CN106863259B - Wheeled many manipulators intelligence ball robot - Google Patents
Wheeled many manipulators intelligence ball robot Download PDFInfo
- Publication number
- CN106863259B CN106863259B CN201710244284.2A CN201710244284A CN106863259B CN 106863259 B CN106863259 B CN 106863259B CN 201710244284 A CN201710244284 A CN 201710244284A CN 106863259 B CN106863259 B CN 106863259B
- Authority
- CN
- China
- Prior art keywords
- ball
- manipulators
- main body
- manipulator
- protective cover
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001681 protective effect Effects 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 238000003860 storage Methods 0.000 claims abstract description 8
- 238000005096 rolling process Methods 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 description 20
- 238000000034 method Methods 0.000 description 20
- 238000012549 training Methods 0.000 description 16
- 238000011160 research Methods 0.000 description 11
- 238000009826 distribution Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 239000008188 pellet Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wheeled multi-manipulator intelligent ball picking robot, which comprises: the carriage body is provided with a wheeled chassis at the bottom and a protective cover at the periphery; the locator is arranged at the top of the protective cover to perform navigation and positioning; the distance detection sensors are arranged around the protective cover and comprise infrared sensors and ultrasonic sensors, and the infrared sensors and the ultrasonic sensors are staggered in a plane and are arranged in a layered manner and used for detecting the distance of an obstacle and avoiding the obstacle; the camera is arranged on the bracket at the upper part of the carriage main body so as to identify and position the small ball; the manipulator is arranged on the carriage main body to pick up the small balls; the manipulator comprises two front manipulators and two rear manipulators, wherein the two front manipulators are arranged in the middle of the front end of the carriage main body, and the two rear manipulators are arranged on two sides of the rear end of the carriage main body, so that the boundaries of the pick-up areas of the four manipulators are adjacent; and the ball storage mechanism.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to an intelligent ball picking robot with multiple mechanical arms.
Background
Ball picking robots have become a great variety of service robots in recent five years. As is known from the summary analysis of the current situation of research at home and abroad, the current research results of the robot for picking up small ball objects are relatively few, the units of foreign research are spanish University of Minho, american MIT, UK University ofBradford, and the University of Vrije in the Netherlands, the domestic research units are mainly Shanghai University, southeast University, beijing University of post, beijing University of science and technology, the Shenzhen market, and the Guangzhou golf products, and the developed robots are mainly robots for picking up golf balls, tennis balls, table tennis balls, badminton balls, and the like, and the robots can be classified into robots, combined robots, cleaning robots, air suction robots, roller wheels, roller drums, spring robots and the like according to the picking up working principles. According to the summary analysis of the current situation of domestic and foreign researches, besides the development of the special golf ball collecting robot product, the current research results of the robot for picking up the small ball objects are relatively few, and most of the robots are still in the primary research and trial stage, and the comprehensive technology level and the service level are biased. Aiming at places such as a ball training field under complex and changeable unstructured environments and uncertain operation task conditions, the robot only realizes a path planning strategy of 'depending on a virtual map prediction method, more balls, going to which to pick up' or 'going to which to pick up which', and has the missing pick-up phenomenon; meanwhile, the application of the real-time accurate positioning technology for the position and the direction of the robot is lacking, the global navigation practicability of the ball picking robot is poor, and measures such as protection and illumination adjustment are also lacking. Up to the present, there is no pickup service robot which can adapt to indoor and outdoor complex multi-obstacle unstructured environments and is suitable for small ball objects in training fields such as golf, table tennis, badminton and the like. The invention closely surrounds research hotspots in the field of intelligent picking service robots, aims at the current situations that the traditional special ball picking equipment has poor adaptability to complex multi-obstacle unstructured environments (such as picking up objects in narrow and remote places) and has low comprehensive technical level and service level, and aims at the factors of labor, time, unsafe and the like for manually picking up small ball objects in a training field.
The positions and the number of the small balls in the training field are uncertain, most of the existing pick-up robot vision recognition methods are color recognition, namely digital filtering is firstly carried out on images, and then the collected images are recognized by utilizing an HSV color model consisting of hue, saturation and brightness. The recognition method is simple and fast, has been applied in many fields, but when the training field ball cleaning work is carried out, the requirement of the robot for picking up balls cannot be met by utilizing the existing machine vision recognition technology, and the main reason is that a plurality of interferences exist in the recognition process, such as light change, other non-ball objects and people moving in the field, so that the recognition task cannot be accurately completed only by means of single color recognition. Meanwhile, when the multi-robot finishes ball picking work in a multi-ball environment, the existing system and technology are utilized, and the problems of ball picking efficiency and cooperation are required to be solved, so that multi-robot multi-hand multi-agent cooperation operation planning is an effective way for improving the working efficiency of the manipulator type picking robot.
At present, a robot for picking up small ball objects mainly depends on methods such as visual navigation, infrared obstacle avoidance, RRT path planning and the like, autonomous navigation operation in an indoor or outdoor limited area can be realized, the robot can only be a path planning strategy of 'walking to and picking up which' and cannot carry out global planning of a ball picking-up path, real-time navigation and positioning of the robot cannot be carried out, adaptability to larger environments such as golf training fields and the like is poor, meanwhile, the quantity of small balls in the training fields is large, distribution is irregular, if a global operation method is directly adopted for images acquired by a centralized global camera, the defects of large calculated amount, poor instantaneity, large calculation error and the like exist, reasonable planning of a motion path of a robot ball picking-up is also needed, a navigation technology with multi-sensor information fusion is needed to be considered, and the practicability of navigation is ensured, such as an automatic navigation technology suitable for GPS satellite positioning and machine vision in a large range outdoors, an RFID (within 100 m) radio frequency identification and machine vision positioning technology and an infrared and combined obstacle avoidance technology and the like in a small range outdoors.
Disclosure of Invention
The invention aims to provide a wheeled multi-manipulator intelligent ball picking robot by considering the current situations that the ball picking robot has poor adaptability to training places such as complex multi-obstacle unstructured environments and the like and has low comprehensive technical level and service level.
Another object of the present invention is to overcome the problems of missing balls and pickup efficiency of the ball pickup robot, and to solve the above-mentioned drawbacks by visual navigation, visual recognition and positioning, and rational arrangement of multiple manipulators.
The invention further aims to solve the problem of automatic navigation technology suitable for outdoor large-scale GPS satellite positioning and machine vision, RFID radio frequency identification and machine vision positioning technology suitable for indoor or outdoor small scale (within 100 m), obstacle avoidance technology combining infrared and ultrasonic waves and the like, and realize the global self navigation process.
The technical scheme provided by the invention is as follows:
a wheeled multi-manipulator intelligent ball picking robot comprises:
the carriage body is provided with a wheeled chassis at the bottom and a protective cover at the periphery
The locator is arranged at the top of the protective cover to perform navigation and positioning;
the distance detection sensors are arranged around the protective cover and comprise infrared sensors and ultrasonic sensors, and the infrared sensors and the ultrasonic sensors are staggered in a plane and are arranged in a layered manner and used for detecting the distance of an obstacle and avoiding the obstacle;
the camera is arranged on the bracket at the upper part of the carriage main body so as to identify and position the small ball;
the manipulator is arranged on the carriage main body to pick up the small balls; the manipulator comprises two front manipulators and two rear manipulators, wherein the two front manipulators are arranged in the middle of the front end of the carriage main body, and the two rear manipulators are arranged on two sides of the rear end of the carriage main body, so that the boundaries of the pick-up areas of the four manipulators are adjacent;
the ball storage mechanism is arranged on the upper portion of the carriage main body and comprises a ball box, a rolling slideway is arranged on the lower portion of the ball box, the rolling slideway is fixed below the carriage main body, the bottom of the ball box is matched with the rolling slideway, and the ball box is driven by a motor.
Preferably, the locator comprises a GPS module and an RFID reader.
Preferably, in the vertical direction, the infrared sensor and the ultrasonic sensor are provided with 3 layers, and in the horizontal and vertical directions, the infrared sensor and the ultrasonic sensor detection areas are overlapped with each other, so that a non-contact infrared sensor and ultrasonic sensor double-layer detection network is formed.
Preferably, the front end of the protective cover is provided with a front side window, and the camera is arranged behind the front side window; the camera is connected with the two-axis driving mechanism so as to drive the camera to rotate around the horizontal axis and the vertical axis and be used for visual navigation, visual identification and positioning.
Preferably, the ball storage mechanism comprises a motor, the motor is connected with a ball screw pair through a double-shear coupler, a nut of the ball screw pair is connected with the ball box, and the motor rotates to drive the ball box to move forwards and backwards.
Preferably, a light source is arranged on the protective cover.
The beneficial effects of the invention are as follows: the wheel type intelligent ball picking robot with multiple manipulators is used for ball picking operation in indoor and outdoor complex and changeable golf, table tennis, tennis and other training field environments, and has the functions of accurately identifying and positioning small balls, automatically navigating and avoiding obstacles, efficiently picking up the balls by the multiple manipulators and the like. The invention fills the gap of the multi-manipulator ball picking service robot at home and abroad, and has important scientific significance and application prospect for the development of the intelligent ball picking service robot.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the wheel type multi-manipulator intelligent ball picking robot.
Fig. 2 is a schematic view of a horizontal detection area of a distance detection sensor according to the present invention.
Fig. 3 is a schematic view of a vertical detection area of the distance detection sensor according to the present invention.
Fig. 4 is a schematic view of a robot working area according to the present invention.
Fig. 5 is a schematic structural view of a ball storage mechanism according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
As shown in fig. 1, the invention provides a wheeled multi-manipulator intelligent ball picking robot, which comprises a carriage main body 1, wherein a protective cover 19 is arranged on the periphery of the carriage main body 1 so as to protect a vehicle body.
A positioner is arranged at the top of the protective cover 19 for position positioning. The locator comprises a GPS module 8 and an RFID reader-writer 7, and the GPS module 8 performs global location; the RFID reader-writer 7 performs area positioning, and the GPS module 8 and the RFID reader-writer 7 are matched for use, so that the positioning process is rapid and accurate.
As shown in fig. 1, 2 and 3, a distance detecting sensor is disposed around the protective cover 19, for detecting an obstacle. The distance detection sensor includes an infrared sensor 15 and an ultrasonic sensor 18. The ultrasonic sensor 18 mainly detects obstacles at a long distance (within 10 meters), and the infrared sensor 15 mainly detects obstacles at a short distance (within half meter). In the horizontal direction, infrared sensor and ultrasonic sensor staggered design, arrange in the vertical direction layering, distance detection sensor is provided with 3 layers, and detection area overlaps each other to realized the complementation of blind area, realized 360 degrees all-round no dead angle double-deck detection net.
The front side window 16 is arranged on the upper portion of the front end face of the protective cover 19, the camera 14 is arranged behind the front side window 16 in the protective cover and is fixed at the front end of the adjusting frame 12, and a rear end two-shaft driving mechanism of the adjusting frame 12 is connected and drives the camera 14 to rotate around a horizontal axis and a vertical axis, so that the camera can move up and down and left and right, and the photographing direction and the viewing angle of the camera 14 are adjusted. During the movement, the camera is continuously used for scanning and identifying the small ball 20. A light source 13 is arranged above the camera 14 and used for illuminating a target in the protective cover, so that the camera 14 can conveniently recognize the target.
Referring to fig. 4, the intelligent ball picking robot further includes a manipulator, where the manipulator includes a front manipulator 17 and a rear manipulator 5, and the front manipulator 17 is provided with two robots, and is arranged left and right and is located in the middle of the front end of the protective cover. The two rear manipulators 5 are also arranged left and right and are positioned on the left side and the right side of the rear end of the carriage main body 1, so that the working areas of the four manipulators are connected in the transverse direction, the coverage of all areas is realized through the four manipulators, and no dead angle is generated.
As shown in fig. 1 and 5, a ball storage mechanism is also arranged in the protective cover. The ball storage mechanism comprises a ball box 6, a double-shear coupling 9, a motor 10, a rolling slideway 21 and a ball screw pair 22. The ball 20 grasped by the robot is placed in the ball box 6. The rolling slide 21 is fixed under the cabin body 1 in the front-rear direction. The bottom of the ball box 6 is matched with a rolling slideway 21, so that the ball box 6 can move back and forth. The motor 10 is connected with the ball screw pair 22 through the double shear type coupling 9, and a nut of the ball screw pair 22 is fixed on the ball box 6, so that the ball box can be driven to move back and forth on the rolling slideway 21 through the rotation of the motor 10, and ball unloading is completed.
The carriage body 1 comprises a bracket 11, a carriage and a chassis, wherein the carriage is arranged on the chassis, and the bracket 11 is arranged on the upper part of the carriage. The chassis comprises a servo motor, a speed reducer, a driver, a shaft, a coupler, an adjustable bearing seat and a tire, wherein the tire is fixed at one end of the shaft, and the other end of the tire penetrates through the bearing seat and is connected with the speed reducer through the coupler. The carriage comprises a control box 4, a battery box 2 and a partition board, wherein the control box 4 is positioned at the front half part of the carriage, and the battery box 2 provides energy through information processing for target positioning and motion control. The bearing pedestal is fixed on the side wall of the bottom of the carriage, and the shaft penetrates through the side wall of the carriage to connect the tire and the speed reducer.
The wheel type multi-manipulator intelligent ball picking robot provided by the invention can rapidly and accurately identify and position the small balls under an outdoor complex and changeable environment, and can complete the functions of obstacle avoidance and ball picking, the inventor imitates the picking principle of a person, takes a camera as eyes, takes a control system as a brain, takes a chassis as two legs, and takes a mechanical arm to execute the picking action of the hand.
According to the invention, a camera is used as an image acquisition tool, and Labview is used as an image processing platform, so that the accurate identification and positioning of the target are realized. The embedded system is used as a movement control system core, and movement and obstacle avoidance of a vehicle type main body are completed by means of four servo motors, a plurality of infrared sensors and ultrasonic sensors. Four manipulators are used to finish grabbing the pellets. And writing image processing software by using Labview, running on a PC, and realizing data communication with an embedded system chip through a serial port. After the robot is started, an image processing program on the PC drives the camera to shoot an image, the image is processed to obtain a three-dimensional coordinate of a target, the three-dimensional coordinate is communicated with the control system through the serial port, the control system drives the robot platform to move, and the robot platform is grabbed according to the target coordinate after the robot platform moves to an executable range of the manipulator. The invention not only can adapt to different terrain environments, but also can intelligently identify, position and accurately grasp, and has important significance for the development of service robot technology.
The invention closely surrounds research hotspots in the field of intelligent pickup service robots such as training fields, and the like, firstly, the invention is suitable for the structural design of the body of the pickup robot such as golf, tennis, table tennis and the like, builds a vision system calibration platform, and calibrates a converging camera; researching an unstructured environment multi-target recognition method, and positioning a ball object by applying a least square method three-dimensional reconstruction positioning technology; the global autonomous navigation technology of the robot is researched, the working efficiency is improved, factors such as the azimuth of the robot, man-machine interaction information, obstacle avoidance strategies, regional path planning and sphere distribution rules are fully considered, the global autonomous navigation control strategy of the uncertain operation task is subjected to fuzzy optimization, and the multi-manipulator autonomous collaborative intelligent service robot technology of the uncertain operation task under the unstructured environment is realized.
The invention provides an intelligent service robot technology for automatically and cooperatively picking up an uncertain operation task by multiple manipulators under an unstructured environment, which is a research feature of the invention. The method aims at balanced picking time and no mutual interference, adopts methods such as a picking mode of approaching in opposite directions, reverse kinematics analysis of manipulators and the like, mainly solves the problem of multi-manipulator autonomous collaborative picking key technology of uncertain operation tasks in an unstructured environment, realizes the multi-manipulator efficient collaborative operation process, develops a picking robot suitable for training fields such as golf, tennis, table tennis and the like, and fills the blank of the intelligent picking robot for multi-manipulator ball objects at home and abroad.
Under the indoor and outdoor unstructured environment, the key technology of global autonomous navigation of the robot picked up by the training field is broken through and realized, and the method is an innovation point of the project study. And aiming at improving the working efficiency, fully considering factors such as the robot azimuth, man-machine interaction information, obstacle avoidance strategies, path planning in an area, sphere distribution rules and the like, and giving a global autonomous navigation control strategy in an uncertainty operation task training field by fuzzy optimization.
The positions and distribution quantity of small ball objects in a training field such as golf, tennis, table tennis and the like have randomness, the picking process belongs to an uncertainty operation task, the problem of picking up efficiency is difficult to achieve through a single path planning strategy of walking to and picking up to, and the key technical problem of poor global navigation practicability of the picking-up robot is caused by the lack of a relatively accurate positioning technology for the robot azimuth and prediction of ball object distribution rules. The method and the system have the advantages that the distribution rules of ball objects in a training field are deeply learned under constraint conditions such as time, position and quantity, the working efficiency is improved, factors such as robot azimuth, man-machine interaction information, obstacle avoidance strategies, path planning in an area and sphere distribution rules are fully considered, the global autonomous navigation motion control strategy of an uncertain operation task is subjected to fuzzy optimization, and the key technical problem of global autonomous navigation of a pickup robot is broken through.
The ball object picking up in the training field not only belongs to an uncertain operation task, but also is influenced by factors such as illumination, indoor and outdoor natural environments, multiple scenes and the like, if a single-color image recognition method is adopted, the detection error is large, and accurate positioning of a target ball body is difficult to realize. Therefore, the method adopts RGB weighting method to gray the color image, otsu segmentation threshold algorithm to binarize the image, uses the label matrix to detect the connected domain of the ball image, measures the area, perimeter, minimum external polygon area and other parameters of the single connected domain, adopts geometric feature and improved shape factor method to recognize the multi-target ball, and extracts the center point of any target sphere in the left and right camera images. On the basis of positioning of spherical objects, picking time is balanced and mutual interference is not used as a target, a picking mode of approaching in opposite directions is adopted to conduct dynamic division technical research in a picking manipulator operation interval, meanwhile, a manipulator inverse kinematics analysis method is applied to calculate the rotation angle range of each joint by combining with small ball coordinate information, the movement track of the manipulator is automatically and reasonably planned, and the requirement of multi-manipulator collaborative operation is met.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (5)
1. The utility model provides a ball robot is picked up to wheeled many manipulators intelligence which characterized in that includes:
the carriage body is provided with a wheeled chassis at the bottom and a protective cover at the periphery;
the locator is arranged at the top of the protective cover to perform navigation and positioning;
the distance detection sensor is arranged around the protective cover and comprises an infrared sensor and an ultrasonic sensor, and the ultrasonic sensor detects obstacles within 10 meters; in the plane, the infrared and ultrasonic sensors are staggered and layered, and are used for detecting the distance of the obstacle and avoiding the obstacle; in the vertical direction, the infrared sensor and the ultrasonic sensor are respectively provided with 3 layers, and in the horizontal and vertical directions, the detection areas of the infrared sensor and the ultrasonic sensor are mutually overlapped to form a non-contact type infrared sensor and ultrasonic sensor double-layer detection network;
the camera is arranged on the bracket at the upper part of the carriage main body so as to identify and position the small ball;
the manipulator is arranged on the carriage main body to pick up the small balls; the manipulator comprises two front manipulators and two rear manipulators, wherein the two front manipulators are arranged in the middle of the front end of the carriage main body, and the two rear manipulators are arranged on two sides of the rear end of the carriage main body, so that the boundaries of the pick-up areas of the four manipulators are adjacent;
the ball storage mechanism is arranged on the upper portion of the carriage main body and comprises a ball box, a rolling slideway is arranged on the lower portion of the ball box, the rolling slideway is fixed below the carriage main body, the bottom of the ball box is matched with the rolling slideway, and the ball box is driven by a motor.
2. The wheeled multi-manipulator intelligent ball picking robot of claim 1, wherein the locator comprises a GPS module and an RFID reader.
3. The wheel type multi-manipulator intelligent ball picking robot according to claim 2, wherein the front end of the protective cover is provided with a front side window, and the camera is arranged behind the front side window; the camera is connected with the two-axis driving mechanism so as to drive the camera to rotate around the horizontal axis and the vertical axis and be used for visual navigation, visual identification and positioning.
4. The wheel type multi-manipulator intelligent ball picking robot according to claim 3, wherein the ball storage mechanism comprises a motor, the motor is connected with a ball screw pair through a double-shear coupler, a nut of the ball screw pair is connected with a ball box, and the ball box is driven to move forwards and backwards through rotation of the motor.
5. The wheeled multi-manipulator intelligent ball picking robot of claim 4, wherein a light source is arranged on the protective cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710244284.2A CN106863259B (en) | 2017-04-14 | 2017-04-14 | Wheeled many manipulators intelligence ball robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710244284.2A CN106863259B (en) | 2017-04-14 | 2017-04-14 | Wheeled many manipulators intelligence ball robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106863259A CN106863259A (en) | 2017-06-20 |
| CN106863259B true CN106863259B (en) | 2024-02-20 |
Family
ID=59162660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710244284.2A Active CN106863259B (en) | 2017-04-14 | 2017-04-14 | Wheeled many manipulators intelligence ball robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106863259B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108363411A (en) * | 2018-04-23 | 2018-08-03 | 济南大学 | A kind of system design of golf course intelligent ball collecting unmanned vehicle |
| CN108854017A (en) * | 2018-06-30 | 2018-11-23 | 重庆交通大学 | Tennis hair picks up integrated robot |
| CN108654023B (en) * | 2018-07-13 | 2023-04-21 | 大连理工大学 | Novel collecting and classifying ball picking robot and using method thereof |
| CN109754676A (en) * | 2018-12-17 | 2019-05-14 | 浙江理工大学 | A kind of roller Braille reading pen for the identification of papery books for the blind |
| CN109847292A (en) * | 2019-01-18 | 2019-06-07 | 昆明理工大学 | A kind of tennis Shou Qiu robot with visual identity function |
| CN109927011A (en) * | 2019-03-26 | 2019-06-25 | 盐城工学院 | A kind of six-joint robot mobile station |
| CN110287764B (en) * | 2019-05-06 | 2022-01-11 | 深圳大学 | Gesture prediction method, gesture prediction device, computer equipment and storage medium |
| CN110632926A (en) * | 2019-09-24 | 2019-12-31 | 汕头大学 | Dolly for picking up spherical objects |
| CN112809749A (en) * | 2021-01-26 | 2021-05-18 | 易枭零部件科技(襄阳)有限公司 | Novel robot chassis |
| TWI763453B (en) * | 2021-04-21 | 2022-05-01 | 所羅門股份有限公司 | Control method and system for picking equipment and automatic picking system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03228591A (en) * | 1989-03-27 | 1991-10-09 | Canon Inc | Work holding device, work and storing case thereof |
| JPH0631666A (en) * | 1992-07-15 | 1994-02-08 | Fujitsu Ltd | Intelligent robot |
| CN2810918Y (en) * | 2005-04-11 | 2006-08-30 | 中国科学院自动化研究所 | Intelligent mobile robot controller capable of collecting articles automatically |
| CN1846951A (en) * | 2005-04-11 | 2006-10-18 | 中国科学院自动化研究所 | Control device and method for intelligent mobile robot capable of picking up article automatically |
| CN101579857A (en) * | 2008-12-12 | 2009-11-18 | 北京理工大学 | Automatic ball-picking robot |
| CN102614641A (en) * | 2012-03-15 | 2012-08-01 | 上海电力学院 | Intelligent integrated tennis ball picking robot |
| CN202637866U (en) * | 2012-04-13 | 2013-01-02 | 上海电机学院 | Intelligent tennis ball pickup machine |
| CN103252768A (en) * | 2013-06-09 | 2013-08-21 | 姬志刚 | Robot capable of fetching and placing article in narrow pipeline |
| CN103721383A (en) * | 2013-12-06 | 2014-04-16 | 王京 | Novel design scheme of table tennis ball picking-up robot |
| CN103934820A (en) * | 2014-04-25 | 2014-07-23 | 东南大学 | Table tennis ball picking robot |
| CN205121336U (en) * | 2015-09-29 | 2016-03-30 | 哈尔滨理工大学 | Robot is picked up to intelligence table tennis |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6117853B2 (en) * | 2015-05-13 | 2017-04-19 | ファナック株式会社 | Article removal system and method for removing loosely stacked items |
-
2017
- 2017-04-14 CN CN201710244284.2A patent/CN106863259B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03228591A (en) * | 1989-03-27 | 1991-10-09 | Canon Inc | Work holding device, work and storing case thereof |
| JPH0631666A (en) * | 1992-07-15 | 1994-02-08 | Fujitsu Ltd | Intelligent robot |
| CN2810918Y (en) * | 2005-04-11 | 2006-08-30 | 中国科学院自动化研究所 | Intelligent mobile robot controller capable of collecting articles automatically |
| CN1846951A (en) * | 2005-04-11 | 2006-10-18 | 中国科学院自动化研究所 | Control device and method for intelligent mobile robot capable of picking up article automatically |
| CN101579857A (en) * | 2008-12-12 | 2009-11-18 | 北京理工大学 | Automatic ball-picking robot |
| CN102614641A (en) * | 2012-03-15 | 2012-08-01 | 上海电力学院 | Intelligent integrated tennis ball picking robot |
| CN202637866U (en) * | 2012-04-13 | 2013-01-02 | 上海电机学院 | Intelligent tennis ball pickup machine |
| CN103252768A (en) * | 2013-06-09 | 2013-08-21 | 姬志刚 | Robot capable of fetching and placing article in narrow pipeline |
| CN103721383A (en) * | 2013-12-06 | 2014-04-16 | 王京 | Novel design scheme of table tennis ball picking-up robot |
| CN103934820A (en) * | 2014-04-25 | 2014-07-23 | 东南大学 | Table tennis ball picking robot |
| CN205121336U (en) * | 2015-09-29 | 2016-03-30 | 哈尔滨理工大学 | Robot is picked up to intelligence table tennis |
Non-Patent Citations (2)
| Title |
|---|
| 基于视觉捕捉的网球自拾取机器人系统;孙世俊;平雪良;曾庆钰;董涵清;官乐乐;丁苏楠;;轻工机械(第06期);全文 * |
| 嵌入式智能捡球机器人控制系统;马飞;;信息通信(第04期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106863259A (en) | 2017-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106863259B (en) | Wheeled many manipulators intelligence ball robot | |
| Lili et al. | Development of a tomato harvesting robot used in greenhouse | |
| CN102124866B (en) | Wheel type mobile fruit picking robot and fruit picking method | |
| CN102914967B (en) | Autonomous navigation and man-machine coordination picking operating system of picking robot | |
| CN109197160B (en) | Guava picking robot and implementation method thereof | |
| CN109699300B (en) | Control system and control method of intelligent citrus picking machine | |
| CN105835063A (en) | Indoor inspection robot system for substation and inspection method for indoor inspection robot system | |
| CN202085493U (en) | Tomato picking robot system | |
| CN103170973A (en) | Man-machine cooperation device and method based on Kinect video camera | |
| CN107315410A (en) | A kind of automatic troubleshooting method of robot | |
| CN106964121A (en) | A kind of intelligent patrol detection picks up the device of table tennis | |
| CN205685341U (en) | A kind of combined track formula transformer station indoor crusing robot system | |
| CN206643905U (en) | A kind of wheeled multi-robot intelligent ball collecting robot | |
| CN112477533B (en) | Dual-purpose transport robot of facility agriculture rail | |
| CN116985090A (en) | Intelligent garbage sorting robot | |
| Lin et al. | An automatic tunnel shotcrete robot | |
| CN111579271B (en) | Intelligent trolley set for simulating picking and transferring fruits | |
| CN211590199U (en) | Pipeline robot based on vision SLAM | |
| CN116852352A (en) | Positioning method for mechanical arm of electric secondary equipment based on ArUco code | |
| CN115657531A (en) | System and method for determining bonsai grabbing pose and parking robot | |
| CN114290313B (en) | Inspection robot, automatic navigation inspection robot system and control method | |
| CN115589845A (en) | Intelligent cotton picking robot and cotton picking operation path planning method thereof | |
| CN212445254U (en) | Autonomous picking robot based on visual algorithm | |
| CN212275260U (en) | Intelligent fruit picking and transferring trolley set | |
| CN107696042A (en) | Wheel type intelligent autonomous mobile service robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |