is the clamping height corresponding to the clamping of the ball head of the shuttlecock at the outlet when the clamping mechanism is controlled to move to the outlet along the horizontal direction of the current clamping height.

7. The adaptive adjustment of the holding displacement of the badminton ball control method according to claim 5 or 6, characterized in that, The mapping relationship is obtained in the following manner: The distance of the ball head of the shuttlecock located at the outlet from the cross-sectional end surface of the outlet when different numbers of shuttlecocks remain in the conveying cylinder is obtained; The optimal clamping height corresponding to different numbers of shuttlecocks remaining in the conveying cylinder is calculated according to the protruding distance, and the optimal clamping height and the corresponding number of shuttlecocks remaining in the conveying cylinder are mapped and stored to obtain a plurality of discrete points; The mapping relationship between the number of shuttlecocks remaining in the conveying cylinder and the optimal clamping height is obtained by fitting the plurality of discrete points.

8. The badminton shuttlecock release control method with adaptive adjustment of clamping displacement as described in claim 3, characterized in that, The related state parameter is the ball head position information of the shuttlecock at the current outlet obtained by a photoelectric sensor; The ball head position information is obtained in the following manner: After the last shuttlecock is pulled out from the shuttlecock tube, the distance of the head of the current shuttlecock extending from the end face of the ball outlet is recorded, and the head position information is determined according to the extending distance.

9. A computer readable storage medium having stored thereon computer program instructions, wherein, The computer program instructions, when executed by a processor, implement the method of any one of claims 3-8.

Images