CN104383689A - Intelligent shooting athletic robot - Google Patents

Intelligent shooting athletic robot Download PDF

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Publication number
CN104383689A
CN104383689A CN201410337248.7A CN201410337248A CN104383689A CN 104383689 A CN104383689 A CN 104383689A CN 201410337248 A CN201410337248 A CN 201410337248A CN 104383689 A CN104383689 A CN 104383689A
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China
Prior art keywords
module
robot
electrically connected
control module
intelligence
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CN201410337248.7A
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Chinese (zh)
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CN104383689B (en
Inventor
伍冯洁
黄文恺
林泽光
冯运
李烁
曹锦新
吴川平
杨凡
陈虹
韩晓英
朱静
姚佳岷
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Guangzhou University
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Guangzhou University
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Abstract

The invention relates to an intelligent shooting athletic robot. The intelligent shooting athletic robot comprises an athletic site and a robot body, wherein the robot body is provided with a control module, a motor module, a shooting module, a line patrol module, an induction module and a clamping module; and the motor module, the shooting module, the line patrol module, the induction module and the clamping module are electrically connected with the control module. According to the intelligent shooting athletic robot, intelligent line patrol walking according to a specified path can be achieved; and the robot can identify different path types to make different reactions. Through application of various module algorithms including the line patrol module algorithm, the memory module algorithm, the pulse counting correction algorithm and the prop target reset algorithm, and program writing, the functions of the modules can be achieved, and the function of the whole intelligent shooting athletic robot is accordingly achieved.

Description

Intelligence penetrates ball sports robot
Technical field
The present invention relates to a kind of intelligence and penetrate ball sports robot.
Background technology
Robot industry will become the trunk industry of running neck and neck with automobile, computer in 21st century.From huge industrial robot to the nanometer robot of microcosmic, from the pet robot that the human emulated robot representing sophisticated technology is liked to children, our life walked close to day by day by robot, becomes the partner that the mankind are the most intimate.Robotics and industrialization have certain basis of reality and wide market prospects in China.
Robot contest with high in technological content, subject span is wide, it is wide to participate in and illustrative is strong etc., and feature has very strong influence power in the world.The Robot industry market of globalization also brings rich profit return to businessman.The development of domestic education and scientific research mechanism also growing interest robot cause; about research work improves gradually in the degree of depth and scale; national universities has basically formed complete curricular system; positive role being created to the scientific and technical innovation and production, teaching & research integration that promote colleges and universities, also having made positive contribution for improving China in the international status of robot field.
Recent year has carried out many activities to popularize scientific knowledge relevant with robot, athletic competition, be intended to strengthen minor's ideological and moral education further, improve vast teen-age scientific literacy, develop self potential, guide more pupils and students to pay close attention to science and technology, have deep love for science and technology, come into science and technology, emerge more Future Scientists and Future Projects teacher.In the process actively pushing forward basic education and Innovative higher education, infiltration science and technology education, makes great efforts the ability of practice and the initiative spirit of cultivating universities, middle and primary schools student, brings up a new generation adapting to 21 century whole world science and technology, economic development needs.
Robot contest not only can attract large quantities of electronics and information industry manufacturer, distributors, financial and investment institution and Technology Service Institutions to provide products & services, but also facilitate the cooperation and exchange of well-known scientific research institution, institution of higher learning and high-tech enterprise, jointly develop.By holding the activities such as academic discuss during contest, numerous experts and scholars gather in the same hall, and inquire into the development trend of China's automatic technology and information technology, offer advice for promoting industry development, run-up of the heading the list of signers.
But robot ambulation of the prior art adopts delay function to realize the actions such as the turning of intelligent carriage part.This function is the time by changing time delay, thus changes the perdurabgility of turning action, just can control the angle that dolly rotates thus, and along with the minimizing of electricity, the effect error rate using delay function to control to turn will increase greatly.In addition the map that robot ambulation of the prior art is not predetermined, and track route can be caused to repeat.
Summary of the invention
Primary and foremost purpose of the present invention is that providing one can determine angle more reliably turns, and penetrate ball sports robot along the walking of map desired trajectory with the intelligence realizing competition rule, concrete scheme of the present invention is as follows for achieving the above object:
A kind of intelligence penetrates ball sports robot, comprising:
Sports place, described sports place is provided with latticed tracking line, and in described arena, random distribution is provided with the task article and stage property target to be knocked down for the treatment of gripping on the ground;
Robot, described robot is provided with control module, and the motor module, transmitter module, line walking module, induction module and the gripping module that are electrically connected with described control module respectively, wherein:
Described motor module comprises motor drive module and the direct current generator for walking, and wherein said direct current generator is electrically connected with described motor drive module, and described motor drive module is electrically connected with described control module;
Described transmitter module electromagnet, relay, wherein said electromagnet drives by described relay and does firing action, and described relay is electrically connected with described control module;
Described line walking module comprises the line walking sensor be electrically connected with described control module;
Described induction module comprises the inductive pick-up for responding to front task article, and described inductive pick-up is electrically connected with described control module;
Described gripping module comprises manipulator, gripping steering wheel, and wherein said manipulator does gripping action by described gripping servo driving, and described gripping steering wheel is electrically connected with described control module.
Preferably, described motor module also comprises the speed measuring coder for testing the speed to described direct current generator, and described speed measuring coder is electrically connected with described control module.
Preferably, described control module also comprises the lifting steering wheel for adjusting described transmitter module emission angle.
Preferably, described sports place is also provided with automatic clearing apparatus, and described stage property target is located at described arena on the ground by described automatic clearing apparatus.
Preferably, described automatic clearing apparatus comprising control unit, restoring steering wheel and the recovery sensor for detecting described stage property target tilt state, and described recovery sensor, recovery steering wheel are electrically connected with described control unit respectively.
Preferably, described line walking module also comprises memory module, and described memory module stores the track route of described robot, guarantee described robot from one to enclose on different track routes.
Preferably, described control module is the ATMEGA series of high speed single-chip microcomputer of AVR.
Preferably, described motor drive module is L298N motor drive module.
Intelligence provided by the invention is penetrated ball sports robot and can be followed the prescribed course and carry out Intelligent line patrolling walking, and identifies different route type, makes different reactions.By the utilization of line walking modular algorithm, memory module algorithm, step-by-step counting correction algorithm, stage property target reset algorithm modules algorithm, and the writing of program, make modules function accomplished, thus achieve the function of whole robot.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms a application's part, does not form inappropriate limitation of the present invention, in the accompanying drawings:
Fig. 1 is embodiment of the present invention robot module schematic diagram;
Fig. 2 is embodiment of the present invention robot line walking block process schematic diagram;
Fig. 3 is embodiment of the present invention automatic clearing apparatus module diagram;
Fig. 4 is embodiment of the present invention robot memory module schematic flow sheet;
Fig. 5 is embodiment of the present invention robot main flow schematic diagram;
Fig. 6 is that embodiment of the present invention robot clears the way tool target block process schematic diagram;
Fig. 7 is that the embodiment of the present invention is cleared the way tool target block process schematic diagram;
Fig. 8 is embodiment of the present invention gripping task article block process schematic diagram;
Fig. 9 is embodiment of the present invention release task article block process schematic diagram.
Detailed description of the invention
Describe the present invention in detail below in conjunction with accompanying drawing and specific embodiment, be used for explaining the present invention in this illustrative examples of the present invention and explanation, but not as a limitation of the invention.
Embodiment
A kind of intelligence penetrates ball sports robot, comprise sports place, described sports place is provided with latticed tracking line, and tracking line is the black line put up with the electrical adhesive tape of black, and in described arena, random distribution is provided with the task article and stage property target to be knocked down for the treatment of gripping on the ground, also comprise robot, as shown in Figure 1, described robot is provided with the control module be made up of the ATMEGA series of high speed single-chip microcomputer of AVR, control module also can replace with 51 series monolithics or ARM series monolithic, and the motor module be electrically connected with described control module respectively, transmitter module, line walking module, induction module and gripping module, wherein: described motor module comprises motor drive module and four direct current generators for walking, described motor drive module can be L298N motor drive module, wherein said direct current generator is electrically connected with described motor drive module, described motor drive module is electrically connected with described control module, motor drive module is controlled by control module, realize the driving of direct current generator, transmitter module is then for launching table tennis, described transmitter module comprises electromagnet, relay, wherein said electromagnet drives by described relay and does firing action, described relay is electrically connected with described control module, realized adhesive and the release of electromagnet by the break-make of control module control relay, thus realize the percussion of table tennis, described line walking module comprises the line walking sensor be electrically connected with described control module, the principle different according to the degree of different colours to infrared Absorption, gather each infrared remote receiver on line walking sensor by control module and absorb the intensity of the infrared light launched, distinguish robot line walking situation, and the action of direct current generator is manipulated according to different line walking situation, as shown in Figure 2, when line walking sensor judges robot left avertence or right avertence, change robot direction realization calibration until malleation black line by changing control module, described induction module comprises the inductive pick-up for responding to front task article, described inductive pick-up is electrically connected with described control module, inductive pick-up also can comprise infrared remote receiver, when there is object in front, infrared remote receiver just can receive the reverberation that infrared light launched by infrared transmitter, can judge whether robot front has task article thus, described gripping module comprises manipulator, gripping steering wheel, and wherein said manipulator does gripping action by described gripping servo driving, and described gripping steering wheel is electrically connected with described control module, is rotated the folding and unfolding of gearing hand by gripping steering wheel.
As the improvement of above-described embodiment scheme, described motor module also comprises the speed measuring coder for testing the speed to described direct current generator, and described speed measuring coder is electrically connected with described control module, realizes the precise displacement of robot.
As the improvement of above-described embodiment scheme, described control module also comprises the lifting steering wheel for adjusting described transmitter module emission angle.
As the improvement of above-described embodiment scheme, described sports place is also provided with automatic clearing apparatus, described stage property target is located at described arena on the ground by described automatic clearing apparatus, automatic clearing apparatus in the present embodiment as shown in Figure 3, comprise control unit, restore steering wheel and the recovery sensor for detecting described stage property target tilt state, described recovery sensor, restore steering wheel to be electrically connected with described control unit respectively, when stage property target is gone down, stage property target will shelter from infrared transmitter and infrared remote receiver, thus the infrared light making infrared transmitter launch is received by infrared remote receiver after launching, the numerical value of each stage property target back infrared sensor of control module poll inquiry, just can confirm whether stage property target is shot down, if shot down, then control the corresponding steering wheel that restores the stage property target shot down recovery is stood.
As shown in Figure 4, as the improvement of above-described embodiment scheme, described line walking module also comprises memory module, when the line walking module shown in Fig. 2 runs into crossroad, described memory module stores the track route of described robot, guarantee described robot from one enclose on different track routes, such as, when robot ambulation is to crossroad, determine whether first lap, walking of then turning right in this way, if not being, the direction of travel according to a upper circle is oppositely walked, such as go up a circle for walking of turning left, then this walking of then turning right.
As shown in Fig. 5 ~ Fig. 9, it is as follows that the intelligence provided with the embodiment of the present invention penetrates ball sports robot competition rule:
The rules of contest
Competition time is 5mins.
After match sign on sends, player starts dolly, by the robot of pea shooter image track along regulation starting point, starts tracking.By crossroad, turn, induction the task article of gripping sunflower image, send out the stage property target that corpse image beaten by shell.And then move sunflower to crossroad opposite and put down, then send out a shell and beat corpse.Beaten two corpses, pea shooter goes to next corpse place along track, circulates successively.
After pea shooter runs through a circle, if limit is also less than, can continue to beat corpse along track.(after running through a circle, there is the dress ball time of 15 seconds.)
Standards of grading
Pick up a sunflower to obtain 10 points (no matter whether getting to corpse afterwards).
Sunflower is put into the position of specifying, does not fall, obtain 10 points.If (bump against because of carelessness, can by player or judge's pendulum on the position of specifying, but not score).
If do not clip to sunflower or sunflower be not put into the place of specifying, beat corpse, if even if knocked corpse also not score in this case down.
If after having beaten two corpses relatively, do not arrive the corpse place of next four crossway but always circulate a crossroad, then, except first time, action has afterwards been not counted in total score.
Hit a corpse and obtain 15 points, knock to obtain 30 points down.Do not get to not score.
Attention: the equipment provided because of violation operation damage competition field, pollute the behavior that competition field environment etc. does not meet criterion, upset competition field order, work of molesting official, depending on the seriousness of the case detains 5 ~ 10 points, and situation severe patient is expelled.(this rule only provides reference, player can order sth. separately voluntarily rule)
Above the technical scheme that the embodiment of the present invention provides is described in detail, apply specific case herein to set forth the principle of the embodiment of the present invention and embodiment, the explanation of above embodiment is only applicable to the principle helping to understand the embodiment of the present invention; Meanwhile, for one of ordinary skill in the art, according to the embodiment of the present invention, detailed description of the invention and range of application all will change, and in sum, this description should not be construed as limitation of the present invention.

Claims (8)

1. intelligence penetrates a ball sports robot, it is characterized in that comprising:
Sports place, described sports place is provided with latticed tracking line, and in described arena, random distribution is provided with the task article and stage property target to be knocked down for the treatment of gripping on the ground;
Robot, described robot is provided with control module, and the motor module, transmitter module, line walking module, induction module and the gripping module that are electrically connected with described control module respectively, wherein:
Described motor module comprises motor drive module and the direct current generator for walking, and wherein said direct current generator is electrically connected with described motor drive module, and described motor drive module is electrically connected with described control module;
Described transmitter module electromagnet, relay, wherein said electromagnet drives by described relay and does firing action, and described relay is electrically connected with described control module;
Described line walking module comprises the line walking sensor be electrically connected with described control module;
Described induction module comprises the inductive pick-up for responding to front task article, and described inductive pick-up is electrically connected with described control module;
Described gripping module comprises manipulator, gripping steering wheel, and wherein said manipulator does gripping action by described gripping servo driving, and described gripping steering wheel is electrically connected with described control module.
2. intelligence as claimed in claim 1 penetrates ball sports robot, it is characterized in that:
Described motor module also comprises the speed measuring coder for testing the speed to described direct current generator, and described speed measuring coder is electrically connected with described control module.
3. intelligence as claimed in claim 1 penetrates ball sports robot, it is characterized in that:
Described control module also comprises the lifting steering wheel for adjusting described transmitter module emission angle.
4. intelligence as claimed in claim 1 penetrates ball sports robot, it is characterized in that:
Described sports place is also provided with automatic clearing apparatus, and described stage property target is located at described arena on the ground by described automatic clearing apparatus.
5. intelligence as claimed in claim 4 penetrates ball sports robot, it is characterized in that:
Described automatic clearing apparatus comprising control unit, restoring steering wheel and the recovery sensor for detecting described stage property target tilt state, and described recovery sensor, recovery steering wheel are electrically connected with described control unit respectively.
6. intelligence as claimed in claim 1 penetrates ball sports robot, it is characterized in that:
Described line walking module also comprises memory module, and described memory module stores the track route of described robot, guarantee described robot from one to enclose on different track routes.
7. intelligence as claimed in claim 1 penetrates ball sports robot, it is characterized in that:
Described control module is the ATMEGA series of high speed single-chip microcomputer of AVR.
8. intelligence as claimed in claim 1 penetrates ball sports robot, it is characterized in that:
Described motor drive module is L298N motor drive module.
CN201410337248.7A 2014-07-15 2014-07-15 Intelligent shooting athletic robot Expired - Fee Related CN104383689B (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN106714917A (en) * 2016-04-01 2017-05-24 深圳市大疆创新科技有限公司 Intelligent game venue, mobile robot, game system and control method
WO2018205102A1 (en) * 2017-05-08 2018-11-15 深圳市大疆创新科技有限公司 Intelligent competition system and robot
TWI673586B (en) * 2018-02-14 2019-10-01 國立交通大學 Online training enabled trail following system and method

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005072842A1 (en) * 2004-01-28 2005-08-11 Victor Sultana Sports training apparatus
CN102785246A (en) * 2012-08-24 2012-11-21 电子科技大学 Robot calibration method capable of achieving automatic trajectory correction
CN103446763A (en) * 2013-09-16 2013-12-18 上海未来伙伴机器人有限公司 Robot for shooting and shooting control method thereof

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005072842A1 (en) * 2004-01-28 2005-08-11 Victor Sultana Sports training apparatus
CN102785246A (en) * 2012-08-24 2012-11-21 电子科技大学 Robot calibration method capable of achieving automatic trajectory correction
CN103446763A (en) * 2013-09-16 2013-12-18 上海未来伙伴机器人有限公司 Robot for shooting and shooting control method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106714917A (en) * 2016-04-01 2017-05-24 深圳市大疆创新科技有限公司 Intelligent game venue, mobile robot, game system and control method
CN106714917B (en) * 2016-04-01 2020-10-27 深圳市大疆创新科技有限公司 Intelligent competition field, mobile robot, competition system and control 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
WO2018205102A1 (en) * 2017-05-08 2018-11-15 深圳市大疆创新科技有限公司 Intelligent competition system and robot
TWI673586B (en) * 2018-02-14 2019-10-01 國立交通大學 Online training enabled trail following system and method

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