CN101579857A - Automatic ball-picking robot - Google Patents

Automatic ball-picking robot Download PDF

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Publication number
CN101579857A
CN101579857A CNA2008101832334A CN200810183233A CN101579857A CN 101579857 A CN101579857 A CN 101579857A CN A2008101832334 A CNA2008101832334 A CN A2008101832334A CN 200810183233 A CN200810183233 A CN 200810183233A CN 101579857 A CN101579857 A CN 101579857A
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CN
China
Prior art keywords
ball
control
charging
processor
picking
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Granted
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CNA2008101832334A
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Chinese (zh)
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CN101579857B (en
Inventor
杨毅
刘亚辰
杨鑫
付元
雷金周
魏冠伟
张占磊
雷勇
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Priority to CN2008101832334A priority Critical patent/CN101579857B/en
Publication of CN101579857A publication Critical patent/CN101579857A/en
Application granted granted Critical
Publication of CN101579857B publication Critical patent/CN101579857B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention relates to an automatic robot capable of picking balls for people, which comprises a movable basic carrier, a charging device and a control system. The movable basic carrier finishes operations of moving, ball-picking and ball-reversing under the control of the control system; the charging device charges the movable basic carrier; and the control system acquires and processes image information on a whole field and controls the movable basic carrier through wireless communication. The automatic ball-picking robot has two operating modes of single-machine running and multi-machine cooperation, can achieve the functions of automatic ball finding, automatic ball picking, automatic ball reversing, automatic charging and the like, and has high ball-picking efficiency and high intelligent degree.

Description

Automatic ball-picking robot
Technical field
The present invention relates to a kind of autonomous robot, the particularly a kind of autonomous robot that can help people to pick up ball.
Background technology
Along with the development of society, the focus that people pay close attention to singly is not clothing, food, lodging and transportion--basic necessities of life, more wishes a kind of healthy, happier more life.Participate in sports and be undoubtedly excellent selection, but a lot of trival matters in the motion affect people's motion enthusiasm, for example in the service exercise of tennis or table tennis, can make a large amount of balls become scattered about ground, not stop to bend over to pick up ball on the ground thing that makes one nervous beyond doubt; And, when playing ball, constantly pick up ground ball and more how will to face difficulty, even cause danger for the disabled athlete.
At present some occur and can realize picking up the design of ball function, for example the patent No. is a kind of intelligent ball collecting scheme that proposes in the patent documentation of CN200710190398.X, promptly mechanical arm is installed, under the guiding of headstock camera, is found ball and utilize mechanical arm that ball is picked up to be put in the cage at headstock.The patent No. is a kind of method of utilizing air pump with ball inspiration ball box that proposes in the patent documentation of CN200710041084.3.The patent No. is to propose in the patent documentation of CN200610118792.8 a kind ofly to adorn a rotating cylinder at the device front end, be inserted with flap on the rotating cylinder, copy ball plate and location-plate on the flap, rotating cylinder utilized when rotating copies the ball plate and location-plate is clamped ball, then ball is delivered in the collection container.Several in addition relevant patents are that elastic construction is made in the bottom surface of a container, and when the people firmly pushes above ball, ball can be compressed into container by container bottoms, realize picking up the ball function.
But said method still has some defectives: it is low one, to pick up ball efficient, for example utilizes mechanical arm to pick up the method for ball, once can only pick up a ball; How utilize barrel configuration to pick up the method for ball, be a difficult problem with ball chuck copying between ball plate and the location-plate.Two, intelligent low, have only CN200710190398.X to propose a kind of manually-operated intelligent ball collecting method that need not in the method that has proposed, other method all needs the people to participate in picking up the ball process in person, but the method that CN200710190398.X proposes is at headstock camera to be installed to carry out the identification of ball and the guiding of dolly, camera can only monitor the image information that dolly the place ahead is interior among a small circle like this, field range is narrow, it can only be the strategy of a kind of " which being gone to; which is found ", can't pick up the overall situation planning in course of action footpath, realized the automatic ball-picking operation though do like this, intelligent not high.Three, with the method for air pump suction ball air pump need be installed, the ball picking up device complex structure, and when inhaling ball, also dust on the ground, foreign material can be sucked the ball box, though realized picking up the ball function, also bring some troubles.
Summary of the invention
Pick up the low and intelligent low defective of ball efficient in order to overcome prior art, but the present invention propose a kind of autonomous classification and collect ground ball, then ball is poured onto the robot of appointed place.There are two kinds of mode of operations of unit operation and multimachine cooperation in this robot, can finish the ground ball of autonomous searching, independently collect ground ball, transport and be poured onto task such as appointed place from chief commander's ball, and have the function of autonomous charging.
Technical scheme of the present invention is: automatic ball-picking robot comprises mobile underlying carrier, charging device and control system.Ground ball is sought, discerned, collects to mobile underlying carrier under the control of control system, the ball of collecting is transported and be poured onto the appointed place, and dock with charging device under the control in control system when electric weight is not enough and charge; The control system collection is also handled the image information in whole place, and controls mobile underlying carrier by wireless telecommunications and look for ball, pick up ball, fall ball and charging operations.
Mobile underlying carrier comprises picks up ball mechanism, the mechanism of falling the ball and mobile platform.Wherein, pick up ball mechanism and comprise that picking up ball brushes, picks up the ball baffle plate, by the rotation that the ball brush is picked up in control system control, push pick up ball to the ball baffle plate, and the ball brush rotates and rising gradually along with picking up, and realizes picking up the ball function; The mechanism of falling the ball pours out ball under the control of control system in the appointed place; Mobile platform provides to install and supports for picking up ball mechanism, the mechanism of falling the ball, and is moved to the appointed place in the control of control system.
Control system of the present invention comprises main processor modules and sub-processor module.The primary processor collection is also handled the image information in whole place, and carry out communication by wireless telecommunications and sub-processor module; The sub-processor module is installed on the mobile underlying carrier, gathers and handle the image information of subrange, carries out wireless telecommunications with main processor modules and mobile underlying carrier is controlled.Control system can also comprise the self-shield module, by detecting the break-make of current value control current supply circuit.
The automatic ball-picking robot that the present invention proposes has unit operation and two kinds of mode of operations of multimachine cooperation.When the place is less, the automatic ball-picking robot selectively operating is in the unit operation pattern, this moment, automatic ball-picking robot comprised single mobile underlying carrier, single charging device and control system, and described control system comprises single main processor modules, single sub-processor module and single self-shield module; When the place is big; the automatic ball-picking robot selectively operating is in the multimachine collaboration mode; described automatic ball-picking robot comprises a plurality of mobile underlying carriers, a plurality of charging device and control system, and described control system comprises single main processor modules, a plurality of sub-processor module and a plurality of self-shield module.
Pick up ball mechanism and the mechanism of falling the ball of the automatic ball-picking robot that the present invention proposes design at the ball of a certain volume, but are applicable to the ball of different volumes, and it is ball to be specially adapted to tennis, table tennis etc.The operation principle of picking up ball mechanism is similar to the waterwheel in ancient times, utilizes the rotation of picking up the ball brush, pushes pick up ball to the ball baffle plate, and the ball brush rotates and rising gradually along with picking up, and realizes picking up the ball function.As long as meet this principle, can realize picking up ball exercise and do, and be not limited to the shape of picking up ball mechanism, the mounting means of describing in this example.
The movement control mode of the automatic ball-picking robot that the present invention proposes adopts Differential Control, and the rotating speed of two driving wheels of control just can be realized the advance and retreat of mobile underlying carrier and turn to the control mode simple and flexible with turning to.The automatic ball-picking robot that the present invention proposes can also adopt other control mode to realize motion control, for example drive with direct current generator, by the steering wheel controlling party to control mode.
The invention allows for automatic ball-picking robot and finish the method for automatic ball-picking, comprise the step of the step of independently looking for ball, automatic ball-picking, independently fall the step of ball, the step of autonomous charging and the step of man-machine interaction.
The beneficial effect of the automatic ball-picking robot that the present invention proposes is that weight is little, capacity is big, motion is dexterous light, has compact and reasonable mechanical structure, characteristics such as practicality, stability, energy saving, economy and versatility are good, can replace manually finishing the ball work of picking up, pick up ball efficient height, intelligent height.
Concrete scheme of the present invention and advantage will partly further be set forth in the specific embodiment.
Description of drawings
Fig. 1 is the work design sketch (side-looking) of automatic ball-picking robot of the present invention.
Fig. 2 is the work design sketch (overlooking) of automatic ball-picking robot of the present invention.
Fig. 3 moves underlying carrier schematic diagram (side-looking) for automatic ball-picking robot of the present invention.
Fig. 4 moves underlying carrier schematic diagram (overlooking) for automatic ball-picking robot of the present invention.
Fig. 5 picks up ball structural scheme of mechanism (side-looking) for automatic ball-picking robot of the present invention.
Fig. 6 picks up ball structural scheme of mechanism (facing) for automatic ball-picking robot of the present invention.
Fig. 7 is the automatic ball-picking robot schematic diagram of falling the spherical structure of the present invention (facing).
Fig. 8 is the automatic ball-picking robot schematic diagram of falling the spherical structure of the present invention (side-looking).
Fig. 9 is an automatic ball-picking robot charging plug schematic diagram of the present invention.
Figure 10 is an automatic ball-picking robot charging device schematic diagram of the present invention (facing).
Figure 11 is an automatic ball-picking robot charging device schematic diagram of the present invention (overlooking).
Figure 12 is an automatic ball-picking robot control system schematic diagram of the present invention.
Each label is represented among the figure:
1, overall vision sensor 2, wireless communication module first 3, charging device
4, the place of falling the ball 5, local visual sensor 6, driving wheel
7, driven pulley 8, ball basket 9, control system box
10, charging plug 11, wireless communication module second 12, the ball motor that falls
13, pick up ball motor 14, human-computer interaction module 15, urgent button
16, pick up ball mechanism housing sidewall 17, pick up ball mechanism case top lid 18, pick up the ball baffle plate
19, pick up ball inlet 20, pick up ball outlet 21, pick up the ball brush
22, pick up ball driving shaft 23, ball basket sidewall 24, the blade of falling the ball
25, the driving shaft of falling the ball 26, ball basket ball hole 27, ball basket bottom surface
28, ball basket ball mouth 29, charging device main panel 30, charging device sidewall
31, charging device inlet 32, charging socket
The specific embodiment
The automatic ball-picking robot work design sketch that the present invention proposes as shown in Figure 1 and Figure 2, the job site of automatic ball-picking robot shown in the figure is the tennis court, but the running environment of the automatic ball-picking robot that the present invention proposes is not limited to the tennis court.As shown in Figure 1, ball work is being picked up by robot, and overall vision sensor (1) is erected at the top, place, and primary processor and wireless communication module first (2) are positioned over the next door in place.As shown in Figure 2, charging device (3), the place of falling the ball (4) of the automatic ball-picking robot of the present invention's proposition all are placed on the next door, place.Four robots shown in Fig. 2 move underlying carrier A, B, C, D work in the multimachine collaboration mode, and mobile underlying carrier A and B are in and pick up the ball duty, and what the line between ball and the ball was represented mobile underlying carrier picks up the course of action footpath; Mobile underlying carrier C charges; Mobile underlying carrier D is the work of falling the ball exercise.Automatic ball-picking robot has the unit operation two kinds of mode of operations of cooperating with multimachine, and automatic ball-picking robot shown in Figure 1 works in the multimachine collaboration mode, is suitable for the bigger condition in place; When the place was less, the automatic ball-picking robot selectively operating was in the unit operation pattern.
The automatic ball-picking robot that the present invention proposes comprises mobile underlying carrier, charging device (3) and control system, as Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11 and shown in Figure 12.Mobile underlying carrier of the present invention as shown in Figure 3, Figure 4, comprises and picks up ball mechanism, the mechanism of falling the ball and mobile platform.The described ball mechanism of picking up as Fig. 5, shown in Figure 6, comprises and picks up ball mechanism housing, picks up ball inlet (19), picks up ball outlet (20), picks up ball driving shaft (22), picks up ball brush (21) and pick up ball motor (13).The described ball mechanism housing of picking up comprises housing sidewall (16), case top lid (17) and picks up ball baffle plate (18).Pick up ball mechanism housing sidewall (16) for semicircle, housing sidewall (16) is vertically installed, and makes semicircular straight flange vertical ground; Case top lid (17) is an arc surface, and case top lid (17) is installed to sidewall camber line limit, lower edge from housing sidewall (16) peak; Picking up ball baffle plate (18) is arc surface, picking up ball baffle plate (18) installs to sidewall camber line limit, upper edge from housing sidewall (16) minimum point, the upper edge of picking up ball baffle plate (18) is than picking up the low Δ H in ball mechanism housing sidewall (16) center of circle, and Δ H value need be adjusted according to the volume of ball; Pick up ball mechanism case top lid (17) and pick up between the ball baffle plate (18) and export (20) for picking up ball inlet (19) and picking up ball; Picking up ball driving shaft (22) is installed in two and picks up between the ball mechanism housing sidewall (16), pick up the mounting points of ball driving shaft (22) on housing sidewall (16) and be positioned at the center of circle of housing sidewall, pick up ball driving shaft (22) and drive, can rotate around the sidewall center of circle by picking up ball motor (13); Pick up ball brush (21) and be installed in and pick up on the ball driving shaft (22), adjust the length of picking up ball brush (21) and make and pick up ball brush (21) and just in time contact and pick up ball baffle plate (18) inner surface; Pick up ball motor (13) and be equipped with reduction box and encoder, the mode by forward flange is installed in picks up on the ball mechanism housing sidewall (16).The described mechanism of falling the ball as Fig. 7, shown in Figure 8, comprises ball basket (8), the driving shaft of falling the ball (25), the blade of falling the ball (24) and the ball motor (12) that falls.Described ball basket (8) comprises ball basket ball hole (26), ball basket ball mouth (28) and ball basket bottom surface (27).It is characterized in that ball basket bottom surface (27) is downward-sloping to ball mouth (28) from ball basket ball hole (26), become the α angle with ground, the α angle value need be adjusted according to the volume of ball; The driving shaft of falling the ball (25) is installed in ball basket ball mouth (28) upper end, and between two ball basket sidewalls (23), the driving shaft of falling the ball (25) can the mounting points on sidewall be rotated by the driving of falling the ball motor (12); The blade of falling the ball (24) is installed on the driving shaft of falling the ball (25), and the area approximation of the blade of falling the ball (24) equals ball basket ball mouth (28) cross section, and the initial position of the blade of falling the ball (24) is position perpendicular to the ground, thereby ball basket outlet (28) is blocked; The ball motor (12) that falls is equipped with reduction box and encoder, is installed on the ball basket sidewall (23) by forward flange.Described mobile platform comprises the mobile platform main frame, driving wheel (6), driven pulley (7), drive motors, control system box (9) and charging plug (10).It is characterized in that the mobile platform main frame supports for each mechanism of system provides to install; Driving wheel (6) is installed in the mobile platform main frame front end left and right sides, is driven by drive motors; Driven pulley (7) is installed in the left and right sides, mobile platform main frame rear end, but optional turning only plays a supportive role; Drive motors is equipped with reduction box and encoder, is installed on the mobile platform main frame by forward flange; Control system box (9) is installed in ball basket (8) top, supports for part control system circuit provides to install, and the The whole control system box is equivalent to the loam cake of ball basket (8), The whole control system box (9) can be started during debugging, checks the internal state of ball basket (8); Charging plug (10) is installed on the panel that control system box (9) is in mobile underlying carrier afterbody one side.
Charging device of the present invention (3) as Figure 10, shown in Figure 11, comprises charging device main panel (29), charging device sidewall (30), charging device inlet (31) and charging socket (32), and charging device is installed in the next door in place.It is characterized in that charging device main panel (29) vertically installs, it is wide that width moves underlying carrier than mobile underlying carrier, and the wide amplitude that goes out is mainly determined according to the precision of image recognition; Charging device sidewall (30) is a broken line shape, is installed in the two ends, the left and right sides of charging device main panel (29); Charging device inlet (31) ecto-entad diminishes gradually, and the place is decreased to the main panel width in charging device sidewall (30) broken line flex point, inwardly no longer changes since then; Charging socket (32) divides positive and negative polarities, is installed on the charging device main panel (29), and setting height(from bottom) is consistent with the height of charging plug (10), and the sectional area of charging socket (32) is greater than the cross section of charging plug (10), to make things convenient for both butt joints.
Control system of the present invention as shown in figure 12, comprises main processor modules, sub-processor module and self-shield module.Described main processor modules comprises primary processor, overall vision sensor (1) and wireless communication module first (2).It is characterized in that overall vision sensor (1) is installed in the top, place, gathers the image information in whole place; Primary processor is installed in the next door in place, accepts and handle the image information output of overall vision sensor (1); Wireless communication module first (2) is installed in the next door, place, and primary processor carries out wireless telecommunications by wireless communication module first (2).Described sub-processor module is installed on the mobile underlying carrier, and the sub-processor module comprises sub-processor, local visual sensor (5), wireless communication module second (11), human-computer interaction module (14), power management module and motor driver.Described human-computer interaction module (14) comprises display screen, display driver, button and keystroke interface circuit.It is characterized in that local visual sensor (5) is installed in picks up on the ball mechanism case top lid (17), gathers the image information in the subrange of mobile underlying carrier the place ahead; Sub-processor is installed in the control system box (9), and sub-processor receives and handle the image output from local visual sensor (5); Wireless communication module second (11) is installed in control system box (9) upper top cover, and sub-processor carries out communication by wireless communication module second (11) and primary processor; Display screen is installed in the upper top cover of control system box (9); Display driver is installed in the control system box (9), and sub-processor is controlled display screen by display driver; Button is installed in control system box (9) upper top cover, and button links to each other with sub-processor by the keystroke interface circuit, and sub-processor is gathered keying input information; Power management module is installed in the control system box (9), and power management module links to each other with sub-processor, and charging plug (10) links to each other with battery by power management module, and power management module detects voltage between the charging plug constantly; Motor driver is installed in the control system box (9), motor driver and drive motors, picks up ball motor (13) and falls ball motor (12) and link to each other, and sub-processor is controlled the rotation of motor by motor driver.Described self-shield module comprises current-limiting protection circuit and urgent button (15).It is characterized in that current-limiting protection circuit is installed in the control system box (9), current-limiting protection circuit is connected in the powered battery loop, detects current value; Urgent button (15) is installed in control system box (9) upper top cover, is connected in the powered battery loop, can control the break-make of current supply circuit.
The movement control mode of the automatic ball-picking robot that the present invention proposes adopts Differential Control, control the rotating speed of two driving wheels (6) and turn to and just can realize the advance and retreat of mobile underlying carrier and turn to, for example, controlling two driving wheels (6) just changes with identical speed, can realize that mobile underlying carrier advances; Control two driving wheels (6) with identical speed counter-rotating, can realize that mobile underlying carrier retreats; Control left side driving wheel (6) rotating speed is greater than right side driving wheel (6), and mobile underlying carrier is realized turning right; Control right side driving wheel (6) rotating speed is greater than left side driving wheel (6), and mobile underlying carrier is realized.
The automatic ball-picking robot that the present invention proposes is finished the process of independently looking for the ball task and is: overall vision sensor (1) is gathered the image information in the whole field range, but primary processor moves the position of underlying carrier, the position of ball and the position of barrier according to global image information preliminary judgement, and the course of action footpath is picked up in planning then.In order to improve the discrimination of robot to ball, reduce the interference of similar shape or color object, local visual sensor (5) is gathered the image information in the subrange of mobile underlying carrier the place ahead simultaneously, sub-processor is to result the replenishing as global image information processing result of local image information, when both results match, sub-processor will be carried out the control command that primary processor sends; When both results misfit, sub-processor will send the major punishment signal to primary processor by wireless communication module second (11), primary processor handles and sends once more control command again to global image information, if still can not coincide, then send the major punishment signal once more, still can not coincide behind the triplicate, then think noise, abandon processing this point.
The process that the automatic ball-picking robot that the present invention proposes is finished the automatic ball-picking task is: when sub-processor is received the control command that primary processor sends, and when consistent with control command, control mobile underlying carrier and directly travel along the course of action of picking up of primary processor planning by sub-processor to the result of local image information for sub-processor.When showing, global image information picks up between ball mechanism and the object ball apart from starting distance less than picking up ball, and when topography's information is also found object ball, sub-processor is controlled mobile underlying carrier and is continued to advance by the direction of arrow among Fig. 5, control is picked up ball motor (13) and is rotated, the ball brush (21) of picking up that rotates rotates counterclockwise, the ball that ball inlet (19) is picked up in arrival is pushed into picks up ball baffle plate (18), that rotates picks up ball brush (21) and picks up ball baffle plate (18) formation with joint efforts, the ball of picking up ball brush (21) and picking up between the ball baffle plate (18) is constantly risen, ball reaches when picking up ball outlet (20), pick up the low Δ H in global shell sidewall (16) center of circle owing to pick up ball baffle plate (18) upper edge ratio, the ball brush (21) of picking up this moment tilts, so ball rolls out under the self gravitation effect and picks up ball mechanism.Mobile underlying carrier coverage goal ball position fully in global image information, and the ball in topography's information also disappears, primary processor thinks that this time picking up the ball task finishes, and will pick up the ball number and add one, begins the ball exercise of picking up of next object ball is done.
The process that the automatic ball-picking robot that the present invention proposes is finished the autonomous task of falling the ball is: when the primary processor record pick up the ball number near the capacity of ball basket (8) time, primary processor starts the independently program of falling the ball.Primary processor is determined mobile underlying carrier position, (4) position, the place of falling the ball and barrier position according to overall visual pattern information, and the planning footpath of falling the course of action makes mobile underlying carrier can arrive the place of falling the ball (4) in the fastest mode then.Primary processor guides mobile underlying carrier to arrive the place ahead, the place of falling the ball (4), adjust the direction of motion of mobile underlying carrier, make mobile underlying carrier afterbody aim at the place of falling the ball (4), sub-processor control is fallen ball motor (12) and is rotated counterclockwise then, as shown in Figure 8, the blade of falling the ball (24) upwards rotates the β angle from initial position, because the ball motor (12) that falls is furnished with encoder, therefore can control the slewing area of the blade of falling the ball (24) by the feedback of encoder, the β angle value need be determined according to the volume of ball.Because ball basket bottom surface (27) tilts, after the blade of falling the ball (24) turned to a high position, the ball in the ball basket (8) just fell into down ball (4) from ball basket ball mouth (28).Behind the no ball, the sub-processor control blade of falling the ball (24) is swung down to initial position, blocks ball basket ball mouth (28), finishes the task of falling the ball in the ball basket (8).
The process that the automatic ball-picking robot that the present invention proposes is finished autonomous charging operations is: power management module detects battery electric quantity constantly, in case find just to send the electric weight shortage signal when battery electric quantity is lower than a certain threshold value of specified electric quantity to sub-processor, sending the electric weight shortage signal, is to move to charging device (3) from the job site for mobile underlying carrier has sufficient electric weight.After primary processor is received the electric weight shortage signal that sub-processor sends, at first determine the position of mobile underlying carrier, the position and the barrier position of charging device (3) according to global image information, planning charging driving path makes mobile underlying carrier arrive charging device (3) with the fastest speed.That judges robot then picks up the ball job schedule, when mobile underlying carrier distance objective ball pick up ball start apart from the time, directly suspend the present ball work of picking up, drive towards charging device (3) then; If mobile underlying carrier distance objective ball smaller or equal to pick up ball start apart from the time, mobile underlying carrier is finished earlier and is this time picked up ball exercise and do, and then drives towards charging device (3).Mobile underlying carrier is at first adjusted the direction of motion after arriving charging device (3), make mobile underlying carrier afterbody aim at charging device inlet (31), reversing enters charging device (3) then, when charging plug (10) and charging socket (32) are stable dock after, power management module detects between the charging plug (10) and has voltage, just send to sub-processor and successfully dock signal, sub-processor is controlled mobile underlying carrier and is stopped to retreat, power management module control battery disconnects the current supply circuit of mobile underlying carrier, and with line connection between charging plug (10) and the battery plus-negative plate, beginning is charging automatically.Treat that battery is full of, power management module disconnects line between charging plug (10) and the battery plus-negative plate again, then battery is connected the current supply circuit of mobile underlying carrier, and mobile underlying carrier rolls charging device (3) away from, finishes autonomous charging task.
The human-computer interaction function of the automatic ball-picking robot that the present invention proposes is: the real-time display device people of sub-processor control display screen work state, information such as match score, race advance notice and weather forecast; People can inquire about the detailed operation parameter of robot by button, when the robot operation irregularity, can check the communication data of robot by this mode, and detail parameters such as control command are so that diagnose the system failure.
The self-protection function of the automatic ball-picking robot that the present invention proposes is: the current value of current-limiting protection circuit real-time detecting system current supply circuit, and when overcurrent condition occurring, current-limiting protection circuit will cut off current supply circuit, with the safety of protection system circuit; Can promptly stop the operation of mobile underlying carrier by urgent button (15), for example, in the mobile underlying carrier running, may bump with barrier or people, or mobile underlying carrier high speed disordered motion appears because of program error, this moment, the people can stop the operation of mobile underlying carrier by urgent button (15), ensured the safety of people and thing.
The invention is not restricted to this example, every mentality of designing of utilizing the design, the design of doing some simple change all should fall within protection scope of the present invention.

Claims (10)

1. an automatic ball-picking robot is characterized in that: comprise mobile underlying carrier, charging device (3) and control system; Ground ball is sought, discerned, collects to wherein mobile underlying carrier under the control of control system, the ball of collecting is transported and be poured onto the appointed place, and dock with charging device under the control in control system when electric weight is not enough and charge; The control system collection is also handled the image information in whole place, and controls mobile underlying carrier by wireless telecommunications and look for ball, pick up ball, fall ball and charging operations.
2, automatic ball-picking robot according to claim 1 is characterized in that: described control system comprises main processor modules and sub-processor module; The main processor modules collection is also handled the image information in whole place, and carry out communication by wireless telecommunications and sub-processor module; The sub-processor module is installed on the mobile underlying carrier, gathers and handle the image information of subrange, carries out wireless telecommunications with main processor modules and mobile underlying carrier is controlled.
3, automatic ball-picking robot according to claim 1 and 2, it is characterized in that: when automatic ball-picking robot works in the unit operation pattern, comprise single mobile underlying carrier, single charging device and control system, described control system comprises single main processor modules, single sub-processor module; When automatic ball-picking robot works in the multimachine collaboration mode, comprise a plurality of mobile underlying carriers, a plurality of charging device and control system, described control system comprises single main processor modules, a plurality of sub-processor module.
4, automatic ball-picking robot according to claim 3 is characterized in that: described mobile underlying carrier comprises picks up ball mechanism, the mechanism of falling the ball and mobile platform; Wherein, pick up ball mechanism and comprise that picking up ball brushes, picks up the ball baffle plate, by the rotation that the ball brush is picked up in control system control, push pick up ball to the ball baffle plate, and the ball brush rotates and rising gradually along with picking up, and realizes picking up the ball function; The mechanism of falling the ball pours out ball under the control of control system in the appointed place; Mobile platform provides to install and supports for picking up ball mechanism, the mechanism of falling the ball, and moves under the control of control system.
5, automatic ball-picking robot according to claim 4, it is characterized in that: the described ball mechanism of picking up comprises and picks up ball mechanism housing, picks up ball inlet (19), picks up ball outlet (20), picks up ball driving shaft (22), picks up ball brush (21) and pick up ball motor (13), wherein picks up ball mechanism housing and comprises housing sidewall (16), case top lid (17) and pick up ball baffle plate (18); Pick up ball mechanism housing sidewall (16) for semicircle, housing sidewall (16) is vertically installed, and makes semicircular straight flange vertical ground; Case top lid (17) is an arc surface, and case top lid (17) is installed to sidewall camber line limit, lower edge from housing sidewall (16) peak; Picking up ball baffle plate (18) is arc surface, picking up ball baffle plate (18) installs to sidewall camber line limit, upper edge from housing sidewall (16) minimum point, the upper edge of picking up ball baffle plate (18) is than picking up the low Δ H in ball mechanism housing sidewall (16) center of circle, and Δ H value need be adjusted according to the volume of ball; Pick up ball mechanism case top lid (17) and pick up between the ball baffle plate (18) and export (20) for picking up ball inlet (19) and picking up ball; Picking up ball driving shaft (22) is installed in two and picks up between the ball mechanism housing sidewall (16), pick up the mounting points of ball driving shaft (22) on housing sidewall (16) and be positioned at the center of circle of housing sidewall, pick up ball driving shaft (22) and drive, can rotate around the sidewall center of circle by picking up ball motor (13); Pick up ball brush (21) and be installed in and pick up on the ball driving shaft (22), adjust the length of picking up ball brush (21) and make and pick up ball brush (21) and just in time contact and pick up ball baffle plate (18) inner surface; Pick up ball motor (13) and be equipped with reduction box and encoder, the mode by forward flange is installed in picks up on the ball mechanism housing sidewall (16); The described mechanism of falling the ball comprises ball basket (8), the driving shaft of falling the ball (25), the blade of falling the ball (24) and the ball motor (12) that falls, and wherein ball basket (8) comprises ball basket ball hole (26), ball basket ball mouth (28) and ball basket bottom surface (27); Ball basket bottom surface (27) is downward-sloping to ball mouth (28) from ball basket ball hole (26), becomes the α angle with ground, and the α angle value need be adjusted according to the volume of ball; The driving shaft of falling the ball (25) is installed in ball basket ball mouth (28) upper end, and between two ball basket sidewalls (23), the driving shaft of falling the ball (25) can the mounting points on sidewall be rotated by the driving of falling the ball motor (12); The blade of falling the ball (24) is installed on the driving shaft of falling the ball (25), and the area approximation of the blade of falling the ball (24) equals ball basket ball mouth (28) cross section, and the initial position of the blade of falling the ball (24) is position perpendicular to the ground, thereby ball basket outlet (28) is blocked; The ball motor (12) that falls is equipped with reduction box and encoder, is installed on the ball basket sidewall (23) by forward flange; Described mobile platform comprises the mobile platform main frame, driving wheel (6), driven pulley (7), drive motors, control system box (9) and charging plug (10), and wherein the mobile platform main frame supports for each mechanism of system provides to install; Driving wheel (6) is installed in the mobile platform main frame front end left and right sides, is driven by drive motors; Driven pulley (7) is installed in the left and right sides, mobile platform main frame rear end, but optional turning only plays a supportive role; Drive motors is equipped with reduction box and encoder, is installed on the mobile platform main frame by forward flange; Control system box (9) is installed in ball basket (8) top, supports for part control system circuit provides to install, and the The whole control system box is equivalent to the loam cake of ball basket (8), The whole control system box (9) can be started during debugging, checks the internal state of ball basket (8); Charging plug (10) is installed on the panel that control system box (9) is in mobile underlying carrier afterbody one side.
6, automatic ball-picking robot according to claim 5, it is characterized in that: described charging device (3) comprises charging device main panel (29), charging device sidewall (30), charging device inlet (31) and charging socket (32), and charging device is installed in the next door in place; Charging device main panel (29) is vertically installed, and it is wide that width moves underlying carrier than mobile underlying carrier, and the wide amplitude that goes out is determined according to the precision of image recognition; Charging device sidewall (30) is a broken line shape, is installed in the two ends, the left and right sides of charging device main panel (29); Charging device inlet (31) ecto-entad diminishes gradually, and the place is decreased to the main panel width in charging device sidewall (30) broken line flex point, inwardly no longer changes since then; Charging socket (32) divides positive and negative polarities, is installed on the charging device main panel (29), and setting height(from bottom) is consistent with the height of charging plug (10), and the sectional area of charging socket (32) is greater than the cross section of charging plug (10), to make things convenient for both butt joints.
7, automatic ball-picking robot according to claim 6, it is characterized in that: described control system comprises main processor modules, sub-processor module and self-shield module, and wherein main processor modules comprises primary processor, overall vision sensor (1) and wireless communication module first (2); Overall situation vision sensor (1) is installed in the top, place, gathers the image information in whole place; Primary processor is installed in the next door in place, accepts and handle the image information output of overall vision sensor (1); Wireless communication module first (2) is installed in the next door, place, and primary processor carries out wireless telecommunications by wireless communication module first (2); Described sub-processor module is installed on the mobile underlying carrier, and the sub-processor module comprises sub-processor, local visual sensor (5), wireless communication module second (11), human-computer interaction module (14), power management module and motor driver; Described human-computer interaction module (14) comprises display screen, display driver, button and keystroke interface circuit, and local visual sensor (5) is installed in to be picked up on the ball mechanism case top lid (17), gathers the image information in the subrange of mobile underlying carrier the place ahead; Sub-processor is installed in the control system box (9), and sub-processor receives and handle the image output from local visual sensor (5); Wireless communication module second (11) is installed in control system box (9) upper top cover, and sub-processor carries out communication by wireless communication module second (11) and primary processor; Display screen is installed in the upper top cover of control system box (9); Display driver is installed in the control system box (9), and sub-processor is controlled display screen by display driver; Button is installed in control system box (9) upper top cover, and button links to each other with sub-processor by the keystroke interface circuit, and sub-processor is gathered keying input information; Power management module is installed in the control system box (9), and power management module links to each other with sub-processor, and charging plug (10) links to each other with battery by power management module, and power management module detects voltage between the charging plug constantly; Motor driver is installed in the control system box (9), motor driver and drive motors, picks up ball motor (13) and falls ball motor (12) and link to each other, and sub-processor is controlled the rotation of motor by motor driver; Described self-shield module comprises current-limiting protection circuit and urgent button (15), is that current-limiting protection circuit is installed in the control system box (9), and current-limiting protection circuit is connected in the powered battery loop, detects current value; Urgent button (15) is installed in control system box (9) upper top cover, is connected in the powered battery loop, can control the break-make of current supply circuit.
8, automatic ball-picking robot according to claim 7 is characterized in that: control system is controlled mobile underlying carrier and is looked for ball, picks up ball, falls the method for ball and charging operations and comprise:
1) control system is controlled mobile underlying carrier and finished and independently look for the step of ball ball task to be: overall vision sensor (1) is gathered the image information in the whole field range, primary processor moves the position of underlying carrier, the position of ball and the position of barrier according to global image information preliminary judgement, and the course of action footpath is picked up in planning then; Local visual sensor (5) is gathered the image information in the subrange of mobile underlying carrier the place ahead simultaneously, sub-processor is to result the replenishing as global image information processing result of local image information, when both results matched, sub-processor was carried out the control command that primary processor sends; When both results misfit, sub-processor sends the major punishment signal by wireless communication module second (11) to primary processor, primary processor handles and sends once more control command again to global image information, if still can not coincide, then send the major punishment signal once more, still can not coincide behind the triplicate, then think noise, abandon processing this point;
2) control system is controlled mobile underlying carrier and is finished the step of automatic ball-picking task and be: when sub-processor is received the control command that primary processor sends, and when consistent with control command, control mobile underlying carrier and directly travel along the course of action of picking up of primary processor planning by sub-processor to the result of local image information for sub-processor; When showing, global image information picks up between ball mechanism and the object ball apart from starting distance less than picking up ball, and when topography's information is also found object ball, sub-processor is controlled mobile underlying carrier and is moved on, and ball motor (13) rotation is picked up in control, picking up ball brush (21) rotates counterclockwise, the ball that ball inlet (19) is picked up in arrival is pushed into picks up ball baffle plate (18), that rotates picks up ball brush (21) and picks up ball baffle plate (18) formation with joint efforts, the ball of picking up ball brush (21) and picking up between the ball baffle plate (18) is constantly risen, ball reaches when picking up ball outlet (20), pick up the low Δ H in global shell sidewall (16) center of circle owing to pick up ball baffle plate (18) upper edge ratio, the ball brush (21) of picking up this moment tilts, so ball rolls out under the self gravitation effect and picks up ball mechanism; Mobile underlying carrier coverage goal ball position fully in global image information, and the ball in topography's information also disappears, primary processor thinks that this time picking up the ball task finishes, and will pick up the ball number and add one, begins next object ball carried out to pick up ball exercise and do;
3) control system is controlled mobile underlying carrier and is finished the step of the autonomous task of falling the ball and be: when the primary processor record pick up the ball number near the capacity of ball basket (8) time, primary processor starts the independently program of falling the ball; Primary processor is determined mobile underlying carrier position, (4) position, the place of falling the ball and barrier position according to overall visual pattern information, and the planning footpath of falling the course of action makes mobile underlying carrier can arrive the place of falling the ball (4) in the fastest mode then; Primary processor guides mobile underlying carrier to arrive the place ahead, the place of falling the ball (4), adjust the direction of motion of mobile underlying carrier, make mobile underlying carrier afterbody aim at the place of falling the ball (4), sub-processor control is fallen ball motor (12) and is rotated counterclockwise then, the blade of falling the ball (24) upwards rotates the β angle from initial position, because the ball motor (12) that falls is furnished with encoder, therefore can control the slewing area of the blade of falling the ball (24) by the feedback of encoder, the β angle value need be determined according to the volume of ball; Because ball basket bottom surface (27) tilts, after the blade of falling the ball (24) turned to a high position, the ball in the ball basket (8) just fell into down ball (4) from ball basket ball mouth (28); Behind the no ball, the sub-processor control blade of falling the ball (24) is swung down to initial position, blocks ball basket ball mouth (28), finishes the task of falling the ball in the ball basket (8);
4) control system is controlled mobile underlying carrier and finished the step of autonomous charging task and be: power management module detects battery electric quantity constantly, in case find just to send the electric weight shortage signal when battery electric quantity is lower than a certain threshold value of specified electric quantity, so that mobile underlying carrier has sufficient electric weight to move to charging device (3) from the job site to sub-processor; After primary processor is received the electric weight shortage signal that sub-processor sends, at first determine the position of mobile underlying carrier, the position and the barrier position of charging device (3) according to global image information, planning charging driving path, make mobile underlying carrier arrive charging device (3) with the fastest speed, that judges robot then picks up the ball job schedule, when mobile underlying carrier distance objective ball pick up ball start apart from the time, directly suspend the present ball work of picking up, drive towards charging device (3) then; If mobile underlying carrier distance objective ball smaller or equal to pick up ball start apart from the time, mobile underlying carrier is finished earlier and is this time picked up ball exercise and do, and then drives towards charging device (3); Mobile underlying carrier is at first adjusted the direction of motion after arriving charging device (3), make mobile underlying carrier afterbody aim at charging device inlet (31), reversing enters charging device (3) then, when charging plug (10) and charging socket (32) are stable dock after, power management module detects between the charging plug (10) and has voltage, just send to sub-processor and successfully dock signal, sub-processor is controlled mobile underlying carrier and is stopped to retreat, power management module control battery disconnects the current supply circuit of mobile underlying carrier, and with line connection between charging plug (10) and the battery plus-negative plate, beginning is charging automatically, treat that battery is full of, power management module disconnects line between charging plug (10) and the battery plus-negative plate again, then battery is connected the current supply circuit of mobile underlying carrier, mobile underlying carrier rolls charging device (3) away from, finishes autonomous charging task.
9. automatic ball-picking robot according to claim 7 is characterized in that: control system is controlled the method that mobile underlying carrier carries out man-machine interaction and is: the real-time display device people of the sub-processor control display screen state of working; People when the robot operation irregularity, check the detail parameters of robot by this mode, so that the system failure is diagnosed by the detailed operation parameter of button inquiry robot.
10. automatic ball-picking robot according to claim 7, it is characterized in that: control system realizes that the method for self-protection function is: the current value of current-limiting protection circuit real-time detecting system current supply circuit, when overcurrent condition occurring, current-limiting protection circuit cuts off current supply circuit, with the safety of protection system circuit; Can promptly stop the operation of robot by urgent button (15).
CN2008101832334A 2008-12-12 2008-12-12 Automatic ball-picking robot Expired - Fee Related CN101579857B (en)

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