CN102614641A - Intelligent integrated tennis ball picking robot - Google Patents
Intelligent integrated tennis ball picking robot Download PDFInfo
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- CN102614641A CN102614641A CN2012100680932A CN201210068093A CN102614641A CN 102614641 A CN102614641 A CN 102614641A CN 2012100680932 A CN2012100680932 A CN 2012100680932A CN 201210068093 A CN201210068093 A CN 201210068093A CN 102614641 A CN102614641 A CN 102614641A
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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 continuous development of Chinese national economy, we have had increasing tennis court at one's side in recent years, also have increasing people to like to have gone up this motion of tennis, and tennis has entered in the middle of everybody life as a kind of motion of fashion.Therefore but the process of picking up tennis can consume a large amount of muscle power of sportsman and energy, designs such intelligent integral and picks up the tennis robot and have very important significance.
At present existing technical schemes, conclude and mainly be divided into following four types:
The first kind is the ball machine of picking up of hand propelled.Like the patent No. is CN200520059678.3, CN200820208298.5, CN200920151753.7, CN201010128641.7, CN200920090792.0.These type of works need push away car by the people and remove to pick up ball, no intelligent apparatus.
Second type is the ball machine of picking up of electronic control.Like patent No. CN2000910047811.6, CN200910304958.9, CN200820042478.0, CN201010193232.5.These type of works need be controlled to accomplish and pick up ball, no intelligent apparatus by the people.
Pick up the ball car for automatic control for the 3rd type.Like patent No. CN200710190398.X.These type of works can only be picked up a ball at every turn, and efficient is lower.And do not keep away the people and keep away barrier and wait some basic controls, only for being used for experiment, intelligent relatively poor.
The 4th type is based on the robot that uses under the overall control of host computer and place camera.Like patent No. CN200810188136.4, CN200810183233.4.This type of control of works mode 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, and changing the place just can't work, and independence is relatively poor.
Summary of the invention
The present invention will propose a kind of need not to rely on external communication and place camera; Through self camera can autonomous classification and the intelligent integral of collecting field ground tennis pick up the tennis robot; The mode that this robot method of operation can be a unit operation also can be the mode of multi-machine collaborative, and once can pick up a plurality of balls, can store tens balls; Have very high efficient, and can effective recognition with hide all barriers that comprise wall and people.
Technical scheme of the present invention is: a kind of intelligent integral is picked up the tennis robot; By Information Acquisition System, control system, executive system; Mobile vehicle and pick device are formed; Be characterized in: Information Acquisition System comprises camera, Infrared Detectors, ultrasonic ranging device, and wherein: camera is used for taking continuously the place picture, and Infrared Detectors is used for induction sphere in the inner position of mobile vehicle; The ultrasonic ranging device is used for responding to the preceding barrier of mobile vehicle; The 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 through image processing module, and the place picture data signal of taking continuously is transferred to the control system, and Infrared Detectors is connected with overall control module respectively with the ultrasonic ranging device; Ball is transferred to the control system in the position of mobile vehicle inside and the obstacle information data-signal before the mobile vehicle; After the control system handles and analyzes data, export control signal respectively and give the motor drive module in the executive system, motor drive module connects wheel electrical machine respectively; Pick up ball motor and dial ball motor; Be used for drive wheels motor respectively, pick up ball motor and dial ball motor, make the action of mobile vehicle and pick device.
Mobile vehicle is formed by picking up ball mechanism housing, Chu Qiuqi, control system rest platform, wheel electrical machine, driving wheel and directive wheel; Pick up ball mechanism housing front portion and be provided with Chu Qiuqi, pick device is equipped with at the rear portion, and the ball system of dialling is equipped with at the middle part; Be provided with control system rest platform above the pick device; Pick up ball mechanism housing bottom front end both sides a directive wheel is housed respectively, the both sides, rear end are equipped with a wheel electrical machine and driving wheel respectively, pick up on the ball mechanism housing front end face ultrasonic ranging device is housed; Camera is housed above, on the control system rest platform speed regulation module and motor drive module is housed.
Pick up ball mechanism housing and comprise housing antetheca, housing sidewall, housing rear wall, housing top cover, central supporting walls and central gripper shoe; Wherein, The housing antetheca is vertically installed; Housing sidewall is vertically installed and perpendicular to the housing antetheca; And make the interval of housing sidewall lowest part than the low ball of housing antetheca lowest part, and the housing rear wall is installed on picks up ball mechanism housing tail end, and central supporting walls is installed on whole 1/5th places, ball mechanism housing rear end of picking up; Central authorities' gripper shoe horizontal setting is connected to the housing rear wall from central supporting walls, and the housing top cover is installed until blocking the whole latter half of picking up ball mechanism housing to forward position sidewall edge line along the last peak of housing sidewall.
Storage ball device comprises storage ball base plate and storage ball rear wall; Storage ball base plate, storage ball rear wall, body antetheca are formed a storage ball device with organism sidewall in the whole ball mechanism housing front side of picking up.
Pick device is by picking up the ball system and dialling the ball system and form, pick up the ball system comprise pick up ball motor, sprocket wheel, chain, connection with securing member, pick up the ball frame and pick up the ball rubber band; Dial the 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 gripper shoe 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, picks up the front side that the ball frame is positioned at central supporting walls, will pick up the ball frame through securing member and be connected with chain; Pick up ball rubber band distance and be installed in the ten ball frames, group ball motor is installed on central supporting walls top and is connected with dialling the ball plate through flange.
Be connected with the speed regulation module between overall control module and the motor drive module.
Intelligent integral is picked up the tennis robot and also is provided with radio receiving transmitting module, radio receiving transmitting module and overall control module be connected, exchange with other child robot through radio receiving transmitting module.
The invention has the beneficial effects as follows:
Mobile vehicle of the present invention mainly is responsible for the framework that device is settled that is displaced into of car body.Pick up the ball system and be used to pick up tennis, dial the ball system and be used for putting into storage ball device to the ball of picking up.Camera is used for continuous shooting place picture, sends into the control system.Infrared Detectors is used for the position of induction sphere at machine intimate.Whether the 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 that proposes has multiple: 1, many robots can delimit and pick up the ball zone separately generally speaking, to reduce long-distance hurrying back and forth.When 2, around robot finds, a lot of tennis being arranged and when not having tennis around another discovery, can call through radio receiving transmitting module.Above processing is all accomplished in the program control system of robot.
The present invention has that storage ball ability is big, to pick up ball efficient high; Can not rely on the equipment beyond the robot, capacity of will is strong; All be suitable in any place, adaptive capacity is strong; Have and keep away barrier, multi-machine collaborative function, intelligent degree is high.
Description of 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 vertical view;
Fig. 3 is the front view that intelligent integral of the present invention is picked up the tennis robot;
Fig. 4 is the back cutaway view that intelligent integral of the present invention is picked up the tennis robot;
Fig. 5 is the rearview that intelligent integral of the present invention is picked up the tennis robot;
Fig. 6 is the left view that intelligent integral of the present invention is picked up the tennis robot;
Fig. 7 is the left cutaway view that intelligent integral of the present invention is picked up the tennis robot;
Fig. 8 be intelligent integral of the present invention pick up the tennis robot pick up ball rubber band floor map;
Fig. 9 be intelligent integral of the present invention pick up the tennis robot dial ball equalize the face sketch map this;
Figure 10 is the ball process of the picking up sketch map that intelligent integral of the present invention is picked up the tennis robot;
Figure 11 is that a basket process sketch map is gone in the batting that intelligent integral of the present invention is picked up the tennis robot;
Figure 12 is that intelligent integral of the present invention is picked up tennis ROBOT CONTROL system schematic;
Figure 13 is the infrared probe work sketch map that intelligent integral of the present invention is picked up the tennis robot.
The specific embodiment
To shown in Figure 13, intelligent integral of the present invention is picked up the tennis robot, comprises mobile vehicle, pick device, Information Acquisition System, control system, executive system, circuit module like Fig. 1.
Information Acquisition System comprises camera 22, Infrared Detectors, ultrasonic ranging device 23, and wherein: camera 22 is used for taking continuously the place picture, and Infrared Detectors is used for induction sphere in the inner position of mobile vehicle; Ultrasonic ranging device 23 is used for responding to the preceding barrier of mobile vehicle; The 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 through image processing module 28; The place picture data signal of taking continuously is transferred to the control system; Infrared Detectors is connected with overall control module 27 respectively with ultrasonic ranging device 23, ball is transferred to the control system in the position of mobile vehicle inside and the obstacle information data-signal before the mobile vehicle, after the control system handles and analyzes data; Export control signal respectively and give the motor drive module 32 in the executive system; Motor drive module 32 connects wheel electrical machine 1 respectively, picks up ball motor 13 and dials ball motor 19, is used for drive wheels motor 1 respectively; Pick up ball motor 13 and dial ball motor 19, make the action of mobile vehicle and pick device.And totally control module 27 is connected with radio receiving transmitting module 30, exchanges with other child robot through radio receiving transmitting module 30.
To shown in Figure 6, mobile vehicle comprises picks up ball mechanism housing, Chu Qiuqi, ball guiding sidewall, control system rest platform 12, wheel electrical machine 1, driving wheel 2 and directive wheel 3 like Fig. 1.Pick up ball mechanism housing and comprise housing antetheca 4, housing sidewall 5, housing rear wall 6, housing top cover 7, central supporting walls 8 and central gripper shoe 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 the interval of housing sidewall 5 lowest parts than low 1 ball of housing antetheca 4 lowest parts; Housing rear wall 6 is installed on the machine tail end, and central supporting walls 8 is installed on 1/5th places, whole machine body rear end, and central gripper shoe 9 horizontal settings are connected to housing rear wall 6 from central supporting walls 8; Housing top cover 7 is installed until the latter half that blocks whole machine body to forward position sidewall edge line along housing sidewall 5 last peaks, and storage ball base plate 10, storage ball rear wall 11, body antetheca 4 are formed a storage ball device with organism sidewall 5 in the whole machine body front side.Front jockey wheel 3 is installed on the both sides under the storage ball base plate, and driving wheel 2 is installed on 1 of the wheel electrical machine, and wheel electrical machine 1 is installed on the both sides of central gripper shoe 8.
To shown in Figure 9, pick device comprises ten ball systems and dials the ball system like Fig. 1.Picking up the 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 gripper shoe 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 the ball frame and be positioned at the front side of central supporting walls 8, will pick up the ball frame through securing member 16 and be connected, pick up ball rubber band 18 equidistant being installed in the ten ball frames 17 as shown in the figure with chain.Dialling ball motor 19 is installed on central supporting walls 8 tops and is connected with dialling ball plates 21 through flange 20.
Like Fig. 1, Fig. 2, Fig. 3, shown in Figure 13, Information Acquisition System comprises camera 22, ultrasonic ranging device 23, Infrared Detectors (infrared 24 with 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 24 and infrared receiving terminal 25 are installed on the below of housing sidewall 5, and keep sustained height (Figure 13).
Like Fig. 2, shown in Figure 4, 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 regulation module 31 and motor drive module 32 are installed on the circuit board platform 12.Be connected with speed regulation module 31 between overall control module 27 and the motor drive module 32.
Shown in figure 12, Information Acquisition System comprises camera 22, infrared receiving terminal 25 in ultrasonic ranging device 23, the Infrared Detectors and radio receiving transmitting module 30.The 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 link to each other with lead with the connection mode among Figure 12.Each module all links to each other with lithium battery group 26 usefulness leads.
The ball process is picked up in concrete completion of the present invention: after starting working, overall control module 27 control motor drive modules 32 drive wheel electrical machine 1 makes robot advance by certain overall travel path.The camera 22 real-time place information of taking were sent data into image processing module 28 and were carried out the image processing this moment.Handle through image, image processing module 28 is then sent the positional information of tennis into overall control module 27 if find tennis.Overall control module control 27 is controlled robots and is sailed to the precalculated position, and overall control module 27 control rate adjustment modules 31 get into from the robot bottom until tennis by from the more closely slow more principle adjustment robot pace of ball in the way.This moment is through the scanning of infrared 24 and infrared receiving terminal 25, and the particular location of ball is sent to overall control module 28.Scan mode is shown in figure 13, and tennis can cover the infrared ray that one group of infrared 24 sends causes corresponding infrared receiving terminal 25 not receive signal.When arrival can be picked up the position of ball, overall control module 27 control motor drive modules 32 stopped robot, and control motor drive module 32 drives and picks up ball motor 13 and drive and pick up ball frame 17 and move downward.After picking up ball frame 17 arrival bottoms, picking up ball rubber band 18 can buckle into tennis in the frame.Follow overall control module 27 control motor drive modules 32 and drive and pick up ball motor 13 and drive the ball frame 17 that picks up that is loaded with tennis and move upward, arrive the top, process is as shown in Figure 8.Overall subsequently control module 27 control control motor drive modules 32 drive group ball motor 19 tennis are dialled in the storage ball basket of being made up of housing antetheca 4, housing sidewall 5, storage ball base plate 10 and storage ball rear wall 11, and process is as shown in Figure 9.Robot accomplished and once picked up ball action this moment, with continue by before certain overall travel path advance.
The robot autonomous control mode of advancing of the present invention adopts Differential Control, and overall control module 27 control motor drive modules 32 make left and right motor speed and turn to the different autonomous traveling process that can control robot with the speed regulation module.
The obstacle avoidance process is hidden in concrete completion of the present invention: robot opens ultrasonic ranging device 23 all the time in traveling process.Ultrasonic ranging device 23 can be sent the distance value of robot and the place ahead obstacle into overall control module 27.When this value during less than preset numerical value, overall control module 27 will be controlled motor drive module 32 turns to robot with speed regulation module 31, thus avoiding obstacles.
The concrete collaborative ball function of picking up of the present invention is: when ball was picked up in same place by two or many robots, each robot was automatic open wireless transceiver module 30, with wireless receiving as a kind of information obtaining means.Collaborative operator scheme has multiple, such as (1), two robots can delimit and pick up the ball zone separately generally speaking, to reduce long-distance hurrying back and forth.(2), when around robot finds, a lot of tennis being arranged and when not having tennis around another discovery, can call through radio receiving transmitting module 30.Above processing is all accomplished in the program control system of robot.
The invention is not restricted to this instance, every mentality of designing of utilizing the design is done some simple designs that change and all should be fallen into protection domain of the present invention.
Claims (7)
1. an intelligent integral is picked up the tennis robot; By Information Acquisition System, control system, executive system; Mobile vehicle and pick device are formed; It is characterized in that: said Information Acquisition System comprises camera (22), Infrared Detectors, ultrasonic ranging device (23), and wherein: camera (22) is used for taking continuously the place picture, and Infrared Detectors is used for induction sphere in the inner position of mobile vehicle; Ultrasonic ranging device (23) is used for responding to the preceding barrier of mobile vehicle; The 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) through image processing module (28); The place picture data signal of taking continuously is transferred to the control system; Infrared Detectors is connected with overall control module (27) respectively with ultrasonic ranging device (23), ball is transferred to the control system in the position of mobile vehicle inside and the obstacle information data-signal before the mobile vehicle, after the control system handles and analyzes data; Export control signal respectively and give the motor drive module (32) in the executive system; Motor drive module (32) connects wheel electrical machine (1) respectively, picks up ball motor (13) and dials ball motor (19), is used for drive wheels motor (1) respectively; Pick up ball motor (13) and dial ball motor (19), make the action of mobile vehicle and pick device.
2. intelligent integral according to claim 1 is picked up the tennis robot, it is characterized in that: said mobile vehicle is formed by picking up ball mechanism housing, Chu Qiuqi, control system rest platform (12), wheel electrical machine (1), driving wheel (2) and directive wheel (3); Pick up ball mechanism housing front portion and be provided with Chu Qiuqi; Pick device is equipped with at the rear portion; The middle part is equipped with and is dialled the ball system, is provided with control system rest platform (12) above the pick device, picks up ball mechanism housing bottom front end both sides a directive wheel (3) is housed respectively; The both sides, rear end are equipped with a wheel electrical machine (1) and driving wheel (2) respectively; Pick up ultrasonic ranging device (23) is housed on the ball mechanism housing front end face, camera (22) is housed above, on the control system rest platform (12) speed regulation module (31) and motor drive module (32) are housed.
3. intelligent integral according to claim 1 is picked up the tennis robot; It is characterized in that: said pick device is by picking up the ball system and dialling the ball system and forms, pick up the ball system comprise pick up ball motor (13), sprocket wheel (14), chain (15), connection with securing member (16), pick up ball frame (17) and pick up ball rubber band (18); Dial the 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 gripper shoe (9) below and at vertical direction sprocket wheel (14) is installed; And a jockey sprocket (14) is installed directly over drive sprocket 14; Chain (15) is installed between two sprocket wheels (14); Pick up the ball frame and be positioned at the front side of central supporting walls (8); To pick up the ball frame through securing member (16) and be connected with chain, and pick up ball rubber band (18) distance and be installed in the ten ball frames (17), group ball motor (19) is installed on central supporting walls (8) top and is connected with dialling ball plate (21) through flange (20).
4. intelligent integral according to claim 1 is picked up the tennis robot, it is characterized in that: be connected with speed regulation module (31) between said overall control module (27) and the motor drive module (32).
5. intelligent integral according to claim 1 is picked up the tennis robot; It is characterized in that: said intelligent integral is picked up the tennis robot and also is provided with radio receiving transmitting module (30); Radio receiving transmitting module (30) and overall control module (27) be connected, exchange with other child robot through radio receiving transmitting module (30).
6. intelligent integral according to claim 2 is picked up the tennis robot, it is characterized in that: the said ball mechanism housing of picking up comprises housing antetheca (4), housing sidewall (5), housing rear wall (6), housing top cover (7), central supporting walls (8) and central gripper shoe (9); Wherein, Housing antetheca (4) is vertically installed; Housing sidewall (5) is vertically installed and perpendicular to housing antetheca (4); And make the interval of housing sidewall (5) lowest part than the low ball of housing antetheca (4) lowest part, and housing rear wall (6) is installed on picks up ball mechanism housing tail end, and central supporting walls (8) is installed on whole 1/5th places, ball mechanism housing rear end of picking up; Central authorities' gripper shoe (9) horizontal setting is connected to housing rear wall (6) from central supporting walls (8), and housing top cover (7) is installed until blocking the whole latter half of picking up ball mechanism housing to forward position sidewall edge line along the last peak of housing sidewall (5).
7. intelligent integral according to claim 2 is picked up the tennis robot, it is characterized in that: said 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 organism sidewall of body antetheca (4) (5) are formed a storage ball device in the whole ball mechanism housing front side 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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