CN101837588A - Intelligent ball collecting robot - Google Patents
Intelligent ball collecting robot Download PDFInfo
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- CN101837588A CN101837588A CN200910047811A CN200910047811A CN101837588A CN 101837588 A CN101837588 A CN 101837588A CN 200910047811 A CN200910047811 A CN 200910047811A CN 200910047811 A CN200910047811 A CN 200910047811A CN 101837588 A CN101837588 A CN 101837588A
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Abstract
The invention discloses an intelligent ball collecting robot, which comprises a ball suction device, a ball lifting and storing device, a mechanical arm device and a remote controller, wherein the remote controller sends a wireless signal and controls the ball suction device, the ball lifting and storing device and the mechanical arm device by wireless signals. The device of the invention has the advantages of simple structure, simple and convenient operation, quick ball suction, high efficiency, easy promotion and labor conservation, and can be directly used for cleaning race courses, teaching, entertainment, robot demonstration and the like.
Description
Technical field
The present invention relates to a kind of robot, relate in particular to a kind of intelligent ball collecting robot.
Background technology
Robot independently accomplishes a task, and its necessity shows especially in people's life production process just day by day.And robot can position accurately, and in certain scope lock onto target fast, also become urgent problem in the robot development.In order better to finish the work, also be unable to do without accurate control.Simultaneously, in present various little ball sports tournaments, for example table tennis, tennis etc., people can often see that the other staff in court is with in the admission of paces race fast, the ball of hitting down is picked up away, and it not only influences the process of match, has also consumed the manpower of part.How robot is used on the competition field, having become more and more is worth the content of exploratory development.
Summary of the invention
The object of the present invention is to provide a kind of intelligent ball collecting robot, by controlling this robot, the ball of hitting down in the court on ground can be collected, and can classify according to the different colours of ball.
Above-mentioned purpose of the present invention is to be achieved through the following technical solutions: a kind of intelligent ball collecting robot, comprise and inhale ball device, lifting and deposit ball device, mechanical gripping arm device and remote controller, wherein, described remote controller sends wireless signal and controls described suction ball device, lifting and deposit ball device, mechanical gripping arm device by wireless signal.
Above-mentioned intelligent ball collecting robot, wherein, described suction ball device comprises gear, crawler belt, band, motor and support bar, described gear is installed in the two ends of support bar respectively, and described crawler belt is installed on the gear, and the size of crawler belt and the size of gear are complementary, some bands are installed on the crawler belt, described motor is installed on the support bar of robot front end, and this motor is connected with gear by electric wire, the rotation of motor driving gear.
Above-mentioned intelligent ball collecting robot, wherein, described band is a nylon material.
Above-mentioned intelligent ball collecting robot wherein, has some apertures on the described crawler belt, be spaced apart 2 centimetres between two apertures, and band places aperture.
Above-mentioned intelligent ball collecting robot, wherein, certain inclination angle that described suction ball device and ground form, this angle is between 45 degree are spent to 80.
Above-mentioned intelligent ball collecting robot, wherein, described lifting and deposit ball device and comprise lifting support, supporting plate, some metallic rod and lifting control processor, described lifting control processor is installed on the base plate of robot, be connected with lifting support by electric wire, described some metallic rod are positioned on the supporting plate.
Above-mentioned intelligent ball collecting robot, wherein, the material of described supporting plate is a lucite.
Above-mentioned intelligent ball collecting robot, wherein, the mechanical gripping arm device comprises gripper, control processor and expansion link, described control processor is installed in the front end of expansion link, described gripper is installed in control processor below, by the length of control processor control expansion link and the pick-and-place time of gripper.
Above-mentioned intelligent ball collecting robot wherein, comprises that further robot moves driving governor, and described robot moves the bottom that driving governor is installed in dolly, controls moving of dolly.
Above-mentioned intelligent ball collecting robot wherein, further comprises a camera, and described camera is installed in the top of gripper, is connected with the control processor, and described control processor adopting HSV color space model is compared color.
Owing to adopted said structure, the present invention's advantage compared to existing technology is: this intelligent ball collecting robot, and simple in structure, easy and simple to handle, cost of manufacture is low, saves manpower, and the speed of inhaling ball is fast, the efficient height.
Description of drawings
Fig. 1 is the structural representation of intelligent ball collecting robot of the present invention.
Fig. 2 is the suction ball device and the lifting of intelligent ball collecting robot of the present invention and the plan structure schematic diagram of depositing ball device.
The specific embodiment
The present invention will be described in more detail below in conjunction with accompanying drawing:
As shown in Figure 1, intelligent ball collecting robot comprises to be inhaled ball device, lifting and deposits ball device, mechanical gripping arm device and remote controller, and remote controller is inhaled ball device, lifting and deposited ball device, mechanical gripping arm device by wireless signal control.Inhale ball device and comprise gear 1, crawler belt 2, band 3, motor 4 and support bar, gear 1 is installed in the two ends of support bar respectively, crawler belt 2 is installed on the gear 1, the size of the size of crawler belt 2 and gear 1 is complementary, some bands 3 are installed on the crawler belt 2, and described motor 4 is installed on the support bar of robot front end, and motor 4 is connected with gear 1 by electric wire, the rotation of motor 4 driven gears 1, band 3 is a nylon material.Some apertures are arranged on the crawler belt 2, be spaced apart 2 centimetres between two apertures, band 3 places aperture.Inhale certain inclination angle that ball device and ground form, this angle is between 45 degree are spent to 80.Lifting and deposit ball device and comprise lifting support 7, supporting plate 8, some metallic rod 9 and lifting control processor 5, lifting control processor 5 is installed on the base plate of robot, be connected with lifting support 7 by electric wire, described some metallic rod 9 are positioned on the supporting plate 8, and the material of supporting plate 8 is a lucite.The mechanical gripping arm device comprises gripper 6, control processor 10 and expansion link 11, control processor 10 is installed in the front end of expansion link 11, gripper 6 is installed in control processor 10 belows, by the length of control processor 10 control expansion links 11 and the pick-and-place time of gripper 6.Intelligent robot comprises that further robot moves driving governor 10, and robot moves the bottom that driving governor 10 is installed in dolly, controls moving of dolly.Camera 12 is installed above gripper 6, is connected with control processor 10, control processor 10 adopts HSV color space model to compare color.Inhaling ball device and lifting and depositing has certain space between ball device, this pore size is determined that by inhaling angle of inclination and lifting that ball device and ground forms and the height of depositing ball device maximum can not be above the diameter of inhale ball.Lifting and the height of depositing ball device will be lower than the height of inhaling ball device.Simultaneously, crawler belt passes on direction for rotating counterclockwise.Remote controller sends to motor 4, lifting controller 5 and control processor 10 by wireless signal respectively with different instructions, and after motor 4 received command signal, the velocity of rotation according to instruction control crawler belt 2 reached the angle of inclination that suction ball device and ground form.After lifting controller 5 receives command signal, height according to instruction control lifting support 7, after control processor 10 receives command signal, length and orientation according to instruction control expansion link 11, and the pick-and-place time of control gripper 6, give camera 12 instructions simultaneously, allow the color of the object (present embodiment refers to ball) that camera 12 absorbs, and convert color to data signal by optical signal, carry out the comparison of color with the HSV color space model of 10 li of control processors, come to send signal to gripper 6 with this.
As shown in Figure 2, the present invention inhale automatically in the ball device adsorbent equipment and the plan structure schematic diagram of lowering or hoisting gear, in the drawings, some apertures are uniformly distributing on the crawler belt 2, spacing distance between aperture and the aperture is 2 centimetres, band 3 places aperture, and can adjust the density of band 3 on crawler belt 2 according to the demand of reality.If in the time of should automatically inhaling ball device and be used for tennis tournament, the diameter of considering tennis is generally at 6.5 centimetres, we just at interval an aperture band 3 is installed, the intervals in the middle of per like this two bands 3 just are 4 centimetres.If in the time of should automatically inhaling ball device and be used for ping-pong contest, generally between 3-4 centimetre, we can install band 3 to the diameter of considering table tennis on each aperture.On supporting plate 8, the some apertures of evenly spaced distribution on 3 limits are arranged, metallic rod 9 is installed on each aperture, supporting plate 8 is not provided with aperture towards that limit of adsorbent equipment, and metallic rod 9 need not be installed, the purpose that metallic rod 9 is installed is to allow supporting plate 8 and the metallic rod on it 9 form a frame, is used to take in the good ball of absorption, and the width of supporting plate 9 is wideer than the width of crawler belt 2.
The operation principle of intelligent ball collecting robot of the present invention is, remote controller sends to motor 4 by wireless signal respectively with different instructions, lifting controller 5 and control processor 10, robot moves driving governor 10 control robots and moves, the rotation of motor 4 drives crawler belt 2 and rotates, when running into ground ball, because the diameter of ball is bigger than the width of adjacent two bands 3, band 3 embeds ball wherein, send by crawler belt 2 bands, motion counterclockwise, when moving to supporting plate 8 tops, because the interval between supporting plate 8 and the crawler belt 2 is less than the diameter of ball, thereby ball blocked by supporting plate 8, and this moment is owing to during crawler belt 2 continues to pass on, the softness of band 3, just in time the ball let-down is put on the supporting plate 8, owing to have metallic rod 9 to enclose on the supporting plate 8, so ball places and is difficult for landing on the supporting plate 8, should inhale ball device automatically and just finish the action of once inhaling ball, and can move driving governor 10 controls by robot and go to next ball point to continue to inhale ball.Robot by camera analysis and contrast, puts into the ball of the different colours on the supporting plate 8 basket of respective color for the color of the ball of having picked up by gripper 6.After finishing above-mentioned task, whether robot can have the ball that misplaces in each basket of automatic inspection, is corrected if any misplacing then.
Advantage of the present invention has: at the ball that distinguishes different colours by vision technique, put it in the different baskets, thereby reach the purpose of timely control.And this machine for ball scattered on the ground to pick up efficient also very high.Also adopt HSV color space model, improved the accuracy rate of identification; Image is carried out the processing of vectorization, can be so that remote transmission from now on; Improve the colour code algorithm.And ball efficient height is picked up by robot.
Apparatus structure of the present invention is simple, and is easy and simple to handle, and suction ball speed is fast, and the efficient height is easily promoted, and saves manpower, can be directly used in purposes such as competition field cleaning, teaching, amusement, robotic presentation.
Claims (10)
1. intelligent ball collecting robot, comprise and inhale ball device, lifting and deposit ball device, mechanical gripping arm device and remote controller, it is characterized in that described remote controller sends wireless signal and controls described suction ball device, lifting and deposit ball device, mechanical gripping arm device by wireless signal.
2. intelligent ball collecting robot as claimed in claim 1, it is characterized in that, described suction ball device comprises gear (1), crawler belt (2), band (3), motor (4) and support bar, described gear (1) is installed in the two ends of support bar respectively, described crawler belt (2) is installed on the gear (1), the size of the size of crawler belt (2) and gear (1) is complementary, some bands (3) are installed on the crawler belt (2), described motor (4) is installed on the support bar of robot front end, described motor (4) is connected with gear (1) by electric wire, the rotation of motor (4) driven gear (1).
3. intelligent ball collecting robot as claimed in claim 2 is characterized in that, described band (3) is a nylon material.
4. intelligent ball collecting robot as claimed in claim 2 is characterized in that, described crawler belt has some apertures on (2), is spaced apart 2 centimetres between two apertures, and band (3) places aperture.
5. intelligent ball collecting robot as claimed in claim 1 is characterized in that, certain inclination angle that described suction ball device and ground form, and this angle is between 45 degree are spent to 80.
6. intelligent ball collecting robot as claimed in claim 1, it is characterized in that, described lifting and deposit ball device and comprise lifting support (7), supporting plate (8), some metallic rod (9) and lifting control processor (5), described lifting control processor (5) is installed on the base plate of robot, be connected with lifting support (7) by electric wire, described some metallic rod (9) are positioned on the supporting plate (8).
7. intelligent ball collecting robot as claimed in claim 6 is characterized in that, the material of described supporting plate (8) is a lucite.
8. intelligent ball collecting robot as claimed in claim 1, it is characterized in that, the mechanical gripping arm device comprises gripper (6), control processor (10) and expansion link (11), described control processor (10) is installed in the front end of expansion link (11), described gripper (6) is installed in control processor (10) below, by the length of control processor (10) control expansion link (11) and the pick-and-place time of gripper (6).
9. intelligent ball collecting robot as claimed in claim 1 is characterized in that, comprises that further robot moves driving governor (10), and described robot moves the bottom that driving governor (10) is installed in dolly, controls moving of dolly.
10. intelligent ball collecting robot as claimed in claim 1, it is characterized in that, further comprise a camera (12), described camera (12) is installed in the top of gripper (6), be connected with control processor (10), described control processor (10) adopts HSV color space model to compare color.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910047811A CN101837588A (en) | 2009-03-19 | 2009-03-19 | Intelligent ball collecting robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910047811A CN101837588A (en) | 2009-03-19 | 2009-03-19 | Intelligent ball collecting robot |
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| CN101837588A true CN101837588A (en) | 2010-09-22 |
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| CN200910047811A Pending CN101837588A (en) | 2009-03-19 | 2009-03-19 | Intelligent ball collecting robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345252A (en) * | 2013-07-15 | 2013-10-09 | 兰州理工大学 | Intelligent ball-picking robot system and ball-picking method thereof |
| CN106183946A (en) * | 2016-07-14 | 2016-12-07 | 安徽状元郎电子科技有限公司 | A kind of electric transportation lorry with Multi Loading and Unloading Functions |
| CN106377882A (en) * | 2016-12-07 | 2017-02-08 | 浙江欧帝尔体育用品有限公司 | Tennis ball classifying machine |
| CN107225554A (en) * | 2017-06-19 | 2017-10-03 | 汤在英 | A kind of intelligent patrol detection equipment for photovoltaic power generation apparatus maintenance work |
| CN107224711A (en) * | 2017-07-31 | 2017-10-03 | 泉州市泉港智源商贸有限公司 | A kind of ball picking robot with different ball classification features based on Internet of Things |
| CN108525232A (en) * | 2018-04-08 | 2018-09-14 | 浙江工贸职业技术学院 | A kind of table tennis balls collecting machine people |
| CN110075502A (en) * | 2019-05-17 | 2019-08-02 | 沈阳航空航天大学 | Based on the golf range working robot of Global localization system and control method |
| CN112171686A (en) * | 2020-09-18 | 2021-01-05 | 武汉大学 | Intelligent experiment robot based on self-learning system |
| US11202545B2 (en) | 2018-10-04 | 2021-12-21 | Toyota Research Institute, Inc. | Lifting robot devices, systems, and methods |
-
2009
- 2009-03-19 CN CN200910047811A patent/CN101837588A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345252A (en) * | 2013-07-15 | 2013-10-09 | 兰州理工大学 | Intelligent ball-picking robot system and ball-picking method thereof |
| CN106183946B (en) * | 2016-07-14 | 2018-10-02 | 安徽状元郎电子科技有限公司 | A kind of electric transportation lorry with Multi Loading and Unloading Functions |
| CN106183946A (en) * | 2016-07-14 | 2016-12-07 | 安徽状元郎电子科技有限公司 | A kind of electric transportation lorry with Multi Loading and Unloading Functions |
| CN106377882A (en) * | 2016-12-07 | 2017-02-08 | 浙江欧帝尔体育用品有限公司 | Tennis ball classifying machine |
| CN106377882B (en) * | 2016-12-07 | 2019-03-29 | 浙江欧帝尔体育用品有限公司 | Tennis classifier |
| CN107225554A (en) * | 2017-06-19 | 2017-10-03 | 汤在英 | A kind of intelligent patrol detection equipment for photovoltaic power generation apparatus maintenance work |
| CN107225554B (en) * | 2017-06-19 | 2020-07-14 | 中电投宣化新能源发电有限公司 | Intelligent inspection equipment for maintenance work of photovoltaic power generation device |
| CN107224711B (en) * | 2017-07-31 | 2018-11-09 | 泉州市泉港智源商贸有限公司 | A kind of ball picking robot with different ball classification features based on Internet of Things |
| CN107224711A (en) * | 2017-07-31 | 2017-10-03 | 泉州市泉港智源商贸有限公司 | A kind of ball picking robot with different ball classification features based on Internet of Things |
| CN108525232A (en) * | 2018-04-08 | 2018-09-14 | 浙江工贸职业技术学院 | A kind of table tennis balls collecting machine people |
| US11202545B2 (en) | 2018-10-04 | 2021-12-21 | Toyota Research Institute, Inc. | Lifting robot devices, systems, and methods |
| CN110075502A (en) * | 2019-05-17 | 2019-08-02 | 沈阳航空航天大学 | Based on the golf range working robot of Global localization system and control method |
| CN110075502B (en) * | 2019-05-17 | 2024-02-13 | 沈阳航空航天大学 | Golf driving range working robot based on global positioning system and control method |
| CN112171686A (en) * | 2020-09-18 | 2021-01-05 | 武汉大学 | Intelligent experiment robot based on self-learning system |
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Application publication date: 20100922 |