Split type intelligent ball picking robot

Abstract

The utility model relates to a split type intelligent ball picking robot which comprises a ball picking trolley, and the ball picking trolley comprises a ball trolley body and a trolley hopper. A plurality of wheels are fixed at the bottom of the golf cart body; the ball car body is sequentially provided with a ball picking mechanism, a sliding way and a car hopper from front to back. The ball picking mechanism is connected to the front side of the ball car body, the sliding way is fixed in the ball car body, and the car hopper is hinged to the tail of the ball car body. A turnover mechanism is connected to the bottom of the golf cart body and penetrates through the golf cart body to be hinged to the cart hopper. And a baffle plate is arranged at the tail part of the car hopper. The tennis ball picking trolley automatically picks up tennis balls scattered on a tennis court, and the working time for manually picking up the tennis balls is saved.

Description

Technical Field

[0001] This utility model relates to the field of sports training equipment technology, and in particular to a split-type intelligent ball-collecting robot. Background Technology

[0002] Tennis is a common aerobic exercise that helps shape and maintain a good physique. Playing tennis requires a relatively large court, and a large number of tennis balls are used during training. After training, the balls need to be collected and organized, but the large number of balls used in training and the bending over to pick them up can easily cause lower back injuries. Existing ball-collecting devices require staff to push them, which improves efficiency to some extent, but still requires staff to push the devices around the court to collect balls. Existing intelligent ball-collecting robots, while saving time and improving efficiency, can only pile the collected balls at a fixed point without corresponding recycling and storage devices, requiring manual secondary recycling and storage. Summary of the Invention

[0003] To address the problem that existing ball-collecting robots can only pile up balls at a fixed point after collecting them, requiring manual secondary recycling and storage, this utility model provides a split-type intelligent ball-collecting robot. This ball-collecting robot includes a ball-collecting cart that automatically picks up tennis balls scattered on the tennis court, saving manual ball-collecting time; at the same time, it can automatically locate the ball bucket after collecting the balls.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] A split-type intelligent ball-collecting robot includes a ball-collecting cart, which comprises a cart body and a bucket. The rear, front, and bottom front end of the cart body are open structures. Multiple wheels are fixed to the bottom of the cart body. From front to back, the cart body is provided with a ball-collecting mechanism, a slide, and a bucket. The ball-collecting mechanism is connected to the front of the cart body, the slide is fixed inside the cart body, and the bucket is hinged to the rear of the cart body. A flipping mechanism is connected to the bottom of the cart body and passes through the cart body and is hinged to the bucket. A baffle is provided at the rear of the bucket and is hinged to the upper part of the cart body. A spring connects the upper part of the baffle to the cart body.

[0006] Furthermore, the ball-collecting mechanism includes a ball-collecting claw and a transmission device. The ball-collecting claw includes a connecting shaft and multiple fan blades. The connecting shaft is rotatably connected to the front side of the ball cart body. The multiple fan blades are circumferentially fixed on the connecting shaft, and each fan blade is arc-shaped with one end fixed to the connecting shaft. The transmission device is located on the side of the slide and is connected to the connecting shaft of the ball-collecting claw.

[0007] Furthermore, the transmission device includes a belt, pulleys, and a transmission motor. The transmission motor is fixed on the ball car body at the bottom of the slide. There are two pulleys, which are respectively located at the output end of the transmission motor and the end of the connecting shaft on the same side as the output end of the transmission motor. The belt is fitted onto the two pulleys.

[0008] Furthermore, the flipping mechanism includes a push rod, one end of which is fixed to the bottom of the car body, and the other end is hinged to the bottom of the car bed.

[0009] Furthermore, a drive motor is fixed to the bottom of the ball car body, and the drive motor drives the wheels to rotate.

[0010] Furthermore, it also includes a ball barrel, which is a hollow cuboid structure with an open top. A partition is fixed inside the ball barrel, dividing it into a ball-scoring section and a ball-storage section. The ball-scoring section has a ball-scoring opening on its front side. The ball-scoring section includes a transport mechanism and a consignment section. The transport mechanism is located on the front side of the partition, and the consignment section is inclined and connected to the ball-scoring section. The ball-storage section includes a lifting mechanism and a supporting section. The lifting mechanism is located on the rear side inside the ball barrel and is connected to the supporting section. The consignment section of the ball-scoring section is located at the ball-scoring opening.

[0011] Furthermore, slide rails are provided on the rear side of the ball barrel and the front side of the partition, and sliders are connected to the slide rails. The two sliders are fixedly connected to the carrying part and the transport part, respectively.

[0012] Furthermore, the transport mechanism includes a lead screw and a lead screw motor. The lead screw motor is fixed to the bottom of the ball barrel. One end of the lead screw is connected to the lead screw motor, and the other end is rotatably connected to the partition plate. A lead screw shaft support is fitted on the lead screw. The transport part includes a transport plate, which is inclinedly arranged in the ball barrel. The transport plate is fixedly connected to the lead screw shaft support.

[0013] Furthermore, the lifting mechanism includes a lead screw and a lead screw motor. The lead screw motor is fixed to the bottom rear side of the ball barrel. One end of the lead screw is connected to the lead screw motor, and the other end is rotatably connected to the rear plate of the ball barrel. A lead screw shaft support is sleeved on the lead screw. The bearing part includes a support plate, and the support plate is connected to the lead screw shaft support.

[0014] Furthermore, the vehicle bed is equipped with a floor plate, and a pressure sensor is installed between the floor plate and the bottom of the vehicle bed; a servo gimbal is fixed to the top of the front end of the ball-collecting vehicle, and a camera is fixed to the gimbal; a pallet is connected to the upper part of the transport plate, and a pressure sensor is fixed between the transport plate and the pallet; a bearing plate is connected to the support plate, and a pressure sensor is installed between the bearing plate and the support plate; a control system is installed inside the ball-collecting vehicle and the ball bucket, and the control system is used to control the operation of pressure sensor 1, pressure sensor 2, pressure sensor 3, wheels, ball-collecting mechanism, flipping mechanism, camera, transport mechanism and lifting mechanism.

[0015] The beneficial effects of this utility model through the above technical solution are:

[0016] This invention, through the design of a ball-collecting cart and a ball-collecting bucket, facilitates the transfer of tennis balls from the cart to the bucket for storage after collection, eliminating the need for manual secondary collection and storage. The separate design of the cart and bucket allows for immediate retrieval of collected tennis balls while the cart is collecting them. The internal transport and lifting mechanisms of the bucket ensure that the top of the storage section remains filled with tennis balls after the initial transfer, allowing athletes to retrieve balls without significant bending, facilitating timely access to the collected balls. Slide rails are installed on both the front and rear fixed plates, improving the stability of the carrying and transport sections. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the ball-collecting vehicle structure of a split-type intelligent ball-collecting robot according to this utility model.

[0018] Figure 2 This is a schematic diagram of the bottom structure of the ball-collecting vehicle of a split-type intelligent ball-collecting robot according to this utility model.

[0019] Figure 3 This is a schematic diagram of the internal structure of the ball-collecting vehicle of a split-type intelligent ball-collecting robot according to this utility model.

[0020] Figure 4 This is a schematic diagram of the ball bucket of a split-type intelligent ball-collecting robot according to this utility model.

[0021] Figure 5 This is a schematic diagram of the internal structure of the ball bucket of a split-type intelligent ball-collecting robot according to this utility model.

[0022] Figure 6 This is a schematic diagram of the top structure of the ball bucket of a split-type intelligent ball-collecting robot according to this utility model.

[0023] Figure 7This is a schematic diagram of the bottom structure of the ball bucket of a split-type intelligent ball-collecting robot according to this utility model.

[0024] The attached diagram is labeled as follows: 1. Cart body; 2. Observation window; 3. Push block; 4. Spring; 5. Baffle; 6. Cart bed; 7. Cart floor; 8. Pressure sensor one; 9. Wheel; 10. Cart bed plate; 11. Push rod; 13. Slide; 14. Pulley; 15. Belt; 16. Ball retrieval claw; 17. Servo gimbal; 18. Camera; 19. Drive motor.

[0025] 20. Ball barrel, 21. Rear fixing plate, 23. Ball inlet, 24. Lead screw, 25. Lead screw shaft support, 26. Bearing plate, 27. Pressure sensor three, 28. Support plate, 29. Lead screw motor, 30. Rubber pad, 31. Lead screw motor, 32. Universal joint, 33. Transport plate, 34. Pressure sensor two, 35. Pallet, 36. Lead screw motor, 37. Lead screw, 38. Slide rail, 39. Front fixing plate, 40. Partition. Detailed Implementation

[0026] The specific embodiments of this utility model are described in detail below with reference to the accompanying drawings:

[0027] like Figures 1-7 As shown, a split-type intelligent ball-collecting robot includes a ball-collecting cart and a ball bucket 20. The ball-collecting cart includes a cart body 1 and a bucket 6. The cart body 1 is a hollow cuboid structure, with open structures on the rear, front, and bottom front end of the cart body 1. Multiple wheels 9 are fixed to the bottom of the cart body 1. In this embodiment, the wheels 9 are Mecanum wheels, and there are four wheels 9. Each wheel 9 is connected to a drive motor 19, which is fixed to the bottom of the cart body 1 and drives the wheel 9 to rotate.

[0028] The ball cart body 1 is provided with a ball-collecting mechanism, a slide 13, and a cart 6 arranged sequentially from front to back. The ball-collecting mechanism is connected to the front side of the ball cart body 1 and includes a ball-collecting claw 16 and a transmission device. The ball-collecting claw 16 includes a connecting shaft and multiple fan blades. The two ends of the connecting shaft are rotatably connected to the two ends of the front side of the ball cart body 1 through bearings. The multiple fan blades are circumferentially fixed on the connecting shaft. In this embodiment, there are three fan blades, each fan blade is fixed at one end to the connecting shaft and the other end is arc-shaped. The transmission device is arranged on one side of the slide 13 and includes a belt 15, pulleys 14, and a transmission motor. The transmission motor is fixed on the ball cart body 1 at the lower part of the slide 13. There are two pulleys 14, which are respectively arranged at the output end of the transmission motor and the end of the connecting shaft on the same side as the output end of the transmission motor. The belt 15 is fitted onto the two pulleys 14.

[0029] The slideway 13 is fixed within the golf cart body 1. The slideway 13 has an inverted "7" - shaped structure when laid down. The vertical part of the slideway 13 is fixed to the golf cart body 1, and the inclined part of the slideway 13 is arranged at the side of the ball - picking claw 16. The bottom of the slideway 13 extends to the bottom of the ball - picking claw 16.

[0030] The cart bucket 6 is arranged at the rear side of the vertical part of the slideway 13. The bottom end of the tail of the cart bucket 6 is hinged to the tail of the golf cart body 1 through a pin shaft. A turning mechanism is connected to the bottom of the golf cart body 1. The turning mechanism includes a push rod 11. In this embodiment, the push rod 11 is an electric push rod. One end of the push rod 11 is fixed to the bottom of the golf cart body 1, and the other end passes through the golf cart body 1 and is hinged to the bottom of the cart bucket 6.

[0031] A baffle 5 is hinged to the tail of the golf cart body 1 through a hinge. Push blocks 3 are fixed to both ends of the tail of the cart bucket 6. Springs 4 are connected between the upper sides of both parts of the baffle 5 and the golf cart body 1. The baffle 5 is arranged in contact with the tail of the cart bucket 6 to prevent tennis balls from rolling off the golf cart during the movement of the ball - picking cart, causing secondary ball - picking. The gap between the bottom of the baffle 5 and the bottom of the cart bucket 6 is smaller than the diameter of a tennis ball.

[0032] The ball bucket 20 is a hollow cuboid structure with an open top. In this embodiment, the height of the ball bucket 20 is greater than half of the height of a normal human. A partition 40 is fixed inside the ball bucket 20. The longitudinal section of the partition 40 is an inverted "L" - shaped structure, and the upper part of the partition 40 is in a "convex" - shaped structure. The partition 40 divides the ball bucket 20 into a ball - entering part and a ball - storing part. An inlet 23 is opened on the front side of the ball - entering part. The height of the inlet 23 is greater than the diameter of a tennis ball. The distance from the bottom of the inlet 23 to the bottom of the ball bucket 20 is the same as the distance from the bottom of the cart bucket 6 to the bottom of the ball - picking cart.

[0033] The ball - entering part includes a transportation mechanism and a consignment part. A front fixing plate 39 is fixed to the front side of the partition 40. A cavity is formed between the partition 40 and the front fixing plate 39. The transportation mechanism is arranged in the cavity formed between the partition 40 and the front fixing plate 39. The transportation mechanism includes a lead screw 37 and a lead - screw motor 31. The lead - screw motor 31 is fixed to the bottom of the ball bucket 20. One end of the lead screw 37 is connected to the lead - screw motor 31, and the other end is rotatably connected to the partition 40. In this embodiment, the lead screw 37 and the lead - screw motor 31 are connected through a universal joint 32. A lead - screw shaft support 36 is sleeved on the lead screw 37, and a corner bracket is fixed on the lead - screw shaft support 36. The consignment part includes a consignment plate 33. The consignment plate 33 is arranged in an inclined shape in the ball - entering part. The consignment plate 33 is fixedly connected to the lead - screw shaft support 36 through a corner bracket. The connection part of the consignment plate 33 and the lead - screw shaft support 36 is lower than the part where the consignment plate 33 is close to the inlet 23 of the ball bucket 20.

[0034] The ball storage section includes a lifting mechanism and a supporting section. A rear fixing plate 21 is provided on the rear side of the ball tank 20, forming a cavity with the rear side of the ball tank 20. The lifting mechanism is disposed within the cavity formed by the rear fixing plate 21 and the rear side of the ball tank 20. The lifting mechanism includes a lead screw 24 and a lead screw motor 29. The lead screw motor 29 is fixed to the bottom rear side of the ball tank 20. One end of the lead screw 24 is connected to the lead screw motor 29, and the other end is rotatably connected to the rear plate of the ball tank 20. In this embodiment, the lead screw 24 and the lead screw motor 29 are connected by a coupling. A lead screw shaft support 25 is sleeved on the lead screw 24, and an angle bracket is fixed on the lead screw shaft support 25. The supporting section includes a support plate 28, which is fixedly connected to the angle bracket on the lead screw shaft support 25.

[0035] In this embodiment, both the lead screw motor 29 and the lead screw motor 31 are stepper motors.

[0036] To improve the stability of the carrying and transporting parts, slide rails 38 are fixed on both the front fixed plate 39 and the rear fixed plate 21. In this embodiment, two slide rails 38 are fixed on both the front fixed plate 39 and the rear fixed plate 21. A slider is connected to each slide rail 38. The transporting plate 33 and pallet 35 of the transporting part and the support plate 28 and carrying plate 26 of the carrying part are all provided with grooves corresponding to the slide rails 38. The slider is fixed in the groove.

[0037] In this embodiment, a rubber pad 30 is fixed to the bottom of the ball barrel 20 to prevent the lifting and transport mechanisms of the ball barrel 20 from shaking during operation. It also prevents the ball barrel 20 from shifting when the ball-collecting cart transfers the tennis balls to the barrel, thus ensuring efficient transport. Observation windows 2 are provided on both sides of the ball-collecting cart and on both sides of the ball-collecting and ball-storage sections of the ball barrel 20, facilitating observation of the cart and the interior of the barrel 20 and aiding in maintenance.

[0038] To further optimize the product structure, the ball-collecting cart automatically picks up and transports tennis balls to the ball bin 20, which in turn automatically transports and stores the tennis balls. A floor plate 7 is connected inside the cart body 6, and a pressure sensor 8 is installed between the floor plate 7 and the bottom of the cart body 6. A servo gimbal 17 is fixed to the top front end of the cart body 1, and a camera 18 is fixed on the servo gimbal 17. A pallet 35 is connected to the upper part of the transport plate 33, and the pallet 35 is arranged in the same way as the transport plate 33, i.e., it is inclined inside the ball-collecting section. A pressure sensor 34 is fixed between the transport plate 33 and the pallet 35. A bearing plate 26 is connected to the support plate 28, and a pressure sensor 27 is installed between the bearing plate 26 and the support plate 28. The ball-collecting cart and ball bucket 20 are equipped with a control system, which is a control board. This control board is a commonly available control board used to control modules such as motors, pressure sensors, cameras 18, and Bluetooth. In this embodiment, the control board is a Raspberry Pi 5 display screen LINUX development board. This development board is used to control the drive motor 19, transmission motor, pressure sensor 8, electric actuator, servo gimbal 17, camera 18, lead screw motor 31, lead screw motor 29, pressure sensor 34, and pressure sensor 27. The drive motor 19, transmission motor, pressure sensor 8, actuator 11, servo gimbal 17, camera 18, lead screw motor 29, lead screw motor 31, pressure sensor 34, and pressure sensor 27 in this embodiment are all commonly available electrical components used for imaging, driving, and pressure detection.

[0039] In use, the control board uses the servo gimbal 17 to identify tennis balls scattered on the court. The control board drives the motor 19 to move the ball-collecting cart to the identified tennis ball's location and continue moving. The control board controls the transmission motor to rotate, driving the two pulleys 14 and belt 15 to rotate. The two pulleys 14 and belt drive the connecting shaft of the ball-collecting claw 16 to rotate. The fan blades rotate with the rotation of the connecting shaft. As the ball-collecting cart moves, the fan blades approach the tennis ball and slide it into the slide rail 13 inside the cart body 1. Through the force of the fan blades pushing the tennis ball and the inertia of the tennis ball after moving, the tennis ball passes through the slide rail 13. 3. The tennis balls roll into the bucket 6. As the ball-collecting cart moves and collects the tennis balls, the number of tennis balls in the bucket 6 increases. When the pressure sensor 8 detects that the number of tennis balls in the bucket 6 has reached a certain weight, the control board controls the drive motor of the ball-collecting cart to transport the collected tennis balls to the ball barrel 20. The rear of the ball-collecting cart approaches the ball-collecting opening 23 of the ball barrel 20 and stops moving. The control board controls the push rod 11 of the ball-collecting cart to push the bucket 6 to flip. The bottom of the bucket 6 tilts towards the ball-collecting opening 23. As the bucket 6 tilts, the push block 3 on the top of the bucket 6 tilts and pushes the baffle 5. The tennis balls inside the bucket 6 tilt outwards and move to the rear of the bucket 6, entering the ball-collecting section of the ball tank 20 through the ball-collecting inlet 23. The pressure sensor 34 in the ball-collecting section detects that the tennis balls on the tray 35 have reached a certain weight. The control board then controls the lead screw motor 31 to rotate, causing the lead screw 37 to rotate. The lead screw shaft support 36, fitted onto the lead screw 37, moves the transport section. When the lead screw shaft support 36 moves to the same height as the connection between the tray 35 and the lead screw shaft support 36 and both sides of the partition 40, the tennis balls roll down onto the support plate of the ball storage section due to the tilted design of the tray 35. When there are no tennis balls in the ball storage section, the lifting mechanism inside the ball storage section moves the support plate 26 to the top of both sides of the partition 40. When a tennis ball falls onto the support plate 26 of the ball storage section, the pressure sensor 27 detects the weight of the tennis ball. When the weight of the tennis ball reaches a certain level, the lead screw motor 29 drives the lead screw 24 to rotate. The lead screw shaft support 25 fitted on the lead screw 24 moves the support section downwards a certain distance and then stops moving. This continues until the pressure sensor 27 detects that the tennis ball has reached an even heavier weight, at which point the lifting mechanism moves the support section downwards a certain distance and then stops moving. This arrangement of the ball storage section ensures that the top of the ball storage section of the ball tank 20 is always in a state of having tennis balls. This allows athletes to retrieve tennis balls without having to bend over excessively.

[0040] The embodiments described above are merely preferred embodiments of this utility model and are not intended to limit the scope of implementation of this utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the patent claims of this utility model should be included within the scope of the patent application of this utility model.

Claims

1. A split type intelligent ball picking robot, characterized in that, The application relates to a ball picking trolley which comprises a trolley body (1) and a trolley hopper (6); the rear side, the front side and the bottom of the front end of the trolley body (1) are in open structure; a plurality of wheels (9) are fixed to the bottom of the trolley body (1); the trolley body (1) is sequentially provided with a ball picking mechanism, a slide (13) and the trolley hopper (6) from front to back; the ball picking mechanism is connected to the front side of the trolley body (1), the slide (13) is fixed in the trolley body (1), and the trolley hopper (6) is hinged to the tail of the trolley body (1); a turnover mechanism is connected to the bottom of the trolley body (1), the turnover mechanism is hinged to the trolley hopper (6) through the trolley body (1); a baffle (5) is arranged at the tail of the trolley hopper (6), the baffle (5) is hinged to the upper portion of the trolley body (1), and a spring (4) is arranged between the upper portion of the baffle (5) and the trolley body (1).

2. The split-body intelligent ball picking robot according to claim 1, characterized in that, The ball picking mechanism comprises a ball picking claw (16) and a transmission device, the ball picking claw (16) comprises a connecting shaft and a plurality of blades, the connecting shaft is rotationally connected to the front side of the trolley body (1), the plurality of blades are fixed on the connecting shaft in a circumferential direction, each blade is in an arc shape and one end of each blade is fixed to the connecting shaft, and the transmission device is arranged on the side of the slide (13) and connected to the connecting shaft of the ball picking claw (16).

3. The split-body intelligent ball picking robot according to claim 2, characterized in that, The transmission device comprises a belt (15), a pulley (14) and a transmission motor, the transmission motor is fixed to the trolley body (1) at the lower portion of the slide (13), the pulley (14) is provided with two, the two pulleys (14) are respectively arranged at the end of the connecting shaft on the same side of the transmission motor output end and the transmission motor output end, and the belt (15) is sleeved on the two pulleys (14).

4. The split-body intelligent ball picking robot according to claim 1, wherein, The turnover mechanism comprises a push rod (11), one end of the push rod (11) is fixed to the bottom of the trolley body (1), and the other end of the push rod (11) is hinged to the bottom of the trolley hopper (6).

5. The split-body intelligent ball picking robot according to claim 1, wherein, A driving motor (19) is fixed to the bottom of the trolley body (1), and the driving motor (19) drives the wheels (9) to rotate.

6. The split-body intelligent ball picking robot according to claim 1, wherein, A ball barrel (20) is further arranged, a rubber pad is fixed to the bottom of the ball barrel (20), a partition plate (40) is fixed in the ball barrel (20), the ball barrel (20) is divided into a ball inlet portion and a ball storage portion by the partition plate (40), a ball inlet (23) is formed in the front side of the ball inlet portion, the ball inlet portion comprises a conveying mechanism and a conveying supporting portion, the conveying mechanism is arranged on the front side of the partition plate (40), the conveying supporting portion is arranged on the ball inlet portion in an inclined manner, and the conveying mechanism is connected to the conveying supporting portion, the ball storage portion comprises a lifting mechanism and a bearing portion, the lifting mechanism is arranged on the inner rear side of the ball barrel (20), and the lifting mechanism is connected to the bearing portion, and the conveying supporting portion of the ball inlet portion is located at the ball inlet (23).

7. The split-body intelligent ball picking robot according to claim 6, characterized in that, Sliding rails (38) are arranged on the rear side of the ball barrel (20) and the front side of the partition plate (40), sliding blocks are connected to the sliding rails (38), and the two sliding blocks are fixedly connected to the bearing portion and the conveying supporting portion respectively.

8. The split-body intelligent ball picking robot according to claim 6, characterized in that, The transport mechanism includes a lead screw (37) and a lead screw motor (31), the lead screw motor (31) is fixed to the bottom of the ball barrel (20), one end of the lead screw (37) is connected with the lead screw motor (31), the other end is rotatably connected with the partition plate (40), the lead screw (37) is sleeved with a lead screw shaft support (36), the carrying part includes a carrying plate (33), the carrying plate (33) is arranged in an inclined manner on the ball inlet part, and the carrying plate (33) is fixedly connected with the lead screw shaft support (36).

9. The split-body intelligent ball picking robot according to claim 8, characterized in that, The lifting mechanism includes a lead screw (24) and a lead screw motor (29), the lead screw motor (29) is fixed to the bottom of the rear side of the ball barrel (20), one end of the lead screw (24) is connected with the lead screw motor (29), the other end is rotatably connected with the rear side plate body of the ball barrel (20), the lead screw (24) is sleeved with a lead screw shaft support (25), the supporting part includes a support plate (28), and the support plate (28) is connected with the lead screw shaft support (25).

10. The split-body intelligent ball picking robot according to claim 9, characterized in that, The inside of the car hopper (6) is also provided with a car bottom plate (7), a pressure sensor one (8) is arranged between the car bottom plate (7) and the bottom of the car hopper (6); The front end top of the trolley body (1) is fixedly provided with a rudder holder (17), and a camera (18) is fixedly arranged on the holder; The upper half of the carrying plate (33) is connected with a supporting plate (35), and a pressure sensor two (34) is fixed between the carrying plate (33) and the supporting plate (35); The supporting plate (28) is connected with a bearing plate (26), and a pressure sensor three (27) is arranged between the bearing plate (26) and the supporting plate (28); The pick-up car and the ball barrel (20) are provided with a control system, and the control system is used for controlling the pressure sensor one (8), the pressure sensor two (34), the pressure sensor three (27), the wheel (9), the pick-up mechanism, the turnover mechanism, the camera (18), the transport mechanism and the lifting mechanism.

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