Badminton serving and picking all-in-one machine based on vision

Abstract

The invention provides a shuttlecock serving and picking all-in-one machine based on vision. The shuttlecock serving and picking all-in-one machine structurally comprises a moving device, a main control system, a serving device, a vision system and a picking device, the main control system and the serving device are positioned at the upper end of the moving device, the vision system is carried on the top of the serving device, and the picking device is further arranged on the back of the serving device; the limitation of traditional single-function equipment is broken through by combining a Bluetooth module and a computer underlying principle of the main control system with knowledge modules such as a sensor, an electronic element and robot control, a pitching machine and a ball picking machine are integrated into a unified system, a training-recycling closed loop is realized, and manual intervention is reduced; according to the multi-dimensional ball path control system, precise ball serving at any angle (the elevation angle of-30 degrees to 70 degrees) and in any direction (the horizontal rotation of 0-360 degrees) and a self-adaptive ball serving algorithm are achieved; according to the position of a player, the ball serving falling point is dynamically adjusted, a real confrontation scene is simulated, and the ball speed is adjusted in a stepless mode (20-120 km / h), so that different requirements from beginners to professional players are met.

Description

Technical Field

[0001] The present invention relates to the technical field of badminton serving and picking machines, and more specifically to a badminton serving and picking machine based on vision. Background Art

[0002] Badminton is one of the globally popular sports, with dual characteristics of competitiveness and entertainment. With the promotion of national fitness, the demand for badminton training is increasing day by day. However, the traditional training methods have the following problems: ① Low efficiency of manual serving: Coaches or sparring partners need to serve repeatedly, consuming a large amount of physical strength, and it is difficult to ensure the accuracy and consistency of serving; ② Time-consuming and laborious ball picking: During the training process, players need to pick up balls frequently, which affects the training rhythm and reduces the training efficiency; ③ Single training mode: Traditional training is difficult to simulate actual ball paths with multiple angles and speeds, affecting the training effect; At the same time, the existing badminton training equipment on the market mainly includes: ① Single-function serving machines: They can only achieve automatic serving, but cannot pick up balls and still require manual intervention; ② Simple ball-picking tools (such as ball-picking nets, ball suction devices): They rely on manual operation and have low efficiency; ③ High-end intelligent devices (such as robot sparring partners): They are expensive, have low popularity, and most still cannot achieve integrated serving and ball picking; Therefore, developing a low-cost, high-efficiency, and intelligent badminton automatic serving and ball-picking machine has important market value and practical significance. Summary of the Invention

[0003] The technical solution adopted by the present invention to achieve the technical purpose is: A badminton serving and picking machine based on vision, the structure of which includes: a moving device, a main control system, a serving device, a vision system, and a ball-picking device. The upper end of the moving device positions the main control system and the serving device, and the top of the serving device carries the vision system and the back is also provided with a ball-picking device.

[0004] As a further improvement of the present invention, the serving device is provided with an integrated protection box. The upper end of the integrated protection box is provided with a receiving groove and is connected to the bottom of the ball storage bin. The lower side of the integrated protection box is provided with a launching groove that communicates with the angle plate.

[0005] As a further improvement of the present invention, the ball-picking device is provided with a connection groove. The connection groove is arranged at the top of the storage bin and is connected to the bottom of the vision system. The bottom end of the storage bin is connected to the top of the ball storage bin. The right side of the upper end of the storage bin is also equipped with a reverse blower, which is connected to the guiding pipe through the storage bin. The bottom of the guiding pipe is equipped with a guiding block. A group of vision systems are also installed on the outer side area of the guiding pipe and are used through binocular cameras.

[0006] As a further improvement of the present invention, the serving device and the ball picking device are moved by wireless control of the Bluetooth module of the main control system combined with the visual system. Then, the ball picking device uses the reverse rotation of the reverse fan of the storage box to allow the guide tube to cooperate with the guide block to pick up the badminton and input it into the ball storage bin of the serving device. Finally, the badminton is launched through the angle plate using the built-in conveying mechanism, friction wheel / launching wheel, direction and angle control and DC motor of the integrated protection box.

[0007] As a further improvement of the present invention, the mobile device uses four Mecanum wheels and distributes them at the edges of the four sides. The Mecanum wheels use independent control rotation to perform omnidirectional movements such as front and back, left and right, diagonal and in-situ rotation, and are equipped with a stepper motor for precise positioning to control the rotation angle in units of step angle. The main control system uses a recommended operating system built with Raspberry Pi as the core, combines knowledge of sensors, electronic components, robots, etc., and is equipped with an HC-Bluetooth module for short-range wireless communication. Then the visual system on the top of the serving device uses a binocular camera to capture images of the same scene from different angles.

[0008] As a further improvement of the present invention, the integrated protection box of the ball serving device is equipped with a conveying mechanism, a friction wheel / launching wheel, direction and angle control and a DC motor. The DC motor is used as the core to control the pulse width signal sent to the launching wheel, and then one end of the conveying mechanism is connected to the launching slot. The ball storage bin is in the shape of a vertical cylindrical tube and the top is connected to the ball picking device.

[0009] As a further improvement of the present invention, the top connecting groove of the storage box of the ball picking device is a rectangular recessed shape to limit the bottom of the visual system, and then the bottom of the storage box is connected with the ball storage bin of the ball serving device, and the reverse fan is arranged at the top position of the storage box and connected with the guide pipe on the side, the corner position of the guide pipe is rounded and the diameter of the bottom guide block is larger than its own diameter.

[0010] As a further improvement of the present invention, the angle plate is also provided with a solid plate, and a contact layer is provided on the surface of the solid plate to install the limit block on the left and right sides, and an insertion rod is provided at the bottom of the limit block to penetrate the left and right sides of the contact layer surface of the solid plate.

[0011] As a further improvement of the present invention, the solid plate is arranged at an outer position of the launch slot in an inclined orientation and the contact layer is aligned with the center of the launch slot through the middle distance of the limit block, and the bottom of the limit block is perpendicular to the insertion rod.

[0012] As a further improvement of the present invention, a connecting ring is newly provided at the top of the reverse fan, wherein the connecting ring contains a dustproof net and a center rod is provided at the center position to be inserted into the center position of the reverse fan.

[0013] As a further improvement of the present invention, the connecting ring covers the edge of the dust-proof net, and the center position of the dust-proof net intersects with the central rod to restrain the center of the reverse fan.

[0014] As a further improvement of the present invention, the serving wheel and the serving module inside the integrated protection box of the serving device can adjust the serving speed to 20 - 150 km / h, the angle to -30° to +70°, and the frequency to 1 - 10 balls / second. It uses a double-wheel friction drive mechanism to serve the ball with high precision.

[0015] As a further improvement of the present invention, the cylindrical shape of the ball storage bin is connected to the bottom of the storage box equipped with an automatic loading system and a ball picking device, and can accommodate 120 - 160 badminton balls.

[0016] As a further improvement of the present invention, the binocular cameras of the vision system use the AI vision recognition YOLO algorithm to distinguish badminton balls from other objects.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. By combining the Bluetooth module of the main control system with the underlying principles of the computer, and integrating knowledge modules such as sensors, electronic components, and robot control, the present invention breaks through the limitations of traditional single-function devices. It integrates the ball serving machine and the ball picking machine into a unified system, realizes a "training - recovery" closed loop, and reduces manual intervention.

[0018] 2. The present invention has a multi-dimensional ball path control system to achieve precise serving at any angle (-30° to 70° elevation angle) and any direction (0 - 360° horizontal rotation), as well as an adaptive serving algorithm: dynamically adjust the serving landing point according to the player's position, simulate real confrontation scenarios, and infinitely adjust the ball speed (20 - 120 km / h) to meet the different needs of beginners to professional players.

[0019] 3. The present invention has visual recognition (binocular cameras), realizes a badminton recognition rate of more than 85% in complex site environments, and optimizes the ball picking route based on a deep learning-based dynamic path planning algorithm.

[0020] 4. The main power supply of the present invention uses fast-charging lithium batteries (more than 2 hours / set of batteries), designs a portable quick plug-in port and multiple expansion ports, and realizes unlimited battery life. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of a badminton serving and picking integrated machine based on vision.

[0022] Figure 2 It is a schematic three-dimensional structural diagram after improvement of a serving device.

[0023] Figure 3 It belongs to a three-dimensional structural schematic diagram after the improvement of an angle plate.

[0024] Figure 4 It belongs to a three-dimensional structural schematic diagram after the improvement of a ball picking device.

[0025] Figure 5 It belongs to a three-dimensional structural schematic diagram with components provided at the top of a reverse fan.

[0026] In the figure: moving device - 1, main control system - 2, serving device - 3, vision system - 4, ball picking device - 5; Integrated protection box - 31, receiving groove - 32, ball storage bin - 33, launching groove - 34, angle plate - 35; Connection groove - 51, storage box - 52, reverse fan - 53, guiding pipe - 54, guiding block - 55; Solid plate - 351, contact layer - 352, limit block - 353, insertion rod - 354; Connection ring - 531, dustproof net - 532, central rod - 533. Specific implementation mode

[0027] The following further describes the present invention in conjunction with the attached drawings: Embodiment

[0028] Figures 1 to 5 As shown: The present invention provides a badminton serving and picking machine based on vision, whose structure includes a moving device 1, a main control system 2, a serving device 3, a vision system 4, and a ball picking device 5. The main control system 2 and the serving device 3 are positioned at the upper end of the moving device 1, and the vision system 4 is carried on the top of the serving device 3, and a ball picking device 5 is also arranged on the back.

[0029] Among them, the serving device 3 is provided with an integrated protection box 31. A receiving groove 32 is opened at the upper end of the integrated protection box 31 and is communicated with the bottom of the ball storage bin 33. A launching groove 34 is opened at the lower side of the integrated protection box 31 and is communicated with the angle plate 35.

[0030] Among them, the ball picking device 5 is provided with a connection groove 51. The connection groove 51 is arranged at the top of the storage box 52 and is connected to the bottom of the vision system 4. The bottom end of the storage box 52 is communicated with the top of the ball storage bin 33. A reverse fan 53 is also carried on the upper right side of the storage box 52 and is communicated with the guiding pipe 54 through the storage box 52. A guiding block 55 is carried at the bottom of the guiding pipe 54. A group of vision systems 4 are also carried in the outer side area of the guiding pipe 54 and are used through binocular cameras.

[0031] Among them, the wireless control of the Bluetooth module of the main control system 2 is combined with the vision system 4 to drive the displacement of the serving device 3 and the ball picking device 5. Then, the ball picking device 5 makes the reverse blower 53 of the storage box 52 rotate in reverse, and the guide pipe 54 cooperates with the guide block 55 to pick up the badminton, and at the same time input it into the storage bin 33 of the serving device 3. Finally, the badminton is launched through the angle plate 35 by the conveying mechanism, friction wheel / launch wheel, direction and angle control, and DC motor built in the integrated protection box 31.

[0032] Among them, the moving device 1 selects four Mecanum wheels and distributes them at the four peripheral positions. The Mecanum wheels use independent controlled rotation for omnidirectional movement such as forward, backward, left, right, diagonal, and rotation in place, and are equipped with precise positioning of the stepper motor to control the rotation angle in units of step angle. Furthermore, the main control system 2 uses a Raspberry Pi as the core to build a recommended operating system, combines knowledge of sensors, electronic components, robots, etc., and is equipped with an HC-06 Bluetooth module for short-distance wireless communication. Then, the vision system on the top of the serving device 3 uses a binocular camera to capture images of the same scene from different angles.

[0033] Among them, the integrated protection box 31 of the serving device 3 is internally provided with a conveying mechanism, a friction wheel / launch wheel, direction and angle control, and a DC motor. The DC motor is used as the core to send a pulse width signal to control the launch wheel. Then, one end of the conveying mechanism communicates with the launch slot 34. The storage bin 33 is in the shape of a vertical cylinder and is connected to the ball picking device 5 at the top.

[0034] Among them, the top connection groove 51 of the storage box 52 of the ball picking device 5 is in the shape of a rectangular depression to limit the bottom of the vision system 4. Then, the bottom of the storage box 52 is connected to the storage bin 33 of the serving device 3. The reverse blower 53 is arranged at the top of the storage box 52 and is connected to the side guide pipe 54. The corner position of the guide pipe 54 is in the shape of a rounded corner, and the diameter of the bottom guide block 55 is larger than its own diameter.

[0035] Among them, the angle plate 35 is also provided with a solid plate 351. The surface of the solid plate 351 is provided with a contact layer 352 to install the limit block 353 left and right. The bottom of the limit block 353 is provided with a plug rod 354 passing through the left and right sides of the surface of the contact layer 352 of the solid plate 351.

[0036] Among them, the solid plate 351 is arranged outside the launch slot 34 in an inclined orientation, and the contact layer 352 is aligned with the center of the launch slot 34 through the middle spacing of the limit block 353. The bottom of the limit block 353 is perpendicular to the plug rod 354.

[0037] Among them, a connection ring 531 is newly added to the top of the reverse fan 53. The connection ring 531 contains a dust-proof net 532, and a central rod 533 is arranged at the center position and inserted into the center of the reverse fan 53.

[0038] Among them, the connection ring 531 covers the edge of the dust-proof net 532, and the center position of the dust-proof net 532 intersects with the central rod 533 to restrain the center of the reverse fan 53.

[0039] Among them, the serving wheel and serving module inside the integrated protection box 31 of the serving device 3 can adjust the serving speed to 20 - 150 km / h, the angle to -30° to +70°, and the frequency to 1 - 10 balls / second. It uses a double-wheel friction drive mechanism to serve the ball with high precision.

[0040] Among them, the cylindrical shape of the ball storage bin 33 is equipped with an automatic loading system and is connected to the bottom of the storage box 52 of the ball picking device 5 and can accommodate 120 - 160 badminton balls.

[0041] Among them, the binocular camera of the vision system 4 uses the AI vision recognition YOLO algorithm to distinguish badminton balls from other objects.

[0042] The specific functions and operation procedures of this embodiment: In the present invention, the badminton serving and picking machine based on vision can be based on the main control system 2. The main control system 2 is equipped with a portable fast-charging plug-in port and a multi-channel expansion port designed with fast-charging lithium batteries (more than 2 hours per set of batteries), so as to achieve wireless power supply. At the same time, combined with the HC-06 Bluetooth module, the overall serving and picking machine is wirelessly controlled through short-distance wireless communication technology. When controlling the mobile device 1, the four Mecanum wheels carried by the mobile device 1 can be arranged in four directions, and then the precise positioning of the stepping motor is used to control the rotation angle in units of step angles. Open-loop position control can be achieved without an encoder, which is suitable for scenarios that require high-precision movement with coincidence. As a result, the four Mecanum wheels can perform omnidirectional movement, realizing omnidirectional movement such as forward, backward, left, right, diagonal, and rotation in place, and can operate without a steering mechanism. Therefore, precise positioning and path planning effects can be achieved within a limited space, and thus the serving device 3 and the picking device 5 can be stably driven to move on the badminton court. During the displacement process, the binocular camera of the vision system 4 can capture the badminton scene. It simulates the parallax principle of human eyes, uses two side-by-side cameras to capture images of the same scene from different angles, thereby obtaining depth information and achieving the characteristics of three-dimensional perception. Then, the main control system 2 can perform intelligent control on the serving device 3 and the picking device 5. Combining the cooperation of the vision system 4 can ensure the operation accuracy of the serving device 3 and the picking device 5. Therefore, the integrated protection box 31 of the serving device 3 can allow the built-in conveying structure and the friction wheel / launch wheel area to receive the badminton in the storage bin 33 through the receiving groove 32. Then, by sending a pulse width signal to the wheel body through the built-in DC motor, the effect of controlling the serving speed can be achieved. When the badminton is output through the conveying structure and the launch groove 34 area, the DC motor can adjust the angle of the angle plate 35 so that the badminton is launched at a relevant angle, and the serving can be completed. At the same time, the solid plate 351 of the angle plate 35 can contact the badminton through the contact layer 352. At the same time, two limit blocks 353 arranged through the insertion rods 354 on the surface can limit both ends of the surface of the contact layer 352, allowing the badminton to be launched from the middle position, achieving the effect of precise serving. Subsequently, after the training is completed, through the movement of the mobile device 1 and the image capture of the vision system 4, the picking device 5 can accurately distinguish the badminton on the court. Then, the reverse fan 53 of the storage box 52 uses the guiding pipe 54 and the guiding block 55 to perform operations, so that multiple badminton are simultaneously absorbed through the reverse suction generated by the reverse fan 53 combined with the large-diameter guiding block 55. During the process, the generated reverse suction has the effect of being gentle and not damaging the feathers. Then, the badminton enters the interior of the storage box 52 through the guiding pipe 54, and the picking characteristic can be completed. During the process, the vision system 4 can accurately distinguish the badminton from other objects through the AI vision recognition YOLO algorithm of the camera, improving the accuracy characteristic during picking. When the reverse fan 53 is operating,The connecting ring 531 added to its top can cover the upper part through the internal dust-proof net 532 to prevent external dust from invading and affecting the stable rotation operation effect of the reverse fan 53. At the same time, the central insertion of the central rod 533 at the center can ensure the parallel rotation stability of the reverse fan 53. Then, the automatic loading system connected between the storage box 52 of the ball picking device 5 and the ball storage bin 33 of the serving device 3 is connected to the bottom of the storage box 52 of the ball picking device 5, so that badminton can be accurately filled into the serving device 3 for use. Therefore, through the mutual cooperation of each component, the use intensity of the intelligent and multi-functional characteristics of the badminton serving and picking machine can be effectively improved.

[0043] Any technical solution using the technical solution of the present invention, or designed by those skilled in the art inspired by the technical solution of the present invention to achieve the above technical effects, shall fall within the protection scope of the present invention.

Claims

1. Badminton serving and picking machine based on vision, the structure of which includes: A mobile device (1), a main control system (2), a serving device (3), a vision system (4), and a ball picking device (5). The upper end of the mobile device (1) positions the main control system (2) and the serving device (3). The top of the serving device (3) carries the vision system (4), and a ball picking device (5) is also arranged on the back. It is characterized in that: The serving device (3) is provided with an integrated protection box (31). The upper end of the integrated protection box (31) is provided with a receiving groove (32) which is communicated with the bottom of the ball storage bin (33). A launching groove (34) is opened on the lower side of the integrated protection box (31) and is communicated with the angle plate (35). The ball picking device (5) is provided with a connecting groove (51). The connecting groove (51) is arranged at the top of the storage box (52) and is connected to the bottom of the vision system (4). The bottom end of the storage box (52) is communicated with the top of the ball storage bin (33). A reverse air blower (53) is also mounted on the upper right side of the storage box (52) and is communicated with the guiding pipe (54) through the storage box (52). A guiding block (55) is mounted at the bottom of the guiding pipe (54). A group of vision systems (4) are also mounted in the outer side area of the guiding pipe (54) and are used through a binocular camera. Through the wireless control of the Bluetooth module of the main control system (2) and the vision system (4) drives the displacement of the serving device (3) and the ball picking device (5). Then, the ball picking device (5) makes the guiding pipe (54) cooperate with the guiding block (55) to pick up the badminton through the reverse rotation of the reverse air blower (53) of the storage box (52), and at the same time inputs it into the ball storage bin (33) of the serving device (3). Finally, the badminton is launched through the angle plate (35) by using the conveying mechanism, friction wheel / launching wheel, direction and angle control, and DC motor built in the integrated protection box (31).

2. The badminton serving and picking machine based on vision according to claim 1, wherein: The mobile device (1) selects four Mecanum wheels and distributes them at the four peripheral positions. The Mecanum wheels use independent control rotation for omnidirectional movement such as forward, backward, left, right, diagonal, and in-situ rotation, and are equipped with precise positioning of a stepping motor to control the rotation angle in units of step angle. Furthermore, the main control system (2) uses a Raspberry Pi as the core to build a recommended operating system, combines knowledge of sensors, electronic components, robots, etc., and is equipped with an HC-06 Bluetooth module for short-distance wireless communication. Then, the vision system on the top of the serving device (3) uses a binocular camera to capture images of the same scene from different angles.

3. The badminton serving and picking machine based on vision according to claim 1, characterized in that: The integrated protection box (31) of the serving device (3) is built in with a conveying mechanism, a friction wheel / launching wheel, direction and angle control, and a DC motor. The DC motor is used as the core to send a pulse width signal to control the launching wheel. Then, one end of the conveying mechanism is communicated with the launching groove (34). The ball storage bin (33) is in the shape of a vertical cylinder and is communicated with the ball picking device (5) at the top.

4. The badminton serving and picking machine based on vision according to claim 1, characterized in that: The top connecting groove (51) of the storage box (52) of the ball picking device (5) is in the shape of a rectangular depression to limit the bottom of the vision system (4). Then, the bottom of the storage box (52) is connected to the ball storage bin (33) of the ball serving device (3). The reverse air blower (53) is arranged at the top of the storage box (52) and is connected to the guiding pipe (54) on the side. The corner position of the guiding pipe (54) is in the shape of a rounded corner, and the diameter of the bottom guiding block (55) is larger than its own diameter.

5. The badminton serving and retrieving integrated machine based on vision according to claim 1, characterized in that: The angle plate (35) is further provided with a solid plate (351). A contact layer (352) is arranged on the surface of the solid plate (351) to install the limiting block (353) left and right. A plug rod (354) is arranged at the bottom of the limiting block (353) and penetrates through the left and right sides of the surface of the contact layer (352) of the solid plate (351). The solid plate (351) is arranged at the outer position of the launching groove (34) in an inclined orientation, and the contact layer (352) is aligned with the center of the launching groove (34) through the middle spacing of the limiting block (353). The bottom of the limiting block (353) is perpendicular to the plug rod (354).

6. The badminton serving and picking machine based on vision according to claim 1, wherein: A connecting ring (531) is newly added to the top of the reverse air blower (53). The connecting ring (531) contains a dust-proof net (532), and a central rod (533) is arranged at the center position and inserted into the center of the reverse air blower (53). The connecting ring (531) covers the edge of the dust-proof net (532), and the center position of the dust-proof net (532) intersects with the central rod (533) to restrain the center of the reverse air blower (53).

7. The badminton serving and retrieving integrated machine based on vision according to claim 1, characterized in that: The serving wheel and serving module inside the integrated protection box (31) of the serving device (3) can adjust the serving speed to 20 - 150 km / h, the angle to -30° to +70°, and the frequency to 1 - 10 balls / second. It uses a double-wheel friction drive mechanism to serve the ball with high precision.

8. The badminton serving and picking machine based on vision according to claim 1, characterized in that: The cylindrical shape of the ball storage bin (33) is equipped with an automatic loading system and is connected to the bottom of the storage box (52) of the ball picking device (5) and can accommodate 120 - 160 badminton balls.

9. The badminton serving and picking machine based on vision according to claim 1, characterized in that: The binocular camera of the vision system (4) uses the AI vision recognition YOLO algorithm to distinguish badminton balls from other objects.

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