82results about How to "Improve the efficiency of picking up the ball" patented technology

The invention discloses an intelligent ball picking system based on visual identification and multi-sensor data fusion. A multi-sensor data fusion method is adopted. A first infrared sensor (1-8), a second infrared sensor (1-21), a third infrared sensor (1-22) and a fourth infrared sensor (1-9) are four sensors at fixed positions and can detect barriers at the top corners of an intelligent ball picking device (1). A fifth infrared sensor (1-11) controlled by a fifth steering engine (1-10), a sixth infrared sensor (1-18) controlled by a sixth steering engine (1-17) and a seventh infrared sensor (1-20) controlled by a seventh steering engine (1-19) form three sets of sensors which can swing at angles, the sensors transmit collected data to a control system in real time and detect the barriers in front, on the left side and on the right side after the data are processed by the control system, and the barrier avoidance function is achieved. An infrared counting sensor (1-5) transmits collected information of the number of ball bodies to the control system for processing, and the counting function is achieved.

The invention discloses a shuttlecock picking device which comprises a cart composed of a chassis, a front wheel, a rear wheel and a pushing handle, a set of lifting plates fixed on a synchronizing belt, a front supporting retaining plate and a side supporting retaining plate which are erected on the chassis, a funnel and a collection barrel. When the shuttlecock picking device is in use, shuttlecocks are swept in and lifted to the edge of the funnel by the lifting plates, and fall in the funnel and further in the collection barrel due to inclination of an inclined plate. The shuttlecock picking device is simple and ingenious in structure, convenient to operate, low in manufacturing cost, safe and reliable to use, free of shuttlecock blocking, free of shuttlecock accumulating and high in shuttlecock picking efficiency.

The invention discloses a semi-automatic intelligent tennis pick-up robot and a control method thereof. The robot includes an information acquisition system, a control system, a mobile carrier and a tennis pick-up mechanism. The information acquisition system is fixed on the mobile carrier and is connected with the control system. The control system is connected with the mobile carrier and the tennis pick-up mechanism. The tennis pick-up mechanism is arranged at the front end of the mobile carrier. The information acquisition system adopts an ultrasonic ranging module to detect the distance between the mobile carrier and an obstacle in front and feeds back generated high-level pulse information to the control system. The ultrasonic ranging module includes two ultrasonic sensors. The two ultrasonic sensors are fixed at the front part of the mobile carrier respectively and keep a specific height from the ground. The semi-automatic intelligent tennis pick-up robot and the control method thereof adopt simple path planning and the tennis pick-up range of the mobile carrier is capable of covering the whole tennis court without any complex image processing module so that cost is saved.

The invention relates to a ball picker of tennis, comprising a cart provided with a traveling mechanism and a ball picking mechanism arranged on the cart; the front part of the cart is provided with a containing port; the ball picking mechanism comprises a roller which is arranged behind the containing port and driven by a driving motor; the radial direction of the roller is provided with a ball picking claw; one side, in the direction of driving the ball picking claw to lift along the roller, is provided with an arc ball-leading plate; the lower end of the ball-leading plate is positioned below the roller and forms a ball inlet with the roller; the ball inlet is positioned behind the containing port; the upper end of the ball-leading plate is positioned above the roller and forms a ball outlet with the roller; the ball outlet is connected with a ball containing box arranged on the cart; the cart is provided with a control mechanism controlling the working of the cart and the ball picking mechanism; and the ball picking mechanism of the ball picker of tennis picks balls by rotation, moves by matching with the cart, and can pick up the ball on the ground continuously when in rotation, greatly reduce the labor capacity of people, lead the ball picking efficiency to be greatly improved and conform to the humanizing use requirements.

The invention relates to the field of mobile intelligent ball (comprising but not limited to tennis balls, ping-pong balls, golf balls and the like) picking devices. The invention provides an intelligent tennis ball picking robot which integrates the functions including autonomous navigation, automatic obstacle avoidance, autonomous recognition, picking, collecting, tennis ball conveying, automatic charging and the like. For a ball picking and collecting system based on a conveyor belt with brushes, the structure design is simple, the implementation is easy, and a plurality of tennis balls canbe simultaneously picked up, so that the ball picking efficiency is high; the robot can sense the environment change according to the visual sense or a laser radar, and carries out map updating; therobot can recognize site scribing and the state of an athlete, and can not influence the activity of the athlete; the robot can autonomously roam to form an environment map, and the manual intervention is not needed; the robot can pick up different balls and is compatible to most ball baskets, and the special customization is not needed; and in addition, the autonomous charging is realized, the automatic returning is realized, and thus the management cost is low.

The invention relates to a ball-park ball receiving device, in particular to a ball-park automatic ball receiving device. The ball-park automatic ball receiving device comprises an image pickup module, a processing module, a control module and a ball receiving device body. The image pickup module is used for shooting a ball park and transmitting a shot image to the processing module. The processing module is used for calculating the direction and the route required by the ball receiving device body for ball receiving and sending a calculation result to the control module. The control module controls the ball receiving device body to move towards fall points of balls according to the calculation result. The ball-park automatic ball receiving device has the advantages of being compact in structure, flexible in motion, stable and reliable and can meet the general demand of the ball park.

The invention relates to a semi-automatic tennis ball picking up and serving vehicle which comprises a vehicle body, an underframe and wheels and further comprises a roller, a guide rail, a ball box, a ball storage basket and a ball serving device. The roller is rotatably connected with a vertical connecting rod placed on the underframe through a center shaft thereof, the guide rail is placed at the rear end of the roller and installed on the underframe, extends upwards to the front end of the ball storage basket and is of an arc-shaped structure, the guide rail is provided with an open groove strip for the ball box to operate, the ball storage basket is installed at the front end of the vehicle body, the bottom of the ball storage basket is provided with a small hole, the small hole is connected with the ball serving device through a hose, and a magic tape is further attached to the surface of the roller. According to the semi-automatic tennis ball picking up and serving vehicle, tennis balls scattered in a large range can be picked up conveniently and quickly, site workers' workload and people's unnecessary physical consumption in exercise training are greatly reduced, and the semi-automatic tennis ball picking up and serving vehicle saves time and labor, also improves ball picking efficiency, works reliably, is convenient to use and suitable for popularization and can be widely arranged in each sports training venue to be used.

The invention discloses a ping-pong ball picking-up device. The device comprises a hand pushing rod, a ball body collecting container, a container lifting assembly, a picking-up assembly and a ball body conveying assembly, wherein the picking-up assembly and the ball body conveying assembly are arranged in a housing; the ball body collecting container is mounted above the housing through the container lifting assembly; the picking-up assembly is connected to the ball body conveying assembly through a sleeve; the hand pushing rod is arranged at the rear side of the housing; a ball inlet is formed in the front side of the housing; the picking-up assembly is arranged at the rear end of the ball inlet and comprises a baffle plate, a funnel type ball collector, a lower roller, an upper roller,a lower picking-up roll, an upper picking-up roll, a transmission gear and a picking-up motor; the ball body conveying assembly comprises a rotating wheel and a ball conveying pipeline; the top part of the ball conveying pipeline is connected to the bottom part to the ball body collecting container through the sleeve, and a ball body in the ball conveying pipeline is conveyed into the ball body collecting container; universal wheels are arranged at the lower rear side of the housing, and power wheels are arranged at the lower front side of the housing. The device is simple in structure, and the picking-up efficiency is enhanced.

The invention relates to a ball picking-up tool, in particular to a robot capable of picking-up balls automatically. The technical scheme includes that the robot comprises a body, a collecting device and a recycling device, the collecting device and the recycling device are arranged on the body and connected via a conveying device, wheels and universal wheels are arranged at the other end, opposite to the end with the collecting device, the recycling device and the conveying device, of the body, the conveying device comprises a plate obliquely erected on the body and a conveying piece arranged parallelly to the plate, a ball conveying space is formed between the conveying piece and the plate, and a conveying piece driving mechanism is arranged on the body. According to the technical scheme, the robot capable of picking-up the balls automatically and lowering training or competing cost, free of manual operation and high in ball picking-up efficiency is provided.

An automatic table tennis ball picking-up cart comprises a body of the same, an accommodating box used for collecting table tennis balls, a connecting piece used for connecting the body with the accommodating box, a moving assembly arranged on the body and used for driving the body to move, a visual sensor arranged at the lower end of the body and used for identifying the table tennis balls, a controller and a battery used for power supply. The accommodating box is hollow square tube shaped, and an elastic mesh allowing the table tennis balls to pass through is arranged at the bottom of the accommodating box. By the arrangement of the visual sensor and the accommodating box, the table tennis balls scattered on the ground can be identified and picked up automatically; the table tennis ballscan be collected to the accommodating box through the elastic mesh arranged at the bottom of the accommodating box, and meanwhile, the table tennis balls can be ensured not to drop out of the accommodating box; manual involvement is not needed, manual fatigue is avoided, and meanwhile, picking-up efficiency of the balls is improved.

The invention belongs to the technical field of smart robots, and particularly relates to a smart ball picking robot. The smart ball picking robot comprises a moving carrier, a walking mechanism whichis installed the moving carrier and used for driving a rack to move, a ball picking device which is arranged on the rack and a recognition module which is arranged on the moving carrier and used forrecognizing basketballs. According to the smart ball picking robot, through the recognition module, the basketballs are recognized and positioned, the walking mechanism drives the moving carrier to approach the basketballs, then the ball picking device picks up the basketballs, the basketballs can be automatically recognized, the ball picking operation can be executed, and the operation of positioning and grabbing the scattering basketballs is achieved; the ball picking time is saved, manual ball picking is not needed, the fluency during training is improved, particularly for professional players, during training, personnel allocated responsible for ball picking can be reduced, and the cost output during training is reduced.

The invention relates to a system design, in particular to a system design for a golf course intelligent ball picking-up unmanned aerial vehicle. The system design for the golf course intelligent ballpicking-up unmanned aerial vehicle mainly comprises four parts of an intelligent ball picking-up aerial vehicle, a ZigBee communication network, a golf ball and a remote control terminal. According to location information of the golf ball, the remote control terminal controls the intelligent ball picking-up aerial vehicle to perform ball picking-up motion, the intelligent ball picking-up aerial vehicle adopts an RRT algorithm to perform route planning and image processing, accurate search and identification are carried out on the golf ball, and a mechanical arm is adopted to achieve ball picking-up operation. The system design for the golf course intelligent ball picking-up unmanned aerial vehicle has the advantages that the efficiency of picking up the golf ball can be improved, the lossof the golf ball is avoided, and the system design for the golf course intelligent ball picking-up unmanned aerial vehicle has higher practical value.

The invention discloses a tennis ball picking-up and transporting vehicle. The tennis ball picking-up and transporting vehicle comprises a guide wheel, walking wheels and a frame, wherein the frame is provided with a lower ball storage box and an upper ball storage box; the frame comprises vertical connecting rods and a horizontal connecting rod; a connecting shaft is arranged in front of the bottom horizontal connecting rod, and is connected with the front vertical connecting rod; the walking wheels are connected with both sides of the connecting shaft; a picking-up rotating wheel is arranged between two walking wheels, and is fixedly connected with the connecting shaft; a picked tennis ball is respectively matched with picking-up end surfaces of two adjacent picking-up rotating wheels; the distance between the end surfaces of the adjacent picking-up rotating wheels is smaller than the outer-circle diameter of the tennis ball in a free state; a first supporting rod is arranged between two vertical connecting rods, and is connected with an upper baffle plate; a lower guide plate is arranged on the bottom horizontal connecting rod. The tennis ball picking-up and transporting vehicle is reliable in transmission and convenient to produce, assemble and adjust, reduces the picking-up and transporting workload of personnel picking up the balls, and improves the picking-up efficiency, thereby being especially applicable to occasions with larger scale and more users.

The invention discloses a working mode for a binocular vision remote control ball-picking robot system. The binocular vision remote control ball-picking robot system comprises a binocular-vision-based remote control ball-picking robot and an embedded type handle. The binocular vision remote control ball-picking robot comprises a binocular vision system, an environmental sensing system, a ball-picking system, a motion system and a control system. The embedded type handle comprises a display screen, a rocker and a wireless module. The robot can work under a remote control mode and applies binocular vision technology, thus the effective identification range is widened, and identification efficiency is improved. Sensors in the robot environmental sensing system are arranged reasonable and high in identification efficiency. The robot control system is simple in circuit structure and accurate in calculation. The binocular vision remote control ball-picking robot system has the advantages of being wide in identification range and high in ball-picking efficiency.

The invention discloses a ping-pong picker and relates to a collecting and removing device. The ping-pong picker comprises a collection cylinder and a lifting handle, wherein the lifting handle is connected on both sides of the collection cylinder; the lower opening of the collection cylinder is provided with a ball picking grid which is matched with the lower opening of the collection cylinder and is hinged with the side wall of the collection cylinder; a connection pillar is arranged on the outer wall of the ball picking grid on the hinge part; the connection pillar is hinged with a lifting rod arranged along the lifting handle; and a compression spring is sleeved on the lifting rod. The ping-pong picker is novel in structure, low in cost, high in practicability; and with the adoption of the ping-pong picker, the time and labor are saved; the ball is picked and poured without bending down, and the ball picking efficiency is greatly enhanced.

The invention discloses a self-lifting tennis ball picking and transporting vehicle. The vehicle comprises a guide wheel, two traveling wheels, a frame and a tennis ball lifting device, wherein the tennis ball lifting device is connected with the frame; the upper part of the frame is provided with a ball storage box; the frame comprises vertical connecting rods and a bottom horizontal connecting rod; a connecting shaft is arranged on the front side of the bottom horizontal connecting rod; the two ends of the connecting shaft are connected with the vertical connecting rods on the two sides of the front side through the connecting seat; the traveling wheels are connected with the two sides of the connecting shaft; ball picking rotating wheels are uniformly distributed between the two traveling wheels and are fixedly connected with the connecting shaft; a picked tennis ball is matched with ball picking end faces of two adjacent ball picking rotating wheels respectively; the distance of the ball picking end faces of the two adjacent ball picking rotating wheels is smaller than the outer circle diameter in a free state of the tennis ball; the external diameter of the ball picking rotating wheel is smaller than the external diameter of the traveling wheels. According to the vehicle, automatic ball picking can be realized, and the ball picking efficiency is improved; the vehicle is particularly suitable for being used at large-sized tennis courts and on occasions of more users.

The invention provides a shuttlecock automatic picking and stacking omnidirectional dolly, and belongs to the intelligent dolly technical field; the dolly comprises a H-type chassis, a pole, a cantilever type slideway, a machinery handgrip and four wheels having a wheel hub motor; a square slide block is connected with a cantilever type slideway outer groove through an inner groove, a spur rack is fixed above, and a through hole is arranged inside so as to allow a soft rope to pass; the upper side of the spur rack is matched with a gear fixed on a motor shaft; the motor is fixed with the cantilever type slideway; a handgrip motor fixed on a handgrip guide board is connected with one of the two meshing gears in the handgrip, and the gear is connected with a nipper through a connecting rod; the pole is fixedly provided with a barrel holder used for holding a detachable shuttlecock storage barrel; the pole bottom is fixed in the center of the H-type chassis, and three other side faces on the bottom are respectively fixedly provided with a program processor, a detection sensing positioner and a power supply. The shuttlecock automatic picking and stacking omnidirectional dolly is mainly used for picking and sorting shuttlecocks.

The invention discloses a table tennis ball picking device. The table tennis ball picking device comprises a fan, a ball collecting box, hoses, an air blast nozzle, a cushion block, an air blast nozzle support and a ball collecting groove, and one hose is connected with a hose connector of an air inlet of the fan and a hose connector of an air outlet of the ball collecting box; then another hose is connected with a hose connector of an air inlet of the ball collecting box, and the other end of the hose is placed at the end, without a baffle, of the ball collecting groove 11; then the third hose is connected with a hose connector of an air outlet of the fan and the air blast nozzle, the air blast nozzle is fixed to the air blast nozzle support through a pipe fastener, air blown out of the air blast nozzle blows table tennis balls into the ball collecting groove, the table tennis balls entering the ball collecting groove are sucked into the ball collecting box through a hose of the air inlet of the ball collecting box, and further, since the air blast nozzle can blow air in the whole court, the table tennis balls scattered in the court can all be blown into the ball collecting groove. The table tennis ball picking device is high in ball picking efficiency and is convenient to use.

The invention discloses a picking-up device for table tennis balls. The picking-up device comprises a movable support, a ball collection box, a transfer component, a ball collecting device and a ballcatching device. The ball collecting device is arranged below a platform and used for collecting scattered table tennis balls into the middle of the movable support, the transfer component is arrangedbetween the platform and the ball collecting device, a ball falling port is formed in the platform, and the ball collection box is arranged on the transfer component below the ball falling port. Themovable support moves, the ball collecting device collects the table tennis balls in an area of the movable support into the middle of the movable support, a first clamping component and a second clamping component form a ball channel, a table tennis ball pushing device pushes the table tennis balls in the ball channel into a ball containing box, a vertical movement cylinder and a horizontal movement cylinder sequentially act, the ball containing box is conveyed to the upper portion of the platform of the movable support, and the balls in the ball containing box are put onto the platform by apouring cylinder and fall into the ball collection box. Ball picking-up efficiency is greatly improved.

The invention discloses an autonomous cruise intelligent ball picking robot based on machine vision, including a chassis, wherein the chassis supports horizontally on the ground, and a pair of bafflesperpendicular to the ground are arranged at the front part of the bottom of the chassis and the lower end of the chassis has a spacing with the ground which is smaller than the diameter of a ball body; a ball collecting box, wherein the upper surface of the ball collecting box has an opening and the ball collecting box is fixed on the chassis and located at the rear part of the chassis; a conveyor mechanism, wherein the conveyor mechanism includes an outer shell body and a conveyor belt, and the upper end of a lower side plate of the outer shell body is fixed at the opening of the ball collecting box, and the lower end is not higher than the lower end of the baffle. The height of the lower end of an upper side plate relative to the outer shell body from the ground is slightly larger thanthe diameter of the ball body. The conveyor belt is arranged inside the outer shell body. The conveyor belt is provided with a plurality of blocking plates at intervals along the length direction of the conveyor belt. The blocking plates are arranged perpendicular to the conveyor belt and the distance between the adjacent blocking plates is slightly larger than the diameter of the ball body. The autonomous cruise intelligent ball picking robot based on the machine vision can achieve self-pick of balls, greatly improve the efficiency of picking up the balls and reduce the cost of picking up theballs.

The invention relates to a tennis ball picking device, in particular to an automatic tennis ball picking device, comprising a moving frame and an automatic ball picking box mounted on the moving frame. The automatic ball picking box is mounted on the moving frame through a fixing arm; sensors in array distribution are mounted on the front end face of the automatic ball picking box, and a transverse conveying belt and a longitudinal conveying belt are mounted inside the automatic ball picking box. The device improves ball picking efficiency and rate, and further, solves the problems that time is wasted for picking the tennis balls as the tennis balls are always hit far away from players in daily exercise of people or in training of players, and to the players needing training with a great amount of balls, time for training is wasted by picking the balls which are dispersed to anywhere, and further, the conventional ball picking devices in the market have the defects of low ball-pickingefficiency and rate.

The invention provides a binocular vision based dual-mode intelligent ball picking robot system. The system is composed of a binocular vision based dual-mode intelligent ball picking robot and an embedded handle. The robot can work under the independent recognition mode and the remote control mode. The binocular vision technology is applied to the robot, the effective recognition range is enlarged, and the recognition efficiency is improved; the sensor layout in the robot environment perception system is reasonable, and the recognition efficiency is high; the robot control system is simple in circuit structure and accurate in operation. The system has the advantages of being wide in recognition range and high in ball picking efficiency.

The invention relates to a table tennis picker which comprises a main rod body, a height regulating rod, a table tennis collecting drum, a table tennis squeezing push rod and a table tennis squeezing push handle, wherein one end of the height regulating rod is connected to the table tennis collecting drum by virtue of a screw thread; a plurality of rubber bands which are mutually parallel are arranged on the opening of the table tennis collecting drum; the main rod body is arranged in a mode of running through a threaded through hole of the height regulating rod, and a screw rod matched with the through hole is formed in the outer wall of the main rod body; a central through hole which goes through is formed in the main rod body; the table tennis squeezing push rod is inserted in the central through hole of the main rod body, and the lower end is arranged in the table tennis collecting drum and is connected to a table tennis squeezing plate while the upper end runs out of the main rod body and is fixedly connected to the table tennis squeezing push handle. The table tennis picker disclosed by the invention is original and simple in structure, simple and convenient in operation, low in cost and strong in practicability, and the table tennis picker prevents people differing in height from bending down to pick or pour table tennis; and the table tennis picker is not subject to site constraint, time-saving and labor-saving in use, and is capable of greatly improving picking efficiency.

The invention relates to a controllable ball pickup trolley system based on a rolling shaft and a clamping mechanism, and belongs to the technical field of sports auxiliary instruments and intelligentmechanical control. The controllable ball pickup trolley system comprises a plurality of controllable ball pickup trolleys based on the rolling shafts and the clamping mechanisms, and an intelligentoperation end, wherein each controllable ball pickup trolley comprises a wireless information transceiving module, a control information processing module, a ball pickup module, a motion chassis module and a camera shooting acquisition module; the ball pickup module comprises a clamping mechanism; the control information processing module comprises a wireless information transceiving module, an information processing module, a remote communication and positioning module and a short-range wireless transceiving module; the motion chassis module and the ball pickup module are both connected withthe information processing module; and the information processing module is connected with the camera shooting acquisition module and the wireless information transceiving module. The wireless information transceiving module is in communication with the intelligent operation end and the other trolleys, and receives the corresponding positioning information; and the information processing module processes the information and sends instructions to control the cameras and the corresponding trolleys. The system can quickly and accurately pick up and store multiple tennis balls, so that the ball pickup efficiency is greatly improved.

The invention discloses a method for automatically picking up balls by utilizing chromatic aberration, comprising the following steps: automatically picking up a ball, acquiring color information of the ball, comparing the colors, and placing the ball into a ball basket; the above steps are performed in sequence and circulation through being controlled by a control system. The method of the invention is simple, is easy and simple to handle, has rapid ball absorbing speed, high accurate recognition rate, easy popularization and energy and labor saving, and can be directly used for applications of competition terrain clearance, teaching, entertainment and robot demonstration and the like.

The invention relates to a ping-pong ball picking device and a storage barrel thereof. The ping-pong ball picking device comprises the storage barrel with the bottom provided with a ball entering opening. A separation layer dividing the storage barrel into a ball storage bin and a ball picking bin in the vertical direction is arranged in the storage barrel. The ball storage bin is arranged above the ball picking bin. A communication opening for ping-pong balls in the ball picking bin to enter the ball storage bin is formed between the ball storage bin and the ball picking bin. The communication opening is provided with an opening edge used for preventing the ping-pong balls in the ball storage bin from falling into the ball picking bin when the storage barrel is in a vertical state. The ping-pong ball picking device enables the ping-pong balls in the ball picking bin to enter the ball storage bin and be kept in the ball storage bin, and prevents the ping-pong balls in the ball picking bin from accumulating excessively and causing falling of the grid bottom of the storage barrel, the number of the picked balls is large, the ball picking efficiency is high, wearing can be prevented in the falling process of the grid bottom, and the service life is prolonged.

The invention discloses a movable robot capable of picking and placing golf balls. A ball storage net is fixed to the inside of a supporting frame, the front side of the supporting frame is connectedwith a chassis of a ball placing trolley, and ball placing trolley driving wheels are arranged at the bottom of the chassis of the ball placing trolley; a rotary shaft driven by front-wheel steering is connected with a corresponding rotary bracket, a controller, a battery and an arm driving motor are arranged on the chassis of the ball placing trolley, and a driving motor is arranged on one side of a steering shaft o the arm driving motor; the bottom end of a stretching arm is installed on the end portion of the steering shaft, a ball catching claw is installed on the end portion of the stretching arm, and a ball collecting arm driving motor is installed on the front side of the supporting frame; one end of a ball collecting arm is installed on a rotary shaft of the ball collecting arm driving motor, ball picking blades are fixed between the extending ends of the supporting frame through a rotary shaft, a ball unloading stop block is arranged between every two adjacent ball picking blades, and the front ends of the ball unloading stop blocks are fixed to the back side of the supporting frame through a fixing plate. The robot can be controlled manually or automatically conduct golfball picking and placing operation according to the actual conditions of a golf course to replace manual ball picking and placing, and therefore corresponding labor cost is reduced.

The invention provides a tennis ball picking and serving device and a control method based on the same. The tennis ball picking and serving device comprises a main control subsystem, a tennis recognition subsystem, a ball picking subsystem, a ball serving subsystem and a wireless remote control subsystem. The wireless remote control subsystem is used for cooperating with a remote controller corresponding to the tennis ball picking and serving device in a controllable range, and the tennis ball picking and serving device has the ball self-moving picking function; on the basis of a visual tennisball recognition program, the ball picking efficiency can be improved; the tennis ball picking and serving device can adjust the ball serving position, ball serving speed, ball serving angle and ballserving height according to a remote control command sent by the remote controller; a user can wear the remote controller on the arm, and control the tennis ball picking and serving device to switchthe corresponding ball serving mode at any time through the remote controller, and the scene of artificial combat ball hitting is simulated, so that the mode of practicing ball hitting is more flexible, and the training effect is better.

The invention relates to a ping-pong ball picking device and a storage barrel thereof. The ping-pong ball picking device comprises the storage barrel with the bottom provided with a ball entering opening. A separation layer dividing the storage barrel into a ball storage bin and a ball picking bin in the vertical direction is arranged in the storage barrel. The ball storage bin is arranged above the ball picking bin. A communication opening for ping-pong balls in the ball picking bin to enter the ball storage bin is formed between the ball storage bin and the ball picking bin. The communication opening is provided with an opening edge used for preventing the ping-pong balls in the ball storage bin from falling into the ball picking bin when the storage barrel is in a vertical state. The ping-pong ball picking device enables the ping-pong balls in the ball picking bin to enter the ball storage bin and be kept in the ball storage bin, and prevents the ping-pong balls in the ball picking bin from accumulating excessively and causing falling of the grid bottom of the storage barrel, the number of the picked balls is large, the ball picking efficiency is high, wearing can be prevented in the falling process of the grid bottom, and the service life is prolonged.