Golf ladder height non-inductive control system and method

Abstract

The invention relates to the technical field of golf ball automation equipment control, and discloses a golf ball ladder height non-inductive control system and method, and the system comprises a micro-processing unit which is used for receiving and processing the input of a plurality of data; the golf sensor is electrically connected with the micro-processing unit and is used for detecting whether a golf ball appears or not; the motor driving circuit is electrically connected with the micro-processing unit and is used for driving a stepping motor to work; the motor current acquisition circuit is electrically connected with the micro-processing unit and the motor driving circuit and used for detecting the magnitude of the current of the stepping motor, and when the current of the stepping motor exceeds a safe current threshold value, the micro-processing unit controls the motor driving circuit to achieve stop control over the stepping motor; by adopting a position-free sensing strategy, the size of the ball ladder height control module can be reduced, the structural complexity of the ball ladder height control module is reduced, the reliability of equipment is improved, and meanwhile, accurate control over the height of the ball ladder is still guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of golf ball automation equipment control, and specifically to a non-intrusive control system and method for the height of a golf tee. Background Art

[0002] With the popularization of golf, more and more amateur golfers and professional golfers choose to practice golf in indoor simulated golf driving ranges. In modern indoor golf driving ranges, a large number of automation equipment and solutions are adopted to reduce the unnecessary dependence on manual operations and improve the user experience and practice effect.

[0003] Among them, in order to improve the experience of practitioners of different heights when using different golf clubs for golf practice, equipment and systems such as intelligent ball return systems, ball feeders, and ball launchers have started to adopt semi-automatic or automatic golf tee height adjustment strategies. Practitioners only need to perform a simple operation before hitting the ball to set the tee height that suits their own needs. In subsequent hitting practices, each tee can send the golf ball to the same height every time, ensuring the consistency of the hitting position each time. Practitioners do not need to adjust their swing postures due to the hitting position, thus improving the swing practice effect.

[0004] The semi-automatic or automatic golf tee height adjustment strategy is generally as follows: When the ball passing module of systems such as the ball return system, ball feeder, or ball launcher transfers a golf ball onto the tee, the system detects that the golf ball appears on the tee made of soft rubber material, controls the transmission module, and transports the tee to the height specified by the practitioner; after the practitioner hits the golf ball, the system detects that there is no golf ball on the tee, and then controls the transmission module to transport the tee back to the default initial height. Among them, the transmission module is mostly a gear-rack transmission, a mechanical linkage device, or a pulley transmission. In order to achieve precise control of the tee height, the transmission module in the prior art needs to adopt a design with one or more position sensors to determine the initial position and operating height of the tee. The position sensors are mostly photoelectric switch sensors, mechanical switch sensors, infrared sensors, etc. The golf coach desk automatic ball supply system described in Patent CN216855648U controls the height adjustment of the rubber cylinder based on a single sensor signal. The golf automatic ball launcher described in Patent CN204485268U uses 4 height sensors to achieve the height control of the ball holder. The use of position sensors in the transmission module increases the structural complexity of the equipment, raises the requirements for the installation accuracy of the equipment, and increases the production cost and the difficulty of later maintenance. Summary of the Invention

[0005] (I) Technical Problems to be Solved In view of the deficiencies of the prior art, the present invention provides a non-sensing control system and method for the height of a golf tee, which adopts a position-sensing-free strategy, can reduce the volume of the tee height control module, lower its structural complexity, improve the reliability of the device, and still ensure the accurate control of the tee height. The adoption of a non-sensing golf tee height control module is beneficial to the development of small-sized, low-cost, and high-reliability indoor golf intelligent ball return systems, intelligent ball feeders, and intelligent ball launchers, and solves the problems of complex structure and high maintenance costs.

[0006] (2) Technical solutions To achieve the above object, the present invention provides the following technical solutions: A non-sensing control system for the height of a golf tee, comprising: a microprocessing unit for receiving the input of multiple data and processing it; a ball sensor electrically connected to the microprocessing unit for detecting the presence of a golf ball; a motor drive circuit electrically connected to the microprocessing unit for driving a stepper motor to operate; a motor current acquisition circuit electrically connected to the microprocessing unit and the motor drive circuit for detecting the magnitude of the stepper motor current. When the stepper motor current exceeds the safety current threshold, the microprocessing unit controls the motor drive circuit to stop the stepper motor.

[0007] In some embodiments, it further comprises: an input module electrically connected to the microprocessing unit; a display module electrically connected to the microprocessing unit for information display; a communication module electrically connected to the microprocessing unit.

[0008] In some embodiments, it further comprises: A box body, with a second ball hole opened at the top of the box body. A moving component is arranged inside the box body. The output shaft of the stepper motor is connected to the moving component, and a ball sensor and a golf tee are arranged on the moving component.

[0009] In some embodiments, the moving component includes a first plate body. The first plate body is arranged inside the box body. The output shaft of the stepper motor is fixedly connected to a screw rod. The outer sidewall of the screw rod is threadedly connected to a second plate body. A rod body is fixed to the bottom of the second plate body, and the rod body is slidably connected to the first plate body. An installation seat is fixed to the top of the second plate body, and the installation seat is fixedly connected to the golf tee.

[0010] In some embodiments, a ball supply component is arranged inside the box body. When the golf tee moves to a position below the ball supply component, the ball supply component moves the golf ball to the top of the golf tee.

[0011] In some embodiments, the ball supply component includes a first track. The first track is fixed inside the box body. A rotating shaft is rotatably connected inside the first track. A disk body is fixed to the outer sidewall of the rotating shaft. An arc-shaped groove is opened on the outer sidewall of the disk body. A second track is fixed inside the box body.

[0012] In some embodiments, a transmission assembly is disposed on the outer side wall of the screw, and when the screw rotates, the transmission assembly drives the rotating shaft to rotate.

[0013] In some embodiments, the transmission assembly includes a synchronous wheel 1, the outer wall of the screw is fixed with the synchronous wheel 1, the outer wall of the rotating shaft is fixed with the synchronous wheel 2, and the synchronous wheel 1 and the synchronous wheel 2 are connected through a synchronous belt transmission.

[0014] A method for non-sensing control of the height of a golf ladder comprises the following steps: S1: The height of the ball ladder is at the default initial position, and the ball supply assembly moves the golf ball to the ball ladder. S2: When the ball sensor detects that there is a golf ball on the ball ladder, it controls the stepper motor to drive the moving component, the moving component lifts the ball ladder to a specified height, and stops the stepper motor; S3: When the ball sensor detects that there is no golf ball on the ball ladder, it controls the stepper motor to drive the moving component to move the ball ladder downward to the default initial position and stops the stepper motor.

[0015] (III) Beneficial effects Compared with the prior art, the present invention provides a non-sensing control system and method for the height of a golf ladder, which has the following beneficial effects: The sensorless control system and method for the height of the golf ladder can reduce the volume of the height control module of the golf ladder and reduce its structural complexity by adopting a position-free sensing strategy, thereby improving the reliability of the equipment while still ensuring the realization of accurate control of the height of the golf ladder. The use of the sensorless height control module of the golf ladder is conducive to the development of a miniaturized, low-cost, and highly reliable indoor golf intelligent ball return system, intelligent ball supply machine, and intelligent ball serving machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The structure of the present invention is shown in FIG. Figure I ; Figure 2 The structure of the present invention is shown in FIG. Figure II ; Figure 3 It is a partial cross-sectional structural schematic diagram of the present invention; Figure 4 It is a structural schematic diagram of the hidden box in the present invention; Figure 5 It is a structural schematic diagram of the ball sensor in the present invention; Figure 6 It is the ball ladder height control state machine of the present invention; Figure 7 This is a flow chart of the non-sensing calibration of the ball ladder height of the present invention; Figure 8 This is a circuit diagram of the present invention.

[0017] In the figure: 100, box body; 110, through hole; 120, first ball hole; 130, second ball hole; 140, ball ladder; 201, display module; 202, input module; 203, ball sensor; 204, communication module; 205, microprocessing unit; 206, motor drive circuit; 207, stepping motor; 208, motor current acquisition circuit; 310, first plate body; 320, screw; 330, rod body; 340, second plate body; 350, mounting seat; 400, synchronous belt; 410, first synchronous pulley; 420, second synchronous pulley; 500, first track; 510, disc body; 520, second track; 530, rotating shaft. Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0019] It should be noted that all the directional indications in the embodiments of the present application are only used to explain the relative position relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0020] In the present application, unless otherwise clearly defined and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0021] In the related art, in order to achieve precise control of the height of the ball ladder, the drive module in the prior art needs to adopt the design of one or more position sensors to determine the initial position and running height of the ball ladder. The position sensors are mostly photoelectric switch sensors, mechanical switch sensors, infrared sensors, etc.

[0022] In order to solve the problems in the related art to a certain extent, the embodiments of the present application provide a non-sensing control system and method for the height of a golf ball ladder. By adopting a position-sensorless strategy, the volume of the ball ladder height control module can be reduced, its structural complexity can be lowered, and while improving the reliability of the device, the precise control of the height of the ball ladder can still be ensured.

[0023] The present application will be described below in conjunction with the accompanying drawings and with reference to specific embodiments: In conjunction with Figures 1 - 8 , an embodiment of the present application provides a non-sensing control system for the height of a golf tee, including: a microprocessing unit 205 for receiving the input of multiple data and processing it; a ball sensor 203 electrically connected to the microprocessing unit 205 for detecting the presence of a golf ball; a motor drive circuit 206 electrically connected to the microprocessing unit 205 for driving a stepper motor 207 to operate; a motor current acquisition circuit 208 electrically connected to the microprocessing unit 205 and the motor drive circuit 206 for detecting the magnitude of the current of the stepper motor 207. When the current of the stepper motor 207 exceeds a safe current threshold, the microprocessing unit 205 controls the motor drive circuit 206 to stop the stepper motor 207.

[0024] Specifically, the stepper motor 207 can achieve precise position control, has the characteristics of high resolution and high positioning accuracy, and is suitable for applications with small stroke and high-precision control of the height of a golf tee. The operation of the stepper motor 207 itself does not require position feedback, and the position and rotation direction of the stepper motor 207 can be controlled by controlling the number and sequence of electrical pulses. In the height control of the tee 140, a position sensor is generally used to detect the zero position or limit position of the stepper motor 207, helping the stepper motor 207 to quickly find the initial position of the motor after starting, control the height of the tee 140 to return to the initial position, or prevent exceeding a predetermined range during the movement process. However, the introduction of a position sensor will increase the structural complexity. Therefore, the present invention uses the motor stall characteristic to propose a non-sensing control method to reduce the structural complexity while achieving the height control of the tee 140; Since there is no inductive design, in order to determine the lower limit position of the operation of the stepper motor 207, that is, the default initial position of the height of the tee 140, this patent is based on the motor stall characteristic to complete the calibration of the default initial position of the height of the tee 140. When controlling the stepper motor 207 to transport the tee 140 until the tee 140 contacts the bottom of the lifting fairway, if the stepper motor 207 is continuously controlled to rotate, the tee 140 will squeeze the bottom of the lifting fairway, resulting in an increase in the motor current of the stepper motor 207. Further, it will cause the motor to stall. When the motor stalls, the stall current of the motor will be several times the normal working current. Therefore, this patent selects a safe current threshold C1, which is located between the motor stall current and the normal working current. When the system controls the stepper motor 207 to move the tee 140 vertically downward, if it is detected that the current of the stepper motor exceeds C1, it is determined that the tee 140 has physically contacted the bottom of the lifting fairway, and the stepper motor is immediately stopped to complete the calibration, while preventing the occurrence of true motor stall and avoiding the adverse effects of stall.

[0025] In some embodiments, it further includes: An input module 202, electrically connected to the microprocessing unit 205, for receiving the user's setting of the height of the ball ladder 140, and the implementation manner can be buttons, keyboards, mice, etc.; A display module 201, electrically connected to the microprocessing unit 205, for displaying information, such as the height of the ball ladder 140, the device status, etc., and the implementation manner can be digital tubes, light-emitting diodes, display screens, etc.; A communication module 204, electrically connected to the microprocessing unit 205, provides the current height of the ball ladder 140, the device status, etc. to other devices or systems through communication, and at the same time can receive setting operations from other devices or systems (such as remotely setting the height of the ball ladder 140), and the implementation manner can be wired communication or wireless communication.

[0026] In some embodiments, it further includes: A box body 100, a second ball hole 130 is opened at the top of the box body 100, a moving component is arranged inside the box body 100, the output shaft of the stepping motor 207 is connected to the moving component, and a ball sensor 203 and a ball ladder 140 are arranged on the moving component.

[0027] Specifically, for detecting whether a golf ball appears on the ball ladder 140, the ball sensor 203 can be a photoresistor, an infrared sensor, etc., and the ball ladder 140 is connected to the ball sensor 203.

[0028] In some embodiments, the moving component includes a first plate body 310, the first plate body 310 is arranged inside the box body 100, the output shaft of the stepping motor 207 is fixedly connected with a screw rod 320, the outer side wall of the screw rod 320 is threadedly connected with a second plate body 340, a rod body 330 is fixed at the bottom of the second plate body 340, the rod body 330 is slidably connected with the first plate body 310, and a mounting seat 350 is fixed at the top of the second plate body 340, and the mounting seat 350 is fixedly connected with the ball ladder 140.

[0029] Specifically, the stepping motor 207 drives the screw rod 320 to rotate, the screw rod 320 is threadedly connected with the second plate body 340, and restricted by the rod body 330, the second plate body 340 is raised or lowered. The first plate body 310 and the screw rod 320 are connected through a bearing, so as to change the height of the ball ladder 140 on the second plate body 340. When the second plate body 340 moves to the bottom of the first plate body 310, it is the lowest position.

[0030] In some embodiments, a ball supply component is arranged inside the box body 100. When the ball ladder 140 moves to the lower position of the ball supply component, the ball supply component moves the golf ball to the top of the ball ladder 140.

[0031] Specifically, the ball supply component moves the golf ball to the top of the ball ladder 140, thereby facilitating the continuous supply of balls to the ball ladder 140.

[0032] In some embodiments, the ball supply assembly includes a track 500, the track 500 is fixed inside the box 100, the track 500 is rotatably connected to the inside of the rotating shaft 530, the outer wall of the rotating shaft 530 is fixed to the disk 510, the outer wall of the disk 510 is provided with an arc groove, and the track 2 520 is fixed inside the box 100.

[0033] Specifically, a ball hole 120 and a through hole 110 are respectively opened on the top and one side of the box body 100, and the user can selectively guide the golf ball to the top of the ball ladder 140 through the two holes. An electric push rod can be added to one side of the box body 100 to guide the golf balls arranged in the track 1 500 into the arc groove of the disk body 510 in sequence. The golf balls are rotated to the track 2 520 by the rotation of the disk body 510, and the golf balls are guided to the top of the ball ladder 140 by the inclination of the track 2 520. The electric push rod is not shown in the drawings.

[0034] In some embodiments, a transmission assembly is provided on the outer wall of the screw 320. When the screw 320 rotates, the transmission assembly drives the rotating shaft 530 to rotate. The transmission assembly includes a synchronous wheel 410. The outer wall of the screw 320 is fixed with a synchronous wheel 410. The outer wall of the rotating shaft 530 is fixed with a synchronous wheel 420. The synchronous wheel 410 and the synchronous wheel 420 are connected by a synchronous belt 400.

[0035] Specifically, when the screw 320 rotates, the disc 510 is driven to rotate through the operation of the transmission assembly, so that when the ball ladder 140 moves to the bottom, the disc 510 guides the golf ball in the arc groove to the second track 520, and the golf ball is guided to the top of the ball ladder 140; When the second plate 340 moves to the top surface of the first plate 310, the second plate 340 can be raised by reversing the stepper motor 207, and the arc groove on the disk 510 can be rotated to the initial position through the operation of the transmission component.

[0036] A method for non-sensing control of the height of a golf ladder comprises the following steps: The height of the ball ladder 140 is at a default initial position, and the ball supply assembly moves the golf ball onto the ball ladder 140. When the ball sensor 203 detects that there is a golf ball on the ball ladder 140, it controls the stepper motor 207 to drive the moving assembly, and the moving assembly lifts the ball ladder 140 to a specified height and stops the stepper motor 207; When the ball sensor 203 detects that there is no golf ball on the ball ladder 140 , the stepper motor 207 is controlled to drive the moving assembly to move the ball ladder 140 downward to a default initial position and the stepper motor 207 is stopped.

[0037] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0038] In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0039] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An inductive control system for the height of a golf tee, characterized in that, include: A micro-processing unit (205), used for receiving and processing a plurality of data inputs; A ball sensor (203) is electrically connected to the microprocessor unit (205) and is used to detect whether a golf ball is present; A motor driving circuit (206) is electrically connected to the microprocessing unit (205) and is used to drive the stepping motor (207) to work; The motor current acquisition circuit (208) is electrically connected to the microprocessing unit (205) and the motor driving circuit (206) and is used to detect the current magnitude of the stepping motor (207); when the current of the stepping motor (207) exceeds the safety current threshold, the microprocessing unit (205) controls the motor driving circuit (206) to stop the stepping motor (207).

2. The non-sensing control system for the height of a golf tee according to claim 1, characterized in that: Also includes: An input module (202), electrically connected to the microprocessor unit (205), and used for receiving settings; A display module (201), electrically connected to the micro-processing unit (205), for displaying information; The communication module (204) is electrically connected to the micro-processing unit (205) and is used to communicate with other devices or systems.

3. The non-sensing control system for the height of a golf tee according to claim 2, characterized in that: Also includes: A box body (100) is provided with a second ball hole (130) on the top of the box body (100), a moving component is arranged inside the box body (100), an output shaft of a stepping motor (207) is connected to the moving component, and a ball sensor (203) and a ball ladder (140) are arranged on the moving component.

4. The non-intrusive control system for the height of a golf tee according to claim 3, characterized in that: The moving assembly comprises a plate body 1 (310), the plate body 1 (310) is arranged inside the box body (100), the output shaft of the stepper motor (207) is fixedly connected with a screw rod (320), the outer wall of the screw rod (320) is threadedly connected with the plate body 2 (340), the bottom of the plate body 2 (340) is fixed with a rod body (330), the rod body (330) is slidably connected with the plate body 1 (310), the top of the plate body 2 (340) is fixed with a mounting seat (350), and the mounting seat (350) is fixedly connected with the ball ladder (140).

5. The non-intrusive control system for the height of a golf tee according to claim 4, characterized in that: A ball supply assembly is arranged inside the box (100), and when the ball ladder (140) moves to a position below the ball supply assembly, the ball supply assembly moves the golf ball to the top of the ball ladder (140).

6. The non-sensing control system for the height of a golf tee according to claim 5, characterized in that: The ball supply assembly comprises a track 1 (500), the track 1 (500) is fixed inside the box (100), a rotating shaft (530) is rotatably connected inside the track 1 (500), a disk (510) is fixed to the outer wall of the rotating shaft (530), an arc groove is formed on the outer wall of the disk (510), and a track 2 (520) is fixed inside the box (100).

7. The non-sensing control system for the height of a golf tee according to claim 6, wherein: A transmission assembly is provided on the outer side wall of the screw rod (320); when the screw rod (320) rotates, the transmission assembly drives the rotating shaft (530) to rotate.

8. The non-intrusive control system for the height of a golf tee according to claim 7, wherein: The transmission assembly comprises a synchronous wheel 1 (410), the outer wall of the screw rod (320) is fixed with the synchronous wheel 1 (410), the outer wall of the rotating shaft (530) is fixed with the synchronous wheel 2 (420), and the synchronous wheel 1 (410) and the synchronous wheel 2 (420) are connected by a synchronous belt (400).

9. A method for controlling the height of a golf ladder without any sense of touch, according to a method for controlling the height of a golf ladder without any sense of touch according to any one of claims 1 to 8, characterized in that: The following steps are involved: The height of the ball ladder (140) is at a default initial position, and the ball supply assembly moves the golf ball onto the ball ladder (140). When the ball sensor (203) detects a golf ball on the ball tee (140), it controls the stepper motor (207) to drive the moving component. The moving component raises the ball tee (140) to the specified height and stops the stepper motor (207) from working; When the ball sensor (203) detects that there is no golf ball on the ball tee (140), it controls the stepper motor (207) to drive the moving component to drive the ball tee (140) to move downward, move to the default initial position and stop the stepper motor (207) from working.

Images