CN102614641B - Intelligent integrated tennis ball picking robot - Google Patents
Intelligent integrated tennis ball picking robot Download PDFInfo
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- CN102614641B CN102614641B CN201210068093.2A CN201210068093A CN102614641B CN 102614641 B CN102614641 B CN 102614641B CN 201210068093 A CN201210068093 A CN 201210068093A CN 102614641 B CN102614641 B CN 102614641B
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Abstract
The invention relates to an intelligent integrated tennis ball picking robot which comprises an information acquisition system, a control system, an execution system, a moving carrier and a picking device, wherein the information acquisition system comprises a camera, an infrared detector and an ultrasonic distance measurer; the control system comprises an image processing module and a master control module; the execution system comprises a speed regulating module, a motor driving module, a wheel motor, a ball picking motor, a ball deflecting motor and a wireless receiving/transmitting module; the camera is connected with the master control module through the image processing module and transmits the continuously-shot site image data signals to the control system; the infrared detector and the ultrasonic distance measurer are connected with the master control module respectively and transmit the data signals including positions of balls in the moving carrier and barriers information to the control system; and the control system processes and analyzes the data and then outputs respective control signals to the motor driving module in the execution system to drive the wheel motor, the ball picking motor and the ball deflecting motor respectively to complete the carrier moving operation and the picking operation.
Description
Technical field
The present invention relates to a kind of intelligent robot, relate in particular to a kind of Intelligent robot that can help people to pick up tennis.
Background technology
Along with the development of Chinese national economy, we have had increasing tennis court at one's side in recent years, also have increasing people to like and have gone up this motion of tennis, and tennis has entered in the middle of everybody life as a kind of motion of fashion.But the process of picking up tennis can consume a large amount of muscle power of sportsman and energy, therefore design such intelligent integral and pick up tennis robot and have very important significance.
At present more existing technical schemes, conclude and be mainly divided into following four classes:
The first kind is the ball machine of picking up of hand propelled.If the patent No. is CN200520059678.3, CN200820208298.5, CN200920151753.7, CN201010128641.7, CN200920090792.0.These type of works need to push away car by people and remove to pick up ball, without intelligent apparatus.
Equations of The Second Kind is the ball machine of picking up of electronic control.As patent No. CN2000910047811.6, CN200910304958.9, CN200820042478.0, CN201010193232.5.These type of works need to manipulate and pick up ball by people, without intelligent apparatus.
The 3rd class be automatically control pick up ball car.As patent No. CN200710190398.X.These type of works can only be picked up a ball at every turn, and efficiency is lower.And do not keep away people and keep away some basic controls such as barrier, only for for experiment, intelligent poor.
The 4th class is the robot based on using under host computer and place camera overall control.As patent No. CN200810188136.4, CN200810183233.4.The control mode of these type of works is only applicable to large-scale tennis court, and system control mode is comparatively complicated, and cost is higher, and robot must rely on external communication, changes place and just cannot work smoothly, and independence is poor.
Summary of the invention
The present invention will propose one without relying on external communication and place camera, by self camera can autonomous classification and the intelligent integral of collecting field ground tennis pick up tennis robot, the mode that this robot method of operation can be unit operation can be also the mode of multi-machine collaborative, and once can pick up multiple balls, can store tens balls, there is very high efficiency, and can effectively identify and hide all barriers including wall and people.
Technical scheme of the present invention is: a kind of intelligent integral is picked up tennis robot, by Information Acquisition System, control system, executive system, mobile vehicle and pick device composition, be characterized in: Information Acquisition System comprises camera, Infrared Detectors, ultrasonic ranging device, wherein: camera is used for taking continuously place picture, Infrared Detectors is used for the position of induction sphere in mobile vehicle inside, ultrasonic ranging device is used for responding to the barrier before mobile vehicle, control system comprises image processing module and overall control module, and executive system comprises speed governing adjustment module, motor drive module, wheel electrical machine, picks up ball motor, dials ball motor and radio receiving transmitting module, camera is connected with overall control module by image processing module, the place picture data signal of taking is continuously transferred to control system, Infrared Detectors is connected with overall control module respectively with ultrasonic ranging device, obstacle information data-signal by ball before position and the mobile vehicle of mobile vehicle inside is transferred to control system, after control system is processed and is analyzed data, export respectively control signal to the motor drive module in executive system, motor drive module connects respectively wheel electrical machine, pick up ball motor and dial ball motor, for driving respectively wheel electrical machine, pick up ball motor and dial ball motor, make mobile vehicle and pick device action.
Mobile vehicle is laid platform, wheel electrical machine, driving wheel and directive wheel and is formed by picking up ball mechanism shell, Chu Qiuqi, control system; Pick up ball mechanism shell front portion and be provided with Chu Qiuqi, pick device is equipped with at rear portion, the ball system of dialling is equipped with at middle part, above pick device, be provided with control system and lay platform, pick up ball mechanism shell bottom front both sides a directive wheel is housed respectively, a wheel electrical machine and driving wheel are equipped with respectively in both sides, rear end, pick up on ball mechanism shell front end face ultrasonic ranging device is housed, camera is housed above, and control system is laid speed adjustment module and motor drive module is housed on platform.
Pick up ball mechanism shell and comprise housing antetheca, housing sidewall, housing rear wall, housing top cover, central supporting wall and central branches fagging; Wherein, housing antetheca is vertically installed, housing sidewall is vertically installed and perpendicular to housing antetheca, and make housing sidewall lowest part than the interval of the low ball of housing antetheca lowest part, housing rear wall is installed on picks up ball mechanism shell tail end, central supporting wall is installed on whole 1/5th places, ball mechanism shell rear end of picking up, central supporting plate level is settled and is connected to housing rear wall from central supporting walls, and housing top cover is installed until block the whole latter half of picking up ball mechanism shell along the last peak of housing sidewall to forward position sidewall edge line.
Storage ball device comprises storage ball base plate and storage ball rear wall; Storage ball base plate, storage ball rear wall, body antetheca store up ball device with organism sidewall at whole one of the ball mechanism shell front side composition of picking up.
Pick device forms by picking up ball system and dialling ball system, picks up ball system and comprises and pick up ball motor, sprocket wheel, chain, securing member for connection, pick up ball frame and pick up ball rubber band; Dial ball system and comprise group ball motor, adpting flange and group ball are pulled; Picking up ball motor is installed on the central authorities of central branches fagging below and at vertical direction, sprocket wheel is installed, and a jockey sprocket is installed directly over drive sprocket, chain is installed between two sprocket wheels, pick up ball frame and be positioned at the front side of central supporting wall, to pick up ball frame by securing member is connected with chain, pick up ball rubber band distance and be installed in ten ball frames, dial ball motor and be installed on central supporting wall top and be connected with dialling ball plate by flange.
Between overall control module and motor drive module, be connected with speed adjustment module.
Intelligent integral is picked up tennis robot and is also provided with radio receiving transmitting module, radio receiving transmitting module and overall control module be connected, exchange with other child robot by radio receiving transmitting module.
The invention has the beneficial effects as follows:
Mobile vehicle of the present invention is mainly responsible for the framework that device is settled that is displaced into of car body.Pick up ball system and be used for picking up tennis, dial ball system for the ball of picking up being put into storage ball device.Camera is used for continuous shooting place picture, sends into control system.Infrared Detectors is used for the position of induction sphere at machine intimate.Whether ultrasonic ranging device has barrier before being used for responding to car.
Robot provided by the invention do not need with extraneous communication situation under unit and two kinds of mode of operations of multi-machine collaborative.The collaborative operator scheme proposing has multiple: 1, generally Duo Tai robot can delimit and pick up separately ball region, to reduce long-distance hurrying back and forth.2, in the time that robot finds to have a lot of tennis around and another discovery while thering is no tennis around can be called by radio receiving transmitting module.Above processing all completes in the program control system of robot.
The present invention has that storage ball ability is large, ball picking-up efficiency is high; Can not rely on robot equipment in addition, capacity of will is strong; All be suitable in any place, adaptable; Have and keep away barrier, multi-machine collaborative function, intelligent degree is high.
Brief description of the drawings
Fig. 1 is that intelligent integral of the present invention is picked up the three-dimensional shaft side figure of tennis robot;
Fig. 2 is that intelligent integral of the present invention is picked up tennis robot top view;
Fig. 3 is the front view that intelligent integral of the present invention is picked up tennis robot;
Fig. 4 is the rear cutaway view that intelligent integral of the present invention is picked up tennis robot;
Fig. 5 is the rearview that intelligent integral of the present invention is picked up tennis robot;
Fig. 6 is the left view that intelligent integral of the present invention is picked up tennis robot;
Fig. 7 is the left cutaway view that intelligent integral of the present invention is picked up tennis robot;
Fig. 8 be intelligent integral of the present invention pick up tennis robot pick up ball rubber band floor map;
Fig. 9 be intelligent integral of the present invention pick up tennis robot dial ball pull floor map this;
Figure 10 is the ball process of the picking up schematic diagram that intelligent integral of the present invention is picked up tennis robot;
Figure 11 is that the batting that intelligent integral of the present invention is picked up tennis robot enters a basket process schematic diagram;
Figure 12 is the control system schematic diagram that intelligent integral of the present invention is picked up tennis robot;
Figure 13 is the infrared probe work schematic diagram that intelligent integral of the present invention is picked up tennis robot.
Detailed description of the invention
As shown in figure 1 to figure 13, intelligent integral of the present invention is picked up tennis robot, comprises mobile vehicle, pick device, Information Acquisition System, control system, executive system, circuit module.
Information Acquisition System comprises camera 22, Infrared Detectors, ultrasonic ranging device 23, and wherein: camera 22 is used for taking continuously place picture, Infrared Detectors is used for the position of induction sphere in mobile vehicle inside, ultrasonic ranging device 23 is used for responding to the barrier before mobile vehicle, control system comprises image processing module 28 and overall control module 27, and executive system comprises speed governing adjustment module 31, motor drive module 32, wheel electrical machine 1, picks up ball motor 13, dials ball motor 19 and radio receiving transmitting module 30, camera 22 is connected with overall control module 27 by image processing module 28, the place picture data signal of taking is continuously transferred to control system, Infrared Detectors is connected with overall control module 27 respectively with ultrasonic ranging device 23, obstacle information data-signal by ball before position and the mobile vehicle of mobile vehicle inside is transferred to control system, after control system is processed and is analyzed data, export respectively control signal to the motor drive module 32 in executive system, motor drive module 32 connects respectively wheel electrical machine 1, pick up ball motor 13 and dial ball motor 19, for driving respectively wheel electrical machine 1, pick up ball motor 13 and dial ball motor 19, make mobile vehicle and pick device action.And overall control module 27 is connected with radio receiving transmitting module 30, exchange with other child robot by radio receiving transmitting module 30.
As shown in Figures 1 to 6, mobile vehicle comprise pick up ball mechanism shell, Chu Qiuqi, ball guiding sidewall, control system is laid platform 12, wheel electrical machine 1, driving wheel 2 and directive wheel 3.Pick up ball mechanism shell and comprise housing antetheca 4, housing sidewall 5, housing rear wall 6, housing top cover 7, central supporting wall 8 and central branches fagging 9.Storage ball device comprises storage ball base plate 10 and storage ball rear wall 11.Housing antetheca 4 is vertically installed, housing sidewall 5 is vertically installed and perpendicular to housing antetheca 4, and make housing sidewall 5 lowest parts than the interval of low 1 ball of housing antetheca 4 lowest parts, housing rear wall 6 is installed on machine tail end, central supporting wall 8 is installed on whole body rear end 1/5th places, 9 horizontal settings of central branches fagging are connected to housing rear wall 6 from central supporting walls 8, housing top cover 7 is installed until block the latter half of whole body along the last peak of housing sidewall 5 to forward position sidewall edge line, storage ball base plate 10, storage ball rear wall 11, body antetheca 4 stores up ball device with organism sidewall 5 one of whole body front side composition.Front jockey wheel 3 is installed on the both sides under storage ball base plate, and driving wheel 2 is installed on wheel electrical machine 1 axle, and wheel electrical machine 1 is installed on the both sides of central branches fagging 8.
As shown in Figures 1 to 9, pick device comprises ten ball systems and dials ball system.Picking up ball system comprises and picks up ball motor 13, sprocket wheel 14, chain 15, connects with securing member 16, picks up ball frame 17 and pick up ball rubber band 18.Dial ball device and comprise group ball motor 19, adpting flange 20 and group ball pull 21.Picking up ball motor 13 is installed on the central authorities of central branches fagging 9 belows and at vertical direction, sprocket wheel 14 is installed, and a jockey sprocket 14 is installed directly over drive sprocket, chain 15 is installed between two sprocket wheels 14, pick up ball frame and be positioned at the front side of central supporting wall 8, to pick up ball frame by securing member 16 and be connected with chain, pick up ball rubber band 18 equidistant being installed in ten ball frames 17 as shown in the figure.Dialling ball motor 19 is installed on central supporting wall 8 tops and is connected with dialling ball plates 21 by flange 20.
As shown in Figure 1, Figure 2, shown in Fig. 3, Figure 13, Information Acquisition System comprises camera 22, ultrasonic ranging device 23, Infrared Detectors (infrared emitting head 24 and infrared receiving terminal 25).Camera 22 is installed on the top of housing antetheca 4.Ultrasonic ranging device 23 is installed on the centre of housing antetheca 4.Infrared emitting head 24 and infrared receiving terminal 25 are installed on the below of housing sidewall 5, and keep sustained height (Figure 13).
As shown in Figure 2, Figure 4 shows, circuit module comprises lithium battery group 26, overall control module 27, image processing module 28, display 29, radio receiving transmitting module 30, speed governing adjustment module 31 and motor drive module 32.Lithium battery group 26 is close to storage ball rear wall 11.Image processing module 28, display 29 and radio receiving transmitting module 30 are installed on the rear of housing sidewall 5.Speed adjustment module 31 and motor drive module 32 are installed in circuit board platform 12.Between overall control module 27 and motor drive module 32, be connected with speed adjustment module 31.
As shown in figure 12, Information Acquisition System comprises camera 22, the infrared receiving terminal 25 in ultrasonic ranging device 23, Infrared Detectors and radio receiving transmitting module 30.Control system comprises overall control module 27 and image processing module 28.Executive system comprises speed governing adjustment module 31, motor drive module 32, wheel electrical machine 1, picks up ball motor 13, dials ball motor 19 and radio receiving transmitting module 30.Detector, control module, Executive Module are connected with wire with the connection mode in Figure 12.Modules is all connected with lithium battery group 26 use wires.
The ten ball processes that specifically complete of the present invention are: after starting working, overall control module 27 is controlled motor drive module 32 and driven wheel electrical machine 1 that robot is advanced by certain overall travel path.Now camera 22 is taken place information in real time, data is sent into image processing module 28 and carry out image processing.Through image processing, if finding tennis, image processing module 28 the positional information of tennis is sent into overall control module 27.Overall control module controls 27 controls sail to precalculated position, and in way, overall control module 27 control rate adjustment modules 31 are by adjusting robot pace from the more near slower principle of ball, until tennis enters bottom robot.Now, by the scanning of infrared emitting head 24 and infrared receiving terminal 25, the particular location of ball is sent to overall control module 28.As shown in figure 13, tennis can cover the infrared ray that one group of infrared emitting head 24 sends causes corresponding infrared receiving terminal 25 not receive signal to scan mode.When arrival can be picked up the position of ball, overall control module 27 is controlled motor drive module 32 stops robot, controls motor drive module 32 and drives and pick up ball motor 13 and drive and pick up ball frame 17 and move downward.Pick up ball frame 17 and arrive behind bottom, picking up ball rubber band 18 can buckle into tennis in frame.Then overall control module 27 is controlled motor drive module 32 and is driven and pick up ball motor 13 and drive the ball frame 17 that picks up that is loaded with tennis to move upward, and arrives top, and process as shown in Figure 8.Overall control module 27 control motor drive modules 32 drive group ball motors 19 that tennis is dialled in the storage ball basket being made up of housing antetheca 4, housing sidewall 5, storage ball base plate 10 and storage ball rear wall 11 subsequently, and process as shown in Figure 9.Now robot has completed and has once picked up ball action, advances by certain before overall travel path continuing.
The robot autonomous control mode of advancing of the present invention adopts Differential Control, and overall control module 27 controls motor drive module 32 and speed adjustment module makes left and right motor speed and turns to the different autonomous traveling process that get final product control.
Of the present invention specifically completing hidden obstacle avoidance process and is: robot, in traveling process, opens ultrasonic ranging device 23 all the time.The distance value of ultrasonic ranging Qi23Hui Jiang robot and front obstacle is sent into overall control module 27.In the time that this value is less than default numerical value, overall control module 27 will control motor drive module 32 and speed adjustment module 31 turns to robot, thus avoiding obstacles.
The concrete collaborative ball function of picking up of the present invention is: when You Liang Tai Huoduotai robot is in the time that Same Site is picked up ball, each robot is by automatic open wireless transceiver module 30, using wireless receiving as a kind of acquisition of information means.Collaborative operator scheme has multiple, such as (1), generally Liang Tai robot can delimit and pick up separately ball region, to reduce long-distance hurrying back and forth.(2), in the time that robot finds to have a lot of tennis around and another discovery while thering is no tennis around can be called by radio receiving transmitting module 30.Above processing all completes in the program control system of robot.
The invention is not restricted to this example, every mentality of designing of utilizing the design, does some simple designs that change and all should fall into protection domain of the present invention.
Claims (4)
1. an intelligent integral is picked up tennis robot, by Information Acquisition System, control system, executive system, mobile vehicle and pick device composition, it is characterized in that: described Information Acquisition System comprises camera (22), Infrared Detectors, ultrasonic ranging device (23), wherein: camera (22) is used for taking continuously place picture, Infrared Detectors is used for the position of induction sphere in mobile vehicle inside, ultrasonic ranging device (23) is used for responding to the barrier before mobile vehicle, control system comprises image processing module (28) and overall control module (27), and executive system comprises speed governing adjustment module (31), motor drive module (32), wheel electrical machine (1), picks up ball motor (13), dials ball motor (19) and radio receiving transmitting module (30), camera (22) is connected with overall control module (27) by image processing module (28), the place picture data signal of taking is continuously transferred to control system, Infrared Detectors is connected with overall control module (27) respectively with ultrasonic ranging device (23), obstacle information data-signal by ball before position and the mobile vehicle of mobile vehicle inside is transferred to control system, after control system is processed and is analyzed data, export respectively control signal to the motor drive module in executive system (32), motor drive module (32) connects respectively wheel electrical machine (1), pick up ball motor (13) and dial ball motor (19), for driving respectively wheel electrical machine (1), pick up ball motor (13) and dial ball motor (19), make mobile vehicle and pick device action, described mobile vehicle is laid platform (12), described wheel electrical machine (1), driving wheel (2) and directive wheel (3) and is formed by picking up ball mechanism shell, Chu Qiuqi, control system, pick up ball mechanism shell front portion and be provided with Chu Qiuqi, pick device is equipped with at rear portion, the ball system of dialling is equipped with at middle part, above pick device, be provided with control system and lay platform (12), pick up ball mechanism shell bottom front both sides a directive wheel (3) is housed respectively, a wheel electrical machine (1) and driving wheel (2) are equipped with respectively in both sides, rear end, pick up ultrasonic ranging device (23) is housed on ball mechanism shell front end face, camera (22) is housed above, and control system is laid speed governing adjustment module (31) and motor drive module (32) is housed on platform (12), the described ball mechanism shell of picking up comprises housing antetheca (4), housing sidewall (5), housing rear wall (6), housing top cover (7), central supporting wall (8) and central branches fagging (9), wherein, housing antetheca (4) is vertically installed, housing sidewall (5) is vertically installed and perpendicular to housing antetheca (4), and make housing sidewall (5) lowest part than the interval of the low ball of housing antetheca (4) lowest part, housing rear wall (6) is installed on picks up ball mechanism shell tail end, central supporting wall (8) is installed on whole 1/5th places, ball mechanism shell rear end of picking up, central branches fagging (9) horizontal setting is connected to housing rear wall (6) from central supporting walls (8), housing top cover (7) is installed until block the whole latter half of picking up ball mechanism shell to forward position sidewall edge line along the last peak of housing sidewall (5), described pick device forms by picking up ball system and dialling ball system, picks up ball system and comprises and pick up ball motor (13), drive sprocket (14), jockey sprocket, chain (15), connect with securing member (16), pick up ball frame (17) and pick up ball rubber band (18), dial ball system and comprise group ball motor (19), adpting flange (20) and group ball are pulled (21), picking up ball motor (13) is installed on the central authorities of central branches fagging (9) below and at vertical direction, drive sprocket (14) is installed, and directly over drive sprocket (14), a jockey sprocket is installed, chain (15) is installed between drive sprocket (14) and jockey sprocket, pick up ball frame and be positioned at the front side of central supporting wall (8), to pick up ball frame by securing member (16) is connected with chain, pick up that ball rubber band (18) is equidistant to be installed in ten ball frames (17), dialling ball motor (19) is installed on central supporting wall (8) top and is connected with dialling ball plate (21) by flange (20).
2. intelligent integral according to claim 1 is picked up tennis robot, it is characterized in that: between described overall control module (27) and motor drive module (32), be connected with described speed governing adjustment module (31).
3. intelligent integral according to claim 1 is picked up tennis robot, it is characterized in that: described radio receiving transmitting module (30) and overall control module (27) be connected, exchange with other child robot by radio receiving transmitting module (30).
4. intelligent integral according to claim 1 is picked up tennis robot, it is characterized in that: described storage ball device comprises storage ball base plate (10) and storage ball rear wall (11); Storage ball base plate (10), storage ball rear wall (11), the same housing sidewall of housing antetheca (4) (5) are at the whole storage ball device of ball mechanism shell front side composition of picking up.
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| CN201210068093.2A CN102614641B (en) | 2012-03-15 | 2012-03-15 | Intelligent integrated tennis ball picking robot |
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| CN201210068093.2A CN102614641B (en) | 2012-03-15 | 2012-03-15 | Intelligent integrated tennis ball picking robot |
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| CN110652709B (en) * | 2019-06-17 | 2020-09-29 | 北京理工大学 | Controllable ball picking trolley system based on rolling shaft and clamping mechanism |
| CN110412992A (en) * | 2019-08-29 | 2019-11-05 | 山东科技大学 | A kind of table tennis intelligently picks robot and its control method |
| CN113476809A (en) * | 2020-10-20 | 2021-10-08 | 莘家豪 | Robot is picked up to intelligence tennis |
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