CN106584488A - Ball picking robot and motion control system thereof - Google Patents
Ball picking robot and motion control system thereof Download PDFInfo
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- CN106584488A CN106584488A CN201510685934.8A CN201510685934A CN106584488A CN 106584488 A CN106584488 A CN 106584488A CN 201510685934 A CN201510685934 A CN 201510685934A CN 106584488 A CN106584488 A CN 106584488A
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- ball
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- handgrip
- motion control
- arm
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Abstract
The invention relates to a ball picking robot and a motion control system thereof. The ball picking robot includes a wheel type travelling mechanism, an arm grabbing mechanism, a visual recognition mechanism, and a motion control mechanism; the wheel type travelling mechanism has drive wheels and an auxiliary wheel, and the drive wheels are driven by a motor; the arm grabbing mechanism includes a gripper and a collection barrel arranged on the back end of the gripper, and the gripper is used for picking up balls; the virtual recognition mechanism includes a camera and an image processing mechanism; the image processing mechanism is used for processing images acquired by the camera so as to determine a position where a ball is located; and the motion control mechanism is used for controlling the wheel type travelling mechanism to move to the position where the ball is located, and driving the arm grabbing mechanism to pick up the ball. The robot can automatically pick up balls instead of workers, the human cost is saved, the time is saved, and more economic benefits is brought to sports halls.
Description
Technical field
The invention belongs to robot automation's application, more particularly to a kind of ball picking robot and its kinetic control system.
Background technology
In the sports buildings during the games Jing often occur ball passive movement person beat fly after go the process of pickup, in pick process
Athletic muscle power is consumed, fixture is wasted, the excellent degree of match is sacrificed.Therefore, it is necessary to designing one kind picks up ball machine device
People, serves as " caddie ", picks automatically and the ball for flying is dropped or beaten in sports buildings, to solve the above problems.
The content of the invention
For prior art exist problem, the present invention provide it is a kind of replace manually can automatically picking up balls ball picking robot and
Its kinetic control system.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of ball picking robot, including wheel type traveling mechanism, arm grasping mechanism, visual identity mechanism and motion control mechanism；
The wheel type traveling mechanism has drivewheel and auxiliary wheel, and the drivewheel is walked by Motor drive；The arm grasping mechanism
Including handgrip and the collecting vessel located at the handgrip rear end, the handgrip is used to pick up ball；The visual identity mechanism includes shooting
Head and image procossing mechanism, described image processing mechanism are used to process the image that the photographic head is collected, and determine position residing for ball
Put；The motion control mechanism moves to ball present position for controlling the wheel type traveling mechanism, and drives the arm to grab
Take mechanism and pick up ball.
Further, the wheel type traveling mechanism includes two drivewheels and an auxiliary wheel, and two drivewheels are only by two
Vertical Motor drive.
Further, the auxiliary wheel is universal wheel, coordinates the drivewheel walking.
Further, the handgrip is that moving seesaw-type may be reversed structure, and the collecting vessel is located at the rear end of the handgrip, collects described
The ball that handgrip is found.
Further, also including safe anti-collision mechanism, for detecting surrounding, when barrier around occur, the machine
People hides or stop motion.
A kind of kinetic control system of ball picking robot, including arm placement unit, the arm placement unit are connected to arm
Electric-motor drive unit, the arm electric-motor drive unit are connected to motion control unit, and the motion control unit connects simultaneously
In visual identity unit and movable motor driver element, the movable motor driver element is connected to walking unit, the vision
Recognition unit recognizes and after calculating ball present position coordinate is sent to the motion control unit that the motion control unit connects
After receiving coordinate, controlling the movable motor driver element makes its described walking unit of driving move to ball present position, close
During target, the motion control unit controls the arm electric-motor drive unit makes its described arm placement unit of driving pick up ball.
Further, also the motion control unit is connected to including safe anti-collision unit, around the safe anti-collision unit detection
Environment, when around there is barrier, the robot is hidden or stopping action.
Further, the movable motor driver element includes that multiple motors independently drive multiple actives of the walking unit
Wheel walking.
Further, the arm placement unit includes handgrip and collecting vessel, and the handgrip is that moving seesaw-type may be reversed structure, works as institute
State after handgrip picks up ball, the arm electric-motor drive unit drives the handgrip upset, and the ball found is put in the collecting vessel.
Further, the visual identity unit includes visual unit and graphics processing unit, and the visual unit has been detected
The image of ball position after the ball for falling, is gathered, and sends described image processing unit to and processed, described image process
Unit is to the feature identification of ball and calculates coordinate residing for ball, and the coordinate is sent to the motion control unit.
Beneficial effects of the present invention：
Ball picking robot of the present invention replaces artificial automatically picking up balls, serves as " caddie ", has not only saved human cost, also saved
Time, more economic benefits can be brought for sports buildings.
Description of the drawings
Fig. 1 is the structural representation of handgrip in arm grasping mechanism of the present invention；
Fig. 2 is the schematic diagram of ball picking robot kinetic control system of the present invention；
In figure, 1-handgrip, 2-collecting vessel.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
The ball picking robot of the present invention, can be used to picking in sports buildings or is beaten in other places winged ball, including shuttlecock,
Table tennis, tennis etc..
Ball picking robot includes wheel type traveling mechanism, arm grasping mechanism, visual identity mechanism and motion control mechanism.
Wheel type traveling mechanism includes two drivewheels and an auxiliary wheel, and two drivewheels are led to by two independent Motor drives
The rotary speed and direction of rotation for changing two drivewheels is crossed, the speed of travel and the direction of robot is adjusted, auxiliary wheel is universal
Wheel, coordinates drivewheel walking.
As shown in figure 1, arm grasping mechanism includes handgrip 1 and the collecting vessel 2 located at 1 rear end of handgrip, handgrip 1 is used to pick up
Ball, handgrip 1 are that moving seesaw-type may be reversed structure, after handgrip 1 picks ball, ball are put in collecting vessel 2, collecting vessel 2
For collecting the ball that handgrip is found, collect after a number of ball by manual recovery.
Visual identity mechanism includes photographic head and image procossing mechanism, and image procossing mechanism is used to process the figure that photographic head is collected
Picture, determines ball present position.Motion control mechanism moves to ball present position for controlling wheel type traveling mechanism, and drives handss
Arm grasping mechanism picks up ball.
Used as preferred embodiment, the ball picking robot of the present invention also includes safe anti-collision mechanism, and safe anti-collision mechanism uses
In detection surrounding, when around there is barrier, robot is hidden or stop motion, avoids collision.
As shown in Fig. 2 the kinetic control system of above-mentioned ball picking robot includes arm placement unit, arm electric-motor drive unit,
Motion control unit, visual identity unit, movable motor driver element, walking unit and safe anti-collision unit.
Arm placement unit is connected to arm electric-motor drive unit, and arm placement unit includes handgrip and collecting vessel, and handgrip is to stick up
Board-like turnable structure, after the handgrip picks up ball, arm electric-motor drive unit drives handgrip upset, and the ball found is put into
In collecting vessel.
Arm electric-motor drive unit is connected to motion control unit, and motion control unit is connected to visual identity unit and row simultaneously
Electric-motor drive unit is walked, after visual identity unit includes that photographic head and graphics processing unit, photographic head detect the ball for dropping,
The image of ball position is gathered, and sends graphics processing unit to and processed, feature identification of the graphics processing unit to ball
And coordinate residing for ball is calculated, and the coordinate is sent to motion control unit, motion control unit control movable motor drives
Unit, movable motor driver element are connected to walking unit, and movable motor driver element includes that multiple motors independently drive
Multiple drivewheel walkings of walking unit, while auxiliary wheel auxiliary walking.
Movable motor driver element drives walking unit to move quickly into the drop point site of ball, when robot is near target drop point
Afterwards, robot slows down and simultaneously handgrip is opened, and drives handgrip action at a slow speed.
Meanwhile, motion control unit control arm electric-motor drive unit makes which drive arm placement unit to pick up ball, realizes machine
The automatically picking up balls action of people, then picks up ball and pours in collecting vessel, and robot returns to starting point, waits next action.
Further, motion control unit is also associated with safe anti-collision unit, and safe anti-collision unit is responsible for surrounding enviroment
Detection, when around there is barrier, robot is hidden or stopping action, avoids collision.
Artificial automatically picking up balls are replaced using ball picking robot of the present invention, is served as " caddie ", has not only been saved human cost, also
The time is saved, more economic benefits can be brought for sports buildings.
Above example only to illustrate technical scheme and unrestricted, although entering to the present invention with reference to preferred embodiment
Detailed description is gone, it will be appreciated by those skilled in the art that can modify to technical scheme or be equal to replace
Change, without deviating from the objective and scope of the technical program, which all should be covered in scope of the presently claimed invention.
Claims (10)
1. a kind of ball picking robot, it is characterised in that include：Wheel type traveling mechanism, arm grasping mechanism, visual identity
Mechanism and motion control mechanism；The wheel type traveling mechanism has drivewheel and auxiliary wheel, and the drivewheel is by Motor drive row
Walk；The arm grasping mechanism includes handgrip and the collecting vessel located at the handgrip rear end, and the handgrip is used to pick up ball；It is described
Visual identity mechanism includes photographic head and image procossing mechanism, and described image processing mechanism is collected for processing the photographic head
Image, determine ball present position；The motion control mechanism moves to position residing for ball for controlling the wheel type traveling mechanism
Put, and drive the arm grasping mechanism to pick up ball.
2. ball picking robot according to claim 1, it is characterised in that：The wheel type traveling mechanism includes two actives
Wheel and an auxiliary wheel, two drivewheels are by two independent Motor drives.
3. ball picking robot according to claim 1 and 2, it is characterised in that：The auxiliary wheel is universal wheel, coordinates institute
State drivewheel walking.
4. ball picking robot according to claim 1, it is characterised in that：The handgrip is that moving seesaw-type may be reversed structure,
The collecting vessel is located at the rear end of the handgrip, collects the ball that the handgrip is found.
5. ball picking robot according to claim 1, it is characterised in that：Also include safe anti-collision mechanism, for detecting
Surrounding, when around there is barrier, the robot is hidden or stop motion.
6. a kind of kinetic control system of ball picking robot, it is characterised in that include：Arm placement unit, the arm
Placement unit is connected to arm electric-motor drive unit, and the arm electric-motor drive unit is connected to motion control unit, the fortune
Dynamic control unit is connected to visual identity unit and movable motor driver element simultaneously, and the movable motor driver element is connected to
Walking unit, the visual identity unit recognize and after calculating ball present position coordinate sent to the motion control unit,
After the motion control unit receives coordinate, controlling the movable motor driver element makes its driving walking unit motion
To ball present position, during close target, the motion control unit controls the arm electric-motor drive unit makes its driving described
Arm placement unit picks up ball.
7. the kinetic control system of ball picking robot according to claim 6, it is characterised in that：Also include safe anti-collision
Unit, is connected to the motion control unit, and the safe anti-collision unit detects surrounding, when around there is barrier,
The robot is hidden or stopping action.
8. the kinetic control system of ball picking robot according to claim 6, it is characterised in that：The movable motor drives
Moving cell includes that multiple motors independently drive multiple drivewheel walkings of the walking unit.
9. the kinetic control system of ball picking robot according to claim 6, it is characterised in that：The arm crawl is single
Unit includes handgrip and collecting vessel, and the handgrip is that moving seesaw-type may be reversed structure, after the handgrip picks up ball, the arm motor
Driver element drives the handgrip upset, and the ball found is put in the collecting vessel.
10. the kinetic control system of ball picking robot according to claim 6, it is characterised in that：The visual identity list
Unit includes visual unit and graphics processing unit, after the visual unit detects the ball for dropping, gathers ball position
Image, and send described image processing unit to and processed, described image processing unit is identified and is counted to the feature of ball
Coordinate residing for ball is calculated, and the coordinate is sent to the motion control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510685934.8A CN106584488A (en) | 2015-10-20 | 2015-10-20 | Ball picking robot and motion control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510685934.8A CN106584488A (en) | 2015-10-20 | 2015-10-20 | Ball picking robot and motion control system thereof |
Publications (1)
| Publication Number | Publication Date |
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| CN106584488A true CN106584488A (en) | 2017-04-26 |
Family
ID=58555461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510685934.8A Pending CN106584488A (en) | 2015-10-20 | 2015-10-20 | Ball picking robot and motion control system thereof |
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| CN (1) | CN106584488A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107185185A (en) * | 2017-06-19 | 2017-09-22 | 重庆邮电大学 | Ball automatic collecting cart trajectory path planning method |
| CN109079825A (en) * | 2017-06-14 | 2018-12-25 | 天津玛斯特车身装备技术有限公司 | Robot automation's visual grasping system |
| CN112076449A (en) * | 2020-10-09 | 2020-12-15 | 浙江量大智能科技有限公司 | Robot is picked up to stadium baseball |
| CN113041578A (en) * | 2021-02-24 | 2021-06-29 | 南京师范大学 | Robot automatic ball picking method based on morphological characteristics and monocular measurement |
| CN113082652A (en) * | 2021-04-27 | 2021-07-09 | 五邑大学 | Table tennis ball picking robot |
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| WO2007065030A2 (en) * | 2005-12-02 | 2007-06-07 | Irobot Corporation | Autonomous coverage robot navigation system |
| CN101537618A (en) * | 2008-12-19 | 2009-09-23 | 北京理工大学 | Visual system for ball picking robot in stadium |
| CN101579857A (en) * | 2008-12-12 | 2009-11-18 | 北京理工大学 | Automatic ball-picking robot |
| CN103345252A (en) * | 2013-07-15 | 2013-10-09 | 兰州理工大学 | Intelligent ball-picking robot system and ball-picking method thereof |
| CN103934820A (en) * | 2014-04-25 | 2014-07-23 | 东南大学 | Table tennis ball picking robot |
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2015
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007065030A2 (en) * | 2005-12-02 | 2007-06-07 | Irobot Corporation | Autonomous coverage robot navigation system |
| CN101579857A (en) * | 2008-12-12 | 2009-11-18 | 北京理工大学 | Automatic ball-picking robot |
| CN101537618A (en) * | 2008-12-19 | 2009-09-23 | 北京理工大学 | Visual system for ball picking robot in stadium |
| CN103345252A (en) * | 2013-07-15 | 2013-10-09 | 兰州理工大学 | Intelligent ball-picking robot system and ball-picking method thereof |
| CN103934820A (en) * | 2014-04-25 | 2014-07-23 | 东南大学 | Table tennis ball picking robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079825A (en) * | 2017-06-14 | 2018-12-25 | 天津玛斯特车身装备技术有限公司 | Robot automation's visual grasping system |
| CN107185185A (en) * | 2017-06-19 | 2017-09-22 | 重庆邮电大学 | Ball automatic collecting cart trajectory path planning method |
| CN112076449A (en) * | 2020-10-09 | 2020-12-15 | 浙江量大智能科技有限公司 | Robot is picked up to stadium baseball |
| CN113041578A (en) * | 2021-02-24 | 2021-06-29 | 南京师范大学 | Robot automatic ball picking method based on morphological characteristics and monocular measurement |
| CN113041578B (en) * | 2021-02-24 | 2022-02-11 | 南京师范大学 | Robot automatic ball picking method based on morphological characteristics and monocular measurement |
| CN113082652A (en) * | 2021-04-27 | 2021-07-09 | 五邑大学 | Table tennis ball picking robot |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Hunnan New District Jinhui street in Shenyang of Liaoning province 110168 City No. 16 Applicant after: Shenyang Xinsong Robert Automation Co., Ltd. Applicant after: Chinese Academy of Sciences Holdings Limited Address before: Hunnan New District Jinhui street in Shenyang of Liaoning province 110168 City No. 16 Applicant before: Shenyang Xinsong Robert Automation Co., Ltd. Applicant before: State owned Assets Management Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170426 |
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| RJ01 | Rejection of invention patent application after publication |