Intelligent detection and pickup device for table tennis

Abstract

The application discloses a table tennis ball intelligent detection picker, which comprises a box body, an intelligent detection system, a sorter, a first ball box and a second ball box; a ball suction pipe is arranged at the front of the box body; a ball channel and a fan are arranged in the box body; the fan is communicated with the ball channel; the fan generates airflow for sucking table tennis balls in the ball suction pipe and the ball channel; the first ball box and the second ball box are both installed on the box body; the intelligent detection system is installed in the ball suction pipe and detects whether the table tennis balls are damaged; the sorter is installed in the ball channel; the sorter sorts the intact balls and the damaged balls into the first ball box and the second ball box respectively according to the detection result of the intelligent detection system. The table tennis ball intelligent detection picker analyzes whether the picked table tennis balls are damaged by using the intelligent detection system, sorts the table tennis balls according to the detection result, and removes the damaged table tennis balls, so that the use efficiency of the table tennis balls is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of sports equipment, in particular to a ping-pong ball intelligent detection picker. BACKGROUND

[0002] A large number of scattered balls are scattered around the ping-pong table during the ping-pong movement or training process. In order to avoid wasting the time of athletes or ping-pong enthusiasts in manual ball picking, various ping-pong ball pickers appear in the prior art. According to the degree of automation, the pickers can be divided into semi-automatic pickers and fully automatic pickers. According to the structure form, the pickers can be divided into various ping-pong ball pickers such as telescopic type, roller type and dust collector type. No matter which type of ping-pong ball picker can greatly reduce the manual time spent in picking balls. The defect of the ping-pong ball picker in the prior art is the lack of damaged ping-pong ball distinguishing function. All pickers are purely concentrated on scattered ping-pong balls. However, ping-pong ball is a kind of easily damaged goods. Some damaged ping-pong balls are often mixed in the ball pile picked again, which needs to be kicked out by the ping-pong player manually, wasting time. SUMMARY

[0003] The technical problem to be solved by the present application is that the ping-pong ball picker in the prior art does not have the function of distinguishing and rejecting damaged ping-pong balls.

[0004] To solve the above technical problems, the technical scheme adopted by the present application is as follows: a ping-pong ball intelligent detection picker, comprising a box body, an intelligent detection system, a sorter, a first ball box and a second ball box.

[0005] The front part of the box body is provided with a ball suction pipe, the inside of the box body is provided with a ball channel, and the ball suction pipe is in communication with the ball channel. A fan is arranged in the box body and is in communication with the ball channel. The fan generates an airflow for attracting ping-pong balls in the ball suction pipe and the ball channel. When picking ping-pong balls, the mouth of the ball suction pipe needs to be close to the ping-pong balls. Then the ping-pong balls are sucked into the ball suction pipe under the action of the airflow and then reach the ball channel.

[0006] The first ball box and the second ball box are both installed on the box body. The ball channel is provided with a first ball opening and a second ball opening in communication with the first ball box and the second ball box respectively. The first ball opening is located in the middle of the ball channel, and the second ball opening is located at the end of the ball channel. One of the first ball box and the second ball box is used as a ball box for intact ping-pong balls, and the other is used as a ball box for damaged ping-pong balls.

[0007] The intelligent detection system is installed in the ball suction pipe and detects whether the ping-pong balls are damaged. The sorter is installed in the ball channel. The sorter separates the intact balls and the damaged balls to the first ball box and the second ball box respectively according to the detection result of the intelligent detection system.

[0008] Specifically, the intelligent detection system comprises a computer, a camera and a light source, the camera photographs the table tennis bat in the suction ball tube, the light source provides the light required for photographing the table tennis bat, the computer performs mean filtering processing and binary processing on the table tennis bat photograph, then performs spot analysis on the photograph to determine whether the table tennis bat is damaged; in order to improve the accuracy of the determination, a plurality of cameras can be arranged to photograph the table tennis bat from different angles.

[0009] The mean filtering algorithm mainly averages the gray scale of adjacent points in the image region to obtain the final gray scale. Assuming that the gray scale of a point in the table tennis bat image is f(x, y), S is a point set composed of adjacent pixels, and M is the number of pixels in the point set S. After passing through the mean filter, a new gray scale g(x, y) is obtained, which can be expressed as follows:

[0010]

[0011] Wherein g(x, y) is the new gray scale; f(i, j) is the pixel gray scale of a point in the image, and i and j are pixels.

[0012] The binary processing is to compare the pixel gray scale with a set threshold value. If the threshold value is exceeded, white is displayed, and if the threshold value is not exceeded, black is displayed. The binary processing can convert a gray scale image into a black and white image, and reveal a fuzzy object. Finally, spot analysis is performed on the black and white image to determine whether the table tennis bat is damaged.

[0013] The picker is provided with a control chip, and the control chip controls the sorter according to the detection result of the intelligent detection system to send the intact table tennis bats and the damaged table tennis bats into different ball boxes. Specifically, the sorter comprises a turning plate and a rotary driver, the turning plate is located between the first ball port and the second ball port, and the rotary driver drives the turning plate to rotate. When the turning plate stands between the first ball port and the second ball port, the table tennis bat is blocked by the turning plate in the ball body channel and falls into the first ball port and the first ball box. When the turning plate remains horizontal, the table tennis bat directly reaches the second ball port at the end of the ball body channel under the action of the airflow and falls into the second ball box.

[0014] The rotary driver in the application can be any mechanism with a rotary driving function in the prior art, such as a rotary electromagnet.

[0015] Further, a dust cup is arranged between the fan and the ball body channel, which can filter the dust in the airflow and reduce the adhesion of dust on the fan blades.

[0016] Further, a disinfection lamp is arranged in the first ball box or the second ball box, which is used for ultraviolet sterilization and disinfection of the table tennis bat. Since only the intact table tennis bat can be used again among the picked table tennis bats, the disinfection lamp is generally arranged in the ball box storing the intact table tennis bat.

[0017] The turnover plate type sorter provided by the application has the advantages of simple and reliable structure, but due to the strong elasticity of the ping-pong ball, when the ping-pong ball hits the turnover plate, it is easy to rebound in an unpredictable path, which may cause the ping-pong ball to not accurately fall into the first ball port at one time. In order to overcome this defect, the application also provides another form of sorter, which specifically comprises a moving pipe and a linear driver, one end of the moving pipe is provided with a horn port for adsorbing the ping-pong ball, the linear driver drives the moving pipe to translate in the ball channel, and the moving pipe has three stop positions of a front position, a middle position and a rear position in the ball channel; when the moving pipe is in the front position, the horn port is aligned with the first ball port; when the moving pipe is in the middle position, the horn port is located between the first ball port and the second ball port; when the moving pipe is in the rear position, the horn port is aligned with the second ball port.

[0018] The box is provided with a gas channel, one end of the gas channel is communicated with the fan, and the other end is attached to the side surface of the moving pipe; the side surface of the moving pipe is provided with a vent, and the position and size of the vent satisfy: when the moving pipe is in the front position, the vent is out of position with the gas channel; when the moving pipe is in the middle position, the vent is aligned with the gas channel; when the moving pipe is in the rear position, the vent is out of position with the gas channel.

[0019] At the beginning, the horn port of the moving pipe is in the middle position, the vent is aligned with the gas channel, normal airflow is generated in the ball channel, and the ping-pong ball enters the ball channel and is directly adsorbed in the horn port under the action of the airflow; then, the control chip controls the moving pipe to move to the front position or the rear position according to the detection result, when the horn port of the moving pipe reaches the front position or the rear position, the vent is out of position with the gas channel, the low pressure in the moving pipe cannot be maintained, the horn port loses the adsorption force to the ping-pong ball, and the ping-pong ball naturally falls into the first ball port or the second ball port below the horn port.

[0020] The moving pipe mainly relies on the adsorption force to keep the ping-pong ball moving backward synchronously during the movement to the rear position, however, during the movement of the moving pipe, the vent is gradually out of position with the gas channel, the negative pressure in the moving pipe gradually changes to close to normal atmospheric pressure, which may cause the ping-pong ball to fall prematurely; in order to overcome this defect, the sorter further comprises a top rod, the top rod is fixed in the box and inserted into the moving pipe; when the moving pipe is in the rear position, the front end of the top rod is at the horn port and ejects the ping-pong ball adsorbed in the horn port; at the same time, the position and size of the vent should satisfy: when the moving pipe is in the rear position, the vent is aligned with the gas channel. This design scheme can ensure that the horn port always maintains stable adsorption to the ping-pong ball during the movement of the moving pipe to the rear position, and the falling of the ping-pong ball relies on the top rod.

[0021] Further, the straight line driver comprises a driving gear and a rack, the rack is fixed on the outer surface of the moving tube, the gear is engaged with the rack, and the rotating gear drives the rack and the moving tube to translate forward and backward.

[0022] Further, the surface of the suction tube is provided with a tangential side air port, the tangential side air port generates a tangential air flow in the inner cavity of the suction tube, the tangential air flow can make the table tennis rotate in the suction tube, and the rotating table tennis is helpful for the camera to shoot the table tennis from different angles.

[0023] Beneficial effects: (1) The table tennis intelligent detection and pickup device uses the intelligent detection system to analyze whether the picked table tennis is damaged, sorts the table tennis according to the detection result, and removes the damaged table tennis, so that the use efficiency of the table tennis is higher. (2) The table tennis intelligent detection and pickup device is provided with a disinfection lamp in the ball box to disinfect the picked table tennis, so that the table tennis is safer and more sanitary when used again. (3) The table tennis intelligent detection and pickup device uses the moving tube with a horn to adsorb the table tennis and perform sorting operation, avoids the unstable jumping of the table tennis in the ball channel, and ensures that the table tennis can stably and controllably fall into the specified ball box. (4) The table tennis intelligent detection and pickup device is provided with a top rod to realize the post-positioning and falling of the table tennis after reaching the horn, avoids the table tennis from falling in advance due to the change of the negative pressure in the moving tube, and improves the stability of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a perspective view of the pickup device of example 1.

[0025] Figure 2 is a perspective cut view of the pickup device of example 1.

[0026] Figure 3 is a plane cut view of the pickup device of example 1.

[0027] Figure 4 is a working state diagram of the pickup device of example 1.

[0028] Figure 5 is a table tennis photo processing diagram (one) in example 1.

[0029] Figure 6 is a table tennis photo processing diagram (two) in example 1.

[0030] Figure 7 is a table tennis photo processing diagram (three) in example 1.

[0031] Figure 8 is a plane cut view of the pickup device of example 2.

[0032] Figure 9is the working state diagram of the picker of Example 2 (I).

[0033] Figure 10 is the working state diagram of the picker of Example 2 (II).

[0034] Figure 11 is a perspective view of the moving tube in Example 2.

[0035] Wherein: 100, box; 110, ball suction pipe; 111, side air inlet; 120, ball passage; 130, fan; 140, gas passage; 200, intelligent detection system; 210, camera; 220, light source; 300, sorter; 310, flap; 320, rotary driver; 330, moving tube; 331, horn mouth; 332, air vent; 340, linear driver; 341, gear; 342, rack; 350, ejector rod; 400, first ball box; 500, second ball box; 600, dust cup; 700, disinfection lamp; 800, ping-pong ball. DETAILED DESCRIPTION

[0036] The application will be further described in detail below in combination with specific embodiments.

[0037] Example 1

[0038] As shown in the drawings, the ping-pong ball intelligent detection picker of the present embodiment comprises a box 100, an intelligent detection system 200, a sorter 300, a first ball box 400, a second ball box 500, a dust cup 600 and a disinfection lamp 700. Figures 1 to 3 The front part of the box 100 is provided with a ball suction pipe 110, the surface of the ball suction pipe 110 is provided with a tangential side air inlet 111, the inside of the box 100 is provided with a ball passage 120, the ball suction pipe 110 is communicated with the ball passage 120; the box 100 is provided with a fan 130, the fan 130 is communicated with the ball passage 120, the fan 130 generates an airflow to attract ping-pong balls 800 in the ball suction pipe 110 and the ball passage 120; when picking up the ping-pong balls 800, the pipe opening of the ball suction pipe 110 needs to be close to the ping-pong balls 800, then the ping-pong balls 800 are sucked into the ball suction pipe 110 under the action of the airflow, and then reach the ball passage 120.

[0039]

[0040] ​The first ball box 400 and the second ball box 500 are both mounted on the box body 100, and the first ball port and the second ball port respectively communicating with the first ball box 400 and the second ball box 500 are arranged in the ball channel 120, the first ball port is located in the middle of the ball channel 120, and the second ball port is located at the end of the ball channel 120; one of the first ball box 400 and the second ball box 500 is used as a ball box of the intact ping-pong ball 800, and the other is used as a ball box of the damaged ping-pong ball 800; in the embodiment, the first ball box 400 is used as the ball box of the intact ping-pong ball 800, and the second ball box 500 is used as the ball box of the damaged ping-pong ball 800.

[0041] The intelligent detection system 200 is mounted in the ball suction pipe 110 and detects whether the ping-pong ball 800 is damaged, and the sorter 300 is mounted in the ball channel 120, and the sorter 300 sorts the intact ball and the damaged ball to the first ball box 400 and the second ball box 500 respectively according to the detection result of the intelligent detection system 200.

[0042] The intelligent detection system 200 includes a computer, a camera 210 and a light source 220, the camera 210 takes a photo of the ping-pong ball 800 in the ball suction pipe 110, the light source 220 provides the light required for taking the photo of the ping-pong ball 800, the computer performs mean filtering processing and binary processing on the photo of the ping-pong ball 800, and then performs spot analysis on the photo to judge whether the ping-pong ball 800 is damaged; in order to improve the accuracy of the judgment, a plurality of cameras 210 can be arranged to take photos of the ping-pong ball 800 from different angles.

[0043] The mean filtering algorithm mainly averages the gray scale of adjacent points in the image region to obtain the final gray scale. Assuming that the gray scale of a point in the ping-pong ball 800 image is f(x, y), S is a point set composed of adjacent pixels, and M is the number of pixels in the point set S. After passing through the mean filter, a new gray scale g(x, y) is obtained, which can be expressed as follows:

[0044]

[0045] Wherein g(x, y) is the new gray scale; f(i, j) is the pixel gray scale of a point in the image, and i and j are pixels.

[0046] The binary processing is to compare the gray scale value of the pixel with the set threshold value. If the threshold value is exceeded, white color is displayed, and if the threshold value is lower, black color is displayed; the binary processing can convert the gray scale image into a black and white image, and the fuzzy object is exposed, Figures 5 to 7 Three black and white images of the ping-pong ball 800 after mean filtering processing and binary processing are shown; finally, spot analysis is performed on the black and white image to judge whether the ping-pong ball 800 is damaged.

[0047] The picker is provided with a control chip, which controls the sorter 300 according to the detection result of the intelligent detection system 200, and sends the intact and damaged ping-pong balls 800 into different ball boxes respectively. The sorter 300 comprises a flap 310 and a rotary driver 320, the flap 310 is located between the first ball port and the second ball port, and the rotary driver 320 drives the flap 310 to rotate; when the flap 310 stands between the first ball port and the second ball port, the ping-pong ball 800 is blocked by the flap 310 in the ball channel 120 and falls into the first ball port and the first ball box 400; when the flap 310 remains horizontal, the ping-pong ball 800 directly reaches the second ball port at the end of the ball channel 120 under the action of the airflow and falls into the second ball box 500.

[0048] The rotary driver 320 in the embodiment can be any mechanism with a rotary driving function in the prior art, for example, a rotary electromagnet.

[0049] The dust cup 600 is arranged between the fan 130 and the ball channel 120, which can filter the dust in the airflow and reduce the adhesion of dust on the blades of the fan 130; the first ball box 400 is provided with an ultraviolet disinfection lamp 700.

[0050] The basic working process of the ping-pong ball intelligent detection picker in the embodiment is as follows:

[0051] (1) The user holds the box body 100 and starts the fan 130, aligns the ball suction pipe 110 with the ping-pong ball 800, and the ping-pong ball 800 is sucked into the ball suction pipe 110 under the action of the airflow;

[0052] (2) The camera 210 takes a photo of the ping-pong ball 800, the computer analyzes the photo of the ping-pong ball 800 and judges whether the sucked ping-pong ball 800 is damaged;

[0053] (3) If the ping-pong ball 800 is damaged, the flap 310 remains in a horizontal state as shown in Figure 3 , and the ping-pong ball 800 directly reaches the second ball port at the end of the ball channel 120 under the action of the airflow and falls into the second ball box 500;

[0054] (4) If the ping-pong ball 800 is intact, the flap 310 stands between the first ball port and the second ball port as shown in Figure 4 , and the ping-pong ball 800 is blocked by the flap 310 in the ball channel 120 and falls into the first ball port and the first ball box 400.

[0055] Embodiment 2

[0056] As shown in Figure 8 , the ping-pong ball intelligent detection picker in the embodiment is different from that in Embodiment 1 in that another sorter 300 is adopted.

[0057] The sorter 300 in the embodiment includes a moving tube 330, a linear driver 340 and a top rod 350. One end of the moving tube 330 is provided with a trumpet mouth 331 for adsorbing the table tennis ball 800. The linear driver 340 drives the moving tube 330 to translate in the ball channel 120. The moving tube 330 has three rest positions of front, middle and rear positions in the ball channel 120 respectively as shown in Figure 9 , as Figure 8 and as Figure 10 shown. When the moving tube 330 is in the front position, the trumpet mouth 331 is aligned with the first ball mouth. When the moving tube 330 is in the middle position, the trumpet mouth 331 is located between the first ball mouth and the second ball mouth. When the moving tube 330 is in the rear position, the trumpet mouth 331 is aligned with the second ball mouth.

[0058] The box 100 is provided with a gas channel 140. One end of the gas channel 140 is communicated with the fan 130, and the other end is attached to the side surface of the moving tube 330. As shown in Figure 11 , the side surface of the moving tube 330 is provided with a gas vent 332. The position and size of the gas vent 332 satisfy that when the moving tube 330 is in the front position, the gas vent 332 is out of position with the gas channel 140. When the moving tube 330 is in the middle position, the gas vent 332 is aligned with the gas channel 140. When the moving tube 330 is in the rear position, the gas vent 332 is aligned with the gas channel 140.

[0059] The top rod 350 is fixed in the box 100 and inserted into the moving tube 330. When the moving tube 330 is in the rear position, the front end of the top rod 350 is at the trumpet mouth 331 and ejects the table tennis ball 800 adsorbed in the trumpet mouth 331.

[0060] The linear driver 340 includes a driving gear 341 and a rack 342. The rack 342 is fixed on the outer surface of the moving tube 330. The gear 341 is engaged with the rack 342. The rotating gear 341 drives the rack 342 and the moving tube 330 to translate forward and backward.

[0061] The basic working process of the table tennis ball intelligent detection picker in the embodiment is as follows:

[0062] (1) The user holds the box 100 and starts the fan 130. After the ball suction tube 110 is aligned with the table tennis ball 800, the table tennis ball 800 is sucked into the ball suction tube 110 under the action of the airflow.

[0063] (2) The camera 210 takes a photo of the table tennis ball 800. The computer analyzes the photo of the table tennis ball 800 and judges whether the sucked table tennis ball 800 is damaged.

[0064] (3) If the table tennis ball 800 is damaged, the computer sends a signal to the linear driver 340 to drive the moving tube 330 to translate to the rear position, and the top rod 350 ejects the damaged table tennis ball 800 from the trumpet mouth 331. Figure 8As shown, at the initial stage, the horn mouth 331 of the moving tube 330 is located at the middle position, the air vent 332 is aligned with the gas passage 140, normal airflow is generated in the ball passage 120, and the ping-pong ball 800 directly reaches the horn mouth 331 under the action of the airflow after entering the ball passage 120 and is adsorbed in the horn mouth 331;

[0065] (4) If the ping-pong ball 800 is intact, the gear 341 drives the moving tube 330 to advance to the front position as shown, at this time, the air vent 332 is misaligned with the gas passage 140, the low pressure in the moving tube 330 cannot be maintained, the horn mouth 331 loses the adsorption force on the ping-pong ball 800, and the ping-pong ball 800 naturally falls to the first ball port and the first ball box 400 below the horn mouth 331; Figure 9

[0066] (5) If the ping-pong ball 800 is damaged, the gear 341 drives the moving tube 330 to translate backward to the rear position as shown, the ping-pong ball 800 in the horn mouth 331 is passively separated from the horn mouth 331 under the action of the top rod 350 and falls to the second ball port and the second ball box 500 below. Figure 10

[0067] Although the embodiments of the present application are described in the specification, these embodiments are only as a hint and should not limit the protection scope of the present application. Various omissions, substitutions and changes made within the scope of the present application without departing from the spirit of the present application should be included in the protection scope of the present application.​​

Claims

1. A smart ping-pong ball detection and pickup device, characterized in that: Includes a housing (100), an intelligent detection system (200), a sorter (300), a first ball box (400), and a second ball box (500); The front of the box (100) is provided with a ball suction pipe (110), and the inside of the box (100) is provided with a ball channel (120). The ball suction pipe (110) is connected to the ball channel (120). A fan (130) is provided inside the box (100). The fan (130) is connected to the ball channel (120). The fan (130) generates an airflow that attracts ping-pong balls in the ball suction pipe (110) and the ball channel (120). The first ball box (400) and the second ball box (500) are both installed on the box body (100). The ball channel (120) is provided with a first ball opening and a second ball opening that are respectively connected to the first ball box (400) and the second ball box (500). The first ball opening is located in the middle of the ball channel (120), and the second ball opening is located at the end of the ball channel (120). The intelligent detection system (200) is installed in the ball suction tube (110) and detects whether the ping-pong ball is damaged. The sorter (300) is installed in the ball channel (120). The sorter (300) sorts the intact ball and the damaged ball into the first ball box (400) and the second ball box (500) respectively according to the detection results of the intelligent detection system (200). The sorter (300) includes a moving tube (330) and a linear actuator (340). One end of the moving tube (330) is provided with a flared mouth (331) for adsorbing ping-pong balls. The linear actuator (340) drives the moving tube (330) to move horizontally within the ball channel (120). The moving tube (330) has three stopping positions within the ball channel (120): front position, middle position, and rear position. When the moving tube (330) is in the front position, the flared mouth (331) is aligned with the first ball opening. When the moving tube (330) is in the middle position, the flared mouth (331) is located between the first ball opening and the second ball opening. When the moving tube (330) is in the rear position, the flared mouth (331) is aligned with the second ball opening. The housing (100) is provided with a gas channel (140), one end of which is connected to the fan (130), and the other end is attached to the side of the moving pipe (330). The side of the moving pipe (330) is provided with a vent (332), and the position and size of the vent (332) satisfy the following: when the moving pipe (330) is in the front position, the vent (332) is misaligned with the gas channel (140); when the moving pipe (330) is in the middle position, the vent (332) is aligned with the gas channel (140); when the moving pipe (330) is in the rear position, the vent (332) is misaligned with the gas channel (140).

2. The intelligent ping-pong ball detection and pickup device according to claim 1, characterized in that: The intelligent detection system (200) includes a computer, a camera (210) and a light source (220). The camera (210) takes pictures of the ping-pong ball in the suction tube (110). The computer performs mean filtering and binarization processing on the ping-pong ball pictures, and then performs spot analysis on the pictures to determine whether the ping-pong ball is damaged.

3. The intelligent ping-pong ball detection and pickup device according to claim 1, characterized in that: A dust cup (600) is provided between the fan (130) and the ball channel (120).

4. The intelligent ping-pong ball detection and pickup device according to claim 1, characterized in that: A disinfection lamp (700) is installed inside the first ball box (400) or the second ball box (500).

5. The intelligent ping-pong ball detection and pickup device according to claim 1, characterized in that: The sorter (300) also includes a push rod (350), which is fixed inside the housing (100) and inserted into the moving tube (330); when the moving tube (330) is in the rear position, the front end of the push rod (350) is at the horn mouth (331) and pushes out the ping-pong ball adsorbed in the horn mouth (331).

6. The intelligent ping-pong ball detection and pickup device according to claim 5, characterized in that: The linear actuator (340) includes a drive gear (341) and a rack (342), the rack (342) being fixed to the outer surface of the moving tube (330), and the gear (341) meshing with the rack (342).

7. The intelligent ping-pong ball detection and pickup device according to claim 1, characterized in that: The surface of the suction tube (110) is provided with a tangential side air vent (111).

Images