CN104070527A - Ball field ball picking robot - Google Patents
Ball field ball picking robot Download PDFInfo
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- CN104070527A CN104070527A CN201410337246.8A CN201410337246A CN104070527A CN 104070527 A CN104070527 A CN 104070527A CN 201410337246 A CN201410337246 A CN 201410337246A CN 104070527 A CN104070527 A CN 104070527A
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- picking robot
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Abstract
The invention relates to a ball field ball picking robot which comprises an information collection module which is electrically connected with a control module and positions a ball and a goal frame respectively, and an execution module which is electrically connected with the control module and used for sending the ball into the goal frame. Different from other ball picking robots at the current stage, the ball field ball picking robot is not influenced by field construction in the use process, is small in size and low in manufacturing cost, and thereby can be manufactured on a large scale and widely used. The ball field ball picking robot is an autonomous robot, can complete the target task without being monitored by people, and can save labor.
Description
Technical field
The present invention relates to a kind of court ball picking robot.
Background technology
Existing court ball picking robot is to adopt image processing techniques, CDD camera by top, court is taken court, and image transmitting can be processed by host computer, in host computer, carry out image processing, the angle that will need to turn near ball by calculative determination robot afterwards and the route advancing.This Technology Need carries out whole audience shooting to court, be limited to this condition, if out of doors, in high-altitude, cannot set up video camera, cannot use this technology, place indoors, if roof height is not enough, photographed images cannot be included whole court, can omit some ball, in addition this technology comes into operation robot and need to set up camera and host computer, this not only takes up space, and need to place, fit up in the early stage of coming into operation, remove robot itself, the peripheral hardware of robot not only needs camera, also need host computer, these must cause on robot cost high, and the wireless connections module of robot and get ball module itself, it is high that these are all doomed the cost of robot.
Summary of the invention
Primary and foremost purpose of the present invention is to provide a kind of place that is not subject to limit, and does not need peripheral hardware, can remove the court ball picking robot that sets up the trouble of peripheral hardware and deduct cost, and concrete scheme of the present invention is as follows:
A court ball picking robot, comprising:
Information acquisition module, described information acquisition module is electrically connected to control module, respectively ball and ball frame is positioned;
Executive Module, described Executive Module is electrically connected to control module, for ball being sent into ball frame.
Preferably, described information acquisition module comprises:
Ball information acquisition module, two ultrasonic sensors different by position judge distance and the differential seat angle of ball and Executive Module, thereby ball is positioned;
Ball frame information acquisition module is looked for ball frame by infrared sensor after described Executive Module gripping ball.
Preferably, described ball information acquisition module further judges the color sensor of ball authenticity after also comprising ball location.
Preferably, described Executive Module comprises trolley and mechanical arm;
Described trolley comprises road wheel and motor, and described motor is electrically connected to described control module by L298 driver module;
Described mechanical arm comprises that described steering wheel pawl, mechanical arm are electrically connected to SC90 steering wheel, 995 steering wheels respectively for the steering wheel pawl of gripping ball and for the mechanical arm of moving ball, and described SC90 steering wheel, 995 steering wheels are electrically connected to described control module respectively.
Preferably, described control module is arduino2560.
Other ball picking robot that court ball picking robot is different from present stage is the impact that its use is not built by or not place, and volume is little, and therefore low cost can make in a large number, and be widely used.It is autonomous robot, can complete goal task in the situation of not employment supervision, can save manpower.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms the application's a part, does not form inappropriate limitation of the present invention, in the accompanying drawings:
Fig. 1 is embodiment of the present invention system architecture schematic diagram;
Fig. 2 is embodiment of the present invention information acquisition module system architecture schematic diagram;
Fig. 3 is embodiment of the present invention Executive Module system architecture schematic diagram;
Fig. 4 is embodiment of the present invention program circuit schematic diagram.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment, describe the present invention in detail, in this illustrative examples of the present invention and explanation, be used for explaining the present invention, but not as a limitation of the invention.
Embodiment
As shown in Figure 1, a kind of court ball picking robot, comprising:
Information acquisition module, described information acquisition module is electrically connected to control module, can realize the acquisition and processing of the various information such as barrier, temperature, light and sound intensity, and respectively ball and ball frame are positioned, wherein control module comprises the hardware platform of single-chip microcomputer and building of software two aspects, realizes the support to robot system;
Executive Module, described Executive Module is electrically connected to control module, can realize the execution of the exercises of robot, as advance, retreat, turning, gripping and put down ball etc., for ball being sent into ball frame.
As shown in Figure 2, concrete, described information acquisition module is combined into by multiple sensors, comprising:
Ball information acquisition module, two the HC-SR04 ultrasonic sensors different by position contrast by the data of accepting, distance and the differential seat angle of judgement ball and Executive Module, thus ball is positioned;
Ball frame information acquisition module, after described Executive Module gripping ball, by infrared sensor, look for ball frame, by ball frame, provide pure circuit environment, comprise the basis that hardware platform and each functional module of circuit design two aspects are built, wherein infrared emission transmitter can be located at ball frame, and the size of its long-range scope depends on ultrared transmitting range.
As the improvement of above-described embodiment scheme, described ball information acquisition module further judges the color sensor of ball authenticity after also comprising ball location, with color sensor judgement, avoids other foreign material of gripping.
As shown in Figure 3, concrete, described Executive Module comprises trolley and mechanical arm; Described trolley comprises road wheel and motor, and described motor is electrically connected to described control module by L298 driver module; Described mechanical arm comprises that described steering wheel pawl, mechanical arm are electrically connected to SC90 steering wheel, 995 steering wheels respectively for the steering wheel pawl of gripping ball and for the mechanical arm of moving ball, and described SC90 steering wheel, 995 steering wheels are electrically connected to described control module respectively.Arduino2560 controls by the level to L298, indirectly changed the voltage at motor two ends, thereby control advances, retreats and turns, by giving two angles that steering wheel is different, thereby control mechanical arm, ball is carried out to gripping, the processing such as put down.
In above-described embodiment scheme, described control module is arduino2560, and Arduino Mega2560 is the core circuit plate that adopts USB interface, and the feature of its maximum has nearly 54 railway digital input and output exactly, is particularly suitable for needing the design of a large amount of IO interfaces.The processor core of Mega2560 is ATmega2560, there are 54 railway digital I/O ports (wherein 16 tunnels can be used as PWM output) simultaneously, 16 tunnel analog inputs, 4 road UART interfaces, a 16MHz crystal oscillator, a USB mouth, a supply socket, an ICSP header and a SR.
Robot Program Design
This program major function comprises the motion of controlled motion dolly, controls the work of mechanical arm, the control to sensor, and the function of therefore controlling the motion of dolly has comprised to be advanced, retreat, turns left, turns right, stops etc.
The work of controlling mechanical arm is to comprise it lift and decline.To the control of sensor, be mainly that the data that ultrasonic sensor, color sensor, infrared sensor are sent back are processed, thereby control machinery, carry out next step action.
This program is write at arduino platform, below setup () function in arduino and loop () function is described.
In setup (), except carrying out the input and output regulation of docking port, also the initial angle of steering wheel (mechanical arm) (position) is adjusted and made it can not disturb the work of other sensors simultaneously.
In loop (), the first step is to carry out the operation of the white balance of color sensor, then start to read the reading (getting rid of the interference of error information by algorithm) of two ultrasonic sensors thus judge the now position of dolly, then control the motion of dolly, if single-chip microcomputer goes out to have bead in the place ahead of dolly by the reading judgement (algorithm judgement) of ultrasonic sensor, start to carry out the fine setting of little truck position until the mechanical arm of dolly can pick up bead.When mechanical arm successfully picks up bead, color sensor carries out color judgement, if correctly just come back to the base (by the position in infrared searching base), puts down if not bead, again finds other beads.
Court provided by the invention ball picking robot adopts a plurality of sensors to cooperate to replace camera ball is positioned, because the construction in court can not change for adapting to ball picking robot, so just, can not limited by place, sensor Dou robot does not need peripheral hardware with it, can remove and sets up the trouble of peripheral hardware and deduct cost; Robot is automatic movable, if arrive the edge in place, may occur that stuck and so on situation occurs because the cause that the one side of turning is wall cannot be turned.The appearance that this just needs automatically to evade this situation, need robot can be automatically away from wall and avoid turning to wall.
The technical scheme above embodiment of the present invention being provided is described in detail, applied specific case herein the principle of the embodiment of the present invention and embodiment are set forth, the explanation of above embodiment is only applicable to help to understand the principle of the embodiment of the present invention; , for one of ordinary skill in the art, according to the embodiment of the present invention, in the specific embodiment and range of application, all will change, in sum, this description should not be construed as limitation of the present invention meanwhile.
Claims (5)
1. a court ball picking robot, is characterized in that comprising:
Information acquisition module, described information acquisition module is electrically connected to control module, respectively ball and ball frame is positioned;
Executive Module, described Executive Module is electrically connected to control module, for ball being sent into ball frame.
2. court as claimed in claim 1 ball picking robot, is characterized in that described information acquisition module comprises:
Ball information acquisition module, two ultrasonic sensors different by position judge distance and the differential seat angle of ball and Executive Module, thereby ball is positioned;
Ball frame information acquisition module is looked for ball frame by infrared sensor after described Executive Module gripping ball.
3. court as claimed in claim 2 ball picking robot, is characterized in that:
Described ball information acquisition module further judges the color sensor of ball authenticity after also comprising ball location.
4. court as claimed in claim 1 ball picking robot, is characterized in that:
Described Executive Module comprises trolley and mechanical arm;
Described trolley comprises road wheel and motor, and described motor is electrically connected to described control module by L298 driver module;
Described mechanical arm comprises that described steering wheel pawl, mechanical arm are electrically connected to SC90 steering wheel, 995 steering wheels respectively for the steering wheel pawl of gripping ball and for the mechanical arm of moving ball, and described SC90 steering wheel, 995 steering wheels are electrically connected to described control module respectively.
5. court as claimed in claim 1 ball picking robot, is characterized in that:
Described control module is arduino2560.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410337246.8A CN104070527A (en) | 2014-07-15 | 2014-07-15 | Ball field ball picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410337246.8A CN104070527A (en) | 2014-07-15 | 2014-07-15 | Ball field ball picking robot |
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| CN104070527A true CN104070527A (en) | 2014-10-01 |
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| CN201410337246.8A Pending CN104070527A (en) | 2014-07-15 | 2014-07-15 | Ball field ball picking robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104539205A (en) * | 2014-12-15 | 2015-04-22 | 湖北工业大学 | Crawling robot control system capable of controlling robot through Bluetooth mobile phone |
| CN104784900A (en) * | 2015-05-07 | 2015-07-22 | 上海电机学院 | Tennis pickup machine operation trajectory control and ultrasonic tennis finding system and method |
| CN105833484A (en) * | 2016-06-13 | 2016-08-10 | 天津工业大学 | Wireless charging intelligent tennis ball picking trolley and control method thereof |
| CN105944343A (en) * | 2016-07-08 | 2016-09-21 | 武汉理工大学 | Basketball real-time tracking and recovery device and working method |
| CN106182014A (en) * | 2016-08-24 | 2016-12-07 | 合肥凌翔信息科技有限公司 | A kind of embedded robot system |
| CN106483886A (en) * | 2016-11-30 | 2017-03-08 | 五邑大学 | A kind of intelligent caddie's system based on image procossing and its dispatching method |
| CN106512345A (en) * | 2016-11-14 | 2017-03-22 | 上海斐讯数据通信技术有限公司 | Indoor golf ball picking device, system and control method thereof |
| TWI607296B (en) * | 2016-11-30 | 2017-12-01 | 正修學校財團法人正修科技大學 | Sweeping robot capable of intelligent search of table tennis ball and method thereof |
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| CN101161425A (en) * | 2007-11-27 | 2008-04-16 | 江南大学 | Intellectual moving robot for picking up ball |
| CN101554726A (en) * | 2009-05-15 | 2009-10-14 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
| CN201799072U (en) * | 2010-08-10 | 2011-04-20 | 刘峰 | Automatic ping-pong ball picking device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104539205A (en) * | 2014-12-15 | 2015-04-22 | 湖北工业大学 | Crawling robot control system capable of controlling robot through Bluetooth mobile phone |
| CN104539205B (en) * | 2014-12-15 | 2017-10-24 | 湖北工业大学 | A kind of climbing robot control system that can be controlled by bluetooth cellular phone |
| CN104784900A (en) * | 2015-05-07 | 2015-07-22 | 上海电机学院 | Tennis pickup machine operation trajectory control and ultrasonic tennis finding system and method |
| CN105833484A (en) * | 2016-06-13 | 2016-08-10 | 天津工业大学 | Wireless charging intelligent tennis ball picking trolley and control method thereof |
| CN105944343A (en) * | 2016-07-08 | 2016-09-21 | 武汉理工大学 | Basketball real-time tracking and recovery device and working method |
| CN106182014A (en) * | 2016-08-24 | 2016-12-07 | 合肥凌翔信息科技有限公司 | A kind of embedded robot system |
| CN106512345A (en) * | 2016-11-14 | 2017-03-22 | 上海斐讯数据通信技术有限公司 | Indoor golf ball picking device, system and control method thereof |
| CN106483886A (en) * | 2016-11-30 | 2017-03-08 | 五邑大学 | A kind of intelligent caddie's system based on image procossing and its dispatching method |
| TWI607296B (en) * | 2016-11-30 | 2017-12-01 | 正修學校財團法人正修科技大學 | Sweeping robot capable of intelligent search of table tennis ball and method thereof |
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| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Hong Inventor after: Han Xiaoying Inventor after: Yao Jiamin Inventor after: Huang Wenkai Inventor after: Yan Shaohuang Inventor after: Bai Xue Inventor after: Li Yingguang Inventor after: Lin Zongmao Inventor after: Mo Jiaqi Inventor after: Wu Fengjie Inventor after: Zhu Jing Inventor before: Yang Jimin |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: YANG JIMIN TO: CHEN HONG HUANG WENKAI YAN SHAOHUANG BAI XUE LI YINGGUANG LIN ZONGMAO MO JIAQI WU FENGJIE ZHU JING HAN XIAOYING YAO JIAMIN |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141001 |
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| RJ01 | Rejection of invention patent application after publication |