CN106823312B - A kind of intelligent ball collecting robot and its control method - Google Patents
A kind of intelligent ball collecting robot and its control method Download PDFInfo
- Publication number
- CN106823312B CN106823312B CN201710015741.0A CN201710015741A CN106823312B CN 106823312 B CN106823312 B CN 106823312B CN 201710015741 A CN201710015741 A CN 201710015741A CN 106823312 B CN106823312 B CN 106823312B
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- China
- Prior art keywords
- ball
- module
- bottom plate
- robot
- speed
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
Abstract
The invention discloses a kind of intelligent ball collecting robot and its control method, robot realizes rear-guard by DC speed-reducing, has a crossbeam in the front end crossbearer of the bottom plate of robot, several only goes out device along crossbeam length direction is uniformly hinged on crossbeam；The lower surface of bottom plate has ball storage chamber；The upper surface of bottom plate is supported by camera identification module, the front end of bottom plate is equipped with ultrasonic distance measuring module, single chip control module and motor drive module are installed on bottom plate, DC speed-reducing is connected with motor drive module, and DC speed-reducing, camera identification module, motor drive module and ultrasonic distance measuring module are connected with single chip control module.Robot automtion of the invention does not need artificially to control, user-friendly.Except camera identification module external structure is fairly simple, it is easy maintenance, and power consumption is not very big.Ball picking up device does not need to drive, and robot can move comparatively fast, and ball picking-up efficiency is improved.
Description
Technical field
The present invention relates to a kind of intelligent robots, and in particular to a kind of intelligent ball collecting robot and its control method.
Background technique
Ball game is a kind of movement of graceful fashion, instantly domestic also to have more and more people to start to contact ball fortune
It is dynamic.However, the big annoying problem of ball game one, which is, picks up ball, picks up club and expends people's a large amount of time and physical strength,
Therefore, this intelligent ball collecting robot is designed to have very important significance.
It is used to that people is assisted to pick up the most of of ball at present to be some instruments for needing people to operate, in court larger, ball
Range of being scattered can be a great inconvenience when larger.In addition there are also power-driven ball pickers, although it is dynamic to be not required to very important person, but need
People controls, without intelligence.Also someone done be added to intelligent control pick up ball machine, allow robot to go to pick up ball automatically, but past
Very slow, the ball that can only once subtract one toward its movement speed, it is difficult to apply in practice.
Summary of the invention
In view of the above deficiencies, the present invention provides a kind of intelligent ball collecting robot and its control method, the ball picking robot energy
Ball is identified by camera, and independently completes to pick up ball and storage ball, after completing to pick up ball, can be moved to and be realized that the position specified is waited for
Life.Robot once can store dozens of ball, and have the function of avoiding obstacles by supersonic wave, prevent from bumping against wall or people.
In order to achieve the above object, the technical solution adopted in the present invention is as follows: a kind of intelligent ball collecting robot, including bottom
Plate, the bottom plate are concave shape, and universal wheel is symmetrically installed at left and right sides of the bottom plate front end, and the base plate rear end left and right sides is symmetrical
DC speed-reducing is installed, driving wheel is installed on the output shaft of DC speed-reducing；The front end crossbearer of the bottom plate has cross
Beam several only goes out device along crossbeam length direction is uniformly hinged on the crossbeam；
One first storage ball stopper plate is respectively and fixedly provided at left and right sides of the lower surface of the bottom plate, between two first storage ball stopper plates
It is fixed with the second storage ball stopper plate；Described two first storage ball stopper plates, second, which store up ball stopper plate and pick up ball stopper plate, surrounds ball storage chamber；
The upper surface of the bottom plate is supported by camera identification module, and the front end of bottom plate is equipped with ultrasonic distance measuring module,
Single chip control module and motor drive module are installed on bottom plate, the DC speed-reducing is connected with motor drive module,
The DC speed-reducing, camera identification module, motor drive module and ultrasonic distance measuring module are controlled with single-chip microcontroller
Module is connected.
Further, described only device is mainly coaxially hingedly formed by several one end for picking up ball stopper plate out, each picks up ball stopper
Bolt is screwed on plate.
Further, the single chip control module is one piece of Arduino single-chip microcontroller, receives camera identification module and surpasses
Sound ranging module is transmitted through the information come, and then sends control signal controlling machine device people to motor drive module and collects ball.
Further, the camera identification module includes camera and raspberry pie connected to the camera；The tree
Continuous place picture of the certain kind of berries group for shooting to camera carries out image recognition processing, and the information that identification obtains is transferred to list
Piece machine control module.
It is a further object of the present invention to provide a kind of control methods of intelligent ball collecting robot, and the specific method is as follows:
(1) camera first shoots place image, and data are sent into raspberry pie.
(2) raspberry pie pre-processes photo, and picture is converted into HSV mode from RGB mode.
(3) black white image is obtained after carrying out binary conversion treatment to image according to the color of ball, it is white in image at this time
Region be ball color region.
(4) Morphological scale-space is carried out to the image after binaryzation again, removes the interference in binary image；
(5) it considers ball circular feature, carrys out the border circular areas in detection image using Hough transform, identify ball
Position.
(6) raspberry pie exports according to the position where ball different signals and passes to Arduino single-chip microcontroller, single-chip microcontroller
Motor drive module is sent control signals to according to the signal of input, is controlled by it the rotation feelings of two DC speed-reducings in left and right
Kuang Laishi robot deflection goes to collect ball.Without slowing down when reaching the position of ball, ball can be automatically by picking up ball stopper plate
Ball storage chamber, and be saved wherein, then robot continues identification and picks up the work of ball.
(7) in the higher barrier such as front someone or wall, ultrasonic distance measuring module can detect and convey information
To single-chip microcontroller, stops and turn to through motor drive module control DC speed-reducing issuing control signal by single-chip microcontroller.
(8) when robot does not detect that there is ball in front, robot can be automatically stopped movement and original place is turn-taked, and find week
Whether still have the ball that is scattered, if having found ball, continue to move to that direction and carry out picking up ball if enclosing, otherwise move to outside court to
Life.
The beneficial effects of the present invention are as follows: robot automtion, does not need artificially to control, it is user-friendly.Except camera
Identification module external structure is fairly simple, is easy maintenance, and power consumption is not very big.Ball picking up device does not need to drive, and robot can be with
Move comparatively fast, ball picking-up efficiency is improved.
Detailed description of the invention
Fig. 1 is three-dimensional axonometric drawing of the invention；
Fig. 2 is left view of the invention；
Fig. 3 is bottom view of the invention；
Fig. 4 is of the invention to pick up ball stopper plate and storage ball stopper plate detail view；
Fig. 6 is circuit system structure figure of the invention；
Fig. 5 is work flow diagram of the invention；
In figure, camera 1, single chip control module 2, ultrasonic distance measuring module 3, universal wheel 4, crossbeam 5, pick up ball stopper plate 6,
First storage ball stopper plate 7, DC speed-reducing 8, bottom plate 9, L-type support 10, supporting studs 11, driving wheel 12, the second storage ball stopper plate
13, screw 14.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention do into
One step explanation.
As shown in Figure 1-3, a kind of intelligent ball collecting robot, including bottom plate 9, the bottom plate 9 are concave shape, the bottom plate 9
It is symmetrically installed with universal wheel 4 at left and right sides of front end, is symmetrically installed with DC speed-reducing 8 at left and right sides of 9 rear end of bottom plate, direct current subtracts
Driving wheel 12 is installed on the output shaft of speed motor 8；The front end crossbearer of the bottom plate 9 has a crossbeam 5, along crossbeam 5 on the crossbeam 5
Hinged several stop of length direction device, and described only device is mainly coaxially hingedly formed by several one end for picking up ball stopper plate 6 out, often
A pick up is screwed with bolt 14 on ball stopper plate 6, pick up ball stopper plate 6 coaxially hingedly using three in the embodiment of the present invention, pass through adjusting
The screw-in depth of bolt 14 come adjust it is two neighboring pick up angle folded by ball stopper plate 6, as shown in figure 4, when pick up ball stopper plate 6 want to
When the left side, that is, output direction of ball rotation, the screw 14 that can be fixed on crossbeam 5 is blocked, and can not be rotated, and is wanted when picking up ball stopper plate 6
When being rotated to the right, that is, goal direction, then can smoothly it concede points into ball storage chamber without any obstruction, to reach only import but no export
Effect.The size for picking up ball stopper plate 6 can be determined according to the type of ball, and muti-piece baffle generally can be used and form side by side.
One first storage ball stopper plate 7 is fixed by L-type support 10 at left and right sides of the lower surface of the bottom plate 9, two the
The second storage ball stopper plate 13 is fixed between one storage ball stopper plate 7；Described two first storage ball stopper plates 7, second store up ball stopper plate 13 and pick up
Ball stopper plate 6 surrounds ball storage chamber；
The upper surface of the bottom plate 9 is supported by camera identification module, the camera identification module include camera with
And raspberry pie connected to the camera；Camera is supported on the upper surface of bottom plate 9 by supporting studs 11, can shoot robot
The longer-distance image in front, while can also see the figure away from robot closer location clearly, the visual field is very wide, can detect well
The position of ball.The continuous place picture that the raspberry pie is used to shoot camera carries out image recognition processing, and will identify
To information be transferred to single chip control module.The front end of bottom plate 9 is equipped with ultrasonic distance measuring module, can detect robot
The biggish Obstacle Position of front end range.Single chip control module and motor drive module are installed, the direct current subtracts on bottom plate 9
Speed motor 8 is connected with motor drive module, the DC speed-reducing 8, camera identification module, motor drive module and super
Sound ranging module is connected with single chip control module, as shown in Figure 5.
The single chip control module is one piece of Arduino single-chip microcontroller, receives camera identification module and ultrasonic distance measurement
Module is transmitted through the information come, and then sends control signal controlling machine device people to motor drive module and collects ball；As of the invention
Embodiment, the model of Arduino single-chip microcontroller can be Mega2560, but not limited to this.
As the embodiment of the present invention, the camera can use the production of Waveshare company RPi Camera model
Product, but not limited to this；The raspberry pie can use A type or Type B；The ultrasonic distance measuring module can be public using TELESKY
The product of HC-SR04 model is taken charge of, but not limited to this；The motor drive module can use the product of L298N model, but unlimited
In this.
The course of work of the invention is as follows:
As shown in fig. 6, of the invention specifically picks up ball process are as follows:
Firstly, camera 1 first shoots place image, data are sent into raspberry pie.
Then, raspberry pie pre-processes photo, and picture is converted into HSV mode from RGB mode.
Later, black white image is obtained after carrying out binary conversion treatment to image according to the color of ball, it is white in image at this time
The region of color is ball color region.
Then, Morphological scale-space then to the image after binaryzation is carried out, removes the interference in binary image.
Later, it is contemplated that ball circular feature carrys out the border circular areas in detection image using Hough transform, identifies
The position of ball.
Raspberry pie according to the position where ball, will export different signals and pass to Arduino single-chip microcontroller, single-chip microcontroller according to
The signal of input sends control signals to motor drive module, is controlled by it the rotation situation of two DC speed-reducings 8 in left and right
To make robot deflection go to collect ball.Without slowing down when reaching the position of ball, ball can be automatically into storage by picking up ball stopper plate 6
Ball room, and be saved wherein, then robot continues identification and picks up the work of ball.The higher barrier such as someone or wall in front
When hindering object, ultrasonic distance measuring module 3 can detect and information is communicated to single-chip microcontroller, issue control signal through electricity by single-chip microcontroller
Machine drive module control DC speed-reducing 8 stops and turns to.When robot does not detect that there is ball in front, robot can be certainly
Dynamic stop motion is simultaneously turn-taked in original place, finds whether surrounding still has the ball being scattered, if having found ball, continues to move to that direction
It carries out picking up ball, otherwise then moves to outside court and await orders.
The movement of robot of the present invention uses Differential Control, i.e., when finding left front of the ball in robot, single-chip microcontroller control
It is slightly slower than right motor to make left motor speed, if being the discovery that in right front, it is slightly faster than right motor to control left motor speed, comes with this
Realize that robot is directed toward the movement of ball.
Example that the invention is not limited thereto, all designs identical with mentality of designing of the present invention, has carried out a little the present invention
Improved mutation should all fall into protection scope of the present invention.
Claims (4)
1. a kind of intelligent ball collecting robot, which is characterized in that including bottom plate, the bottom plate is concave shape, and the bottom plate front end is left
Right two sides are symmetrically installed with universal wheel, are symmetrically installed with DC speed-reducing at left and right sides of base plate rear end, DC speed-reducing
Driving wheel is installed on output shaft；The front end crossbearer of the bottom plate has crossbeam, uniformly cuts with scissors on the crossbeam along crossbeam length direction
It connects several stop and device；
It is respectively and fixedly provided with one first storage ball stopper plate at left and right sides of the lower surface of the bottom plate, is fixed between two first storage ball stopper plates
There is the second storage ball stopper plate；Described two first storage ball stopper plates, second, which store up ball stopper plate and pick up ball stopper plate, surrounds ball storage chamber；
The upper surface of the bottom plate is supported by camera identification module, and the front end of bottom plate is equipped with ultrasonic distance measuring module, bottom plate
On single chip control module and motor drive module are installed, the DC speed-reducing is connected with motor drive module, described
DC speed-reducing, camera identification module, motor drive module and ultrasonic distance measuring module are and single chip control module
It is connected；
Described only device is mainly coaxially hingedly formed by several one end for picking up ball stopper plate out, is each picked up and is screwed with spiral shell on ball stopper plate
Bolt.
2. intelligent ball collecting robot according to claim 1, which is characterized in that the single chip control module is one piece
Arduino single-chip microcontroller, receives camera identification module and ultrasonic distance measuring module is transmitted through the information come, and then gives motor driven mould
Block sends control signal controlling machine device people and collects ball.
3. intelligent ball collecting robot according to claim 2, which is characterized in that the camera identification module includes camera shooting
Head and raspberry pie connected to the camera；The continuous place picture that the raspberry pie is used to shoot camera carries out image knowledge
Other places reason, and the information that identification obtains is transferred to single chip control module.
4. a kind of control method of intelligent ball collecting robot as claimed in claim 3, which is characterized in that the specific method is as follows:
(1) camera first shoots place image, and data are sent into raspberry pie；
(2) raspberry pie pre-processes photo, and picture is converted into HSV mode from RGB mode；
(3) black white image is obtained, at this time area white in image after carrying out binary conversion treatment to image according to the color of ball
Domain is ball color region；
(4) Morphological scale-space is carried out to the image after binaryzation again, removes the interference in binary image；
(5) it considers ball circular feature, carrys out the border circular areas in detection image using Hough transform, identify the position of ball
It sets；
(6) raspberry pie according to the position where ball, will export different signals and pass to Arduino single-chip microcontroller, single-chip microcontroller according to
The signal of input sends control signals to motor drive module, and the rotation situation for being controlled by it two DC speed-reducings in left and right is come
Robot deflection is set to go to collect ball；Without slowing down when reaching the position of ball, ball can be automatically into storage ball by picking up ball stopper plate
Room, and be saved wherein, then robot continues identification and picks up the work of ball；
(7) in the higher barrier such as front someone or wall, ultrasonic distance measuring module can detect and information is communicated to list
Piece machine stops and turns to through motor drive module control DC speed-reducing issuing control signal by single-chip microcontroller；
(8) when robot does not detect that there is ball in front, robot can be automatically stopped movement and original place is turn-taked, and finding surrounding is
It is no still to have the ball being scattered, if having found ball, continue to move to that direction and carry out picking up ball, otherwise moves to outside court and await orders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710015741.0A CN106823312B (en) | 2017-01-10 | 2017-01-10 | A kind of intelligent ball collecting robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710015741.0A CN106823312B (en) | 2017-01-10 | 2017-01-10 | A kind of intelligent ball collecting robot and its control method |
Publications (2)
| Publication Number | Publication Date |
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| CN106823312A CN106823312A (en) | 2017-06-13 |
| CN106823312B true CN106823312B (en) | 2019-02-05 |
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| CN201710015741.0A Expired - Fee Related CN106823312B (en) | 2017-01-10 | 2017-01-10 | A kind of intelligent ball collecting robot and its control method |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107961510A (en) * | 2017-12-18 | 2018-04-27 | 武汉星客智行科技有限公司 | Intelligent tennis ball collecting robot people and tennis collection method |
| CN108211277B (en) * | 2018-01-05 | 2020-07-07 | 上海第二工业大学 | Intelligent ping-pong ball picking sharing system and using method thereof |
| CN108786041B (en) * | 2018-07-12 | 2020-12-22 | 贵州理工学院 | Intelligent ball picking control method and intelligent ball picking robot |
| CN108687782A (en) * | 2018-08-01 | 2018-10-23 | 郑州大学 | A kind of Basketball Intellectual Robot |
| CN109453500B (en) * | 2018-11-14 | 2020-10-27 | 长春理工大学 | Ball picking robot |
| CN109782753B (en) * | 2018-12-18 | 2022-07-19 | 江汉大学 | Control method of picking device |
| CN109954254B (en) * | 2019-03-19 | 2020-07-31 | 武汉理工大学 | Badminton court intelligence is picked up football robot based on wheel of coming fortune of qxcomm technology |
| CN111530041A (en) * | 2020-04-24 | 2020-08-14 | 贵州民族大学 | Robot ball picking method and system |
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|---|---|---|---|---|
| US5052688A (en) * | 1991-02-13 | 1991-10-01 | Shiau R Jang | Automatic golf practice course |
| CN102614641A (en) * | 2012-03-15 | 2012-08-01 | 上海电力学院 | Intelligent integrated tennis ball picking robot |
| CN103955150A (en) * | 2013-09-12 | 2014-07-30 | 上海交通大学 | Semi-automatic intelligent tennis pick-up robot and control method thereof |
| CN105080089A (en) * | 2014-05-22 | 2015-11-25 | 胡祖国 | Control system and method for automatic table tennis ball picking device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4252490A (en) * | 1978-07-24 | 1981-02-24 | Ernst Keller | Ball retrieving and storage device |
-
2017
- 2017-01-10 CN CN201710015741.0A patent/CN106823312B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5052688A (en) * | 1991-02-13 | 1991-10-01 | Shiau R Jang | Automatic golf practice course |
| CN102614641A (en) * | 2012-03-15 | 2012-08-01 | 上海电力学院 | Intelligent integrated tennis ball picking robot |
| CN103955150A (en) * | 2013-09-12 | 2014-07-30 | 上海交通大学 | Semi-automatic intelligent tennis pick-up robot and control method thereof |
| CN105080089A (en) * | 2014-05-22 | 2015-11-25 | 胡祖国 | Control system and method for automatic table tennis ball picking device |
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| CN106823312A (en) | 2017-06-13 |
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