CN107097229A - The working method of binocular vision remote control ball picking robot system - Google Patents
The working method of binocular vision remote control ball picking robot system Download PDFInfo
- Publication number
- CN107097229A CN107097229A CN201710425749.4A CN201710425749A CN107097229A CN 107097229 A CN107097229 A CN 107097229A CN 201710425749 A CN201710425749 A CN 201710425749A CN 107097229 A CN107097229 A CN 107097229A
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- CN
- China
- Prior art keywords
- binocular vision
- remote control
- ball picking
- picking robot
- infrared sensor
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- 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.)
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Classifications
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a kind of working method of binocular vision remote control ball picking robot system, the system based on binocular vision remote control ball picking robot and embedded handle by being constituted, binocular vision remote control ball picking robot by binocular vision system, context aware systems, pick up ball system, kinematic system, control system and constitute, embedded handle is made up of display screen, rocking bar, wireless module；The robot can work under distance control mode；The robot application binocular vision technology expands effective identification range, improves recognition efficiency；Rationally, recognition efficiency is high for sensor placement in robot environment's sensory perceptual system；The robot control system circuit structure is simplified, computing is accurate.Advantage of the system is that：Identification range is wide, ball picking-up efficiency is high.
Description
Technical field
The present invention relates to a kind of intelligent ball collecting robot for venues such as tennis, tablees tennis, particularly a kind of binocular vision
Feel the working method of remote control ball picking robot system.
Background technology
Table tennis, the ball work of picking up of tennis venue are a heavy manual labors, and manually picking up ball wastes time and energy, and efficiency
It is not high.In recent years, people continuously attempt to be replaced with intelligent robot manually to be engaged in this work.
At present, a kind of bi-mode intelligent ball picking robot control system (patent No. of patent authorized：ZL
201320227287.2) the automatically picking up balls pattern and remote control proposed picks up working method that ball pattern be combined with each other to a certain extent
Intelligence is solved the problem of pick table tennis, tennis, still, the automatically picking up balls pattern that the robot is used is no purpose, blind
Mesh search type picks up ball, and ball picking-up efficiency is low, in addition, the robot is when the work of ball pattern is picked up in remote control, operator must use
Visually observation court, and remote-control handle transmits control instruction using infrared technique, causes operator must be closely
Robot is controlled, it is impossible to remote control, manipulation limitation is larger.Therefore, a kind of binocular vision remote control is researched and developed
It is very necessary that ball picking robot system, which realizes that the control of operator's non line of sight picks up ball, improves ball picking-up efficiency,.
The content of the invention
Goal of the invention：It is an object of the invention to provide a kind of binocular vision remote control ball picking robot system, to solve
Existing robot is when the work of ball pattern is picked up in remote control, and operator must observe court using visual, and remote-control handle is adopted
Control instruction is transmitted with infrared technique, causes operator closely must be controlled to robot, it is impossible to be remote
Manipulation, the problem of manipulation limitation is larger.
Technical scheme：The present invention provides following technical scheme：The work of binocular vision remote control ball picking robot system
Mode, it is characterised in that：The system is made up of binocular vision remote control ball picking robot and embedded handle；Binocular vision is remote
Journey manipulate ball picking robot by binocular vision system, context aware systems, pick up ball system, kinematic system, control system and constitute；
Binocular vision remote control ball picking robot can work under distance control mode；
Operator can control the motion path of binocular vision remote control ball picking robot by embedded handle,
And pick spheroid；Gathered by the first camera at the top of binocular vision remote control ball picking robot, second camera
Court image information, the first infrared sensor, the second infrared sensor, the 3rd infrared sensor, the 4th infrared sensor are to week
Enclose barrier to be perceived, and image information and peripheral obstacle information be sent to the display screen in embedded handle in real time,
The court information that operator is shown according to display screen, the first steering wheel, the second steering wheel, the 3rd steering wheel, the are controlled by rocking bar
Four steering wheels are rotated, and then are controlled the movement locus of binocular vision remote control ball picking robot and picked spheroid.
As optimization, binocular vision system is connected with control system, and it includes the first camera, second camera, wherein,
First camera, second camera are located at the top of binocular vision remote control ball picking robot, and with the folder of the robot plane of symmetry
Angle is 30 degree.
As optimization, context aware systems are connected with control system, and it includes the first infrared sensor, the second infrared sensing
Device, the 3rd infrared sensor, the 4th infrared sensor, wherein, it is the first infrared sensor, the second infrared sensor, the 3rd infrared
Sensor, the 4th infrared sensor are located on the cornerwise four direction of robot respectively.
As optimization, kinematic system is connected with control system, and it includes first tire, the second tire, third round tire, the 4th
Tire, the first steering wheel, the second steering wheel, the 3rd steering wheel, the 4th steering wheel, wherein, the first servos control first tire, the second steering wheel control
Make the second tire, the 3rd servos control third round tire, the 4th servos control fourth round tire；First tire, the second tire, third round
Tire, fourth round tire and binocular vision remote control ball picking robot plane of symmetry angle are 0 degree.
As optimization, control system includes the first MCU, the first wireless module, the first power module, the first USB, second
USB, wherein, the first power module provides power supply needed for the first MCU, the first wireless module, the first USB, the 2nd USB work；It is embedding
Enter formula handle to be controlled the first MCU by the first wireless module, be operated in binocular vision remote control ball picking robot
Distance control mode；First MCU uses ARM Cortex-A9 processors.
As optimization, embedded handle is by the second wireless module, display screen, the 2nd MCU, rocking bar, second source module group
Into；3rd MCU uses ARM Cortex-A9 processors.
Beneficial effect：The present invention is compared with prior art：
Binocular vision remote control ball picking robot system expands robotic view court using binocular vision technology
The visual field, improves the ball picking-up efficiency of robot；Using visual remote control mode, operator can be made in non line of sight
In the case of control machine people pick spheroid, greatly enriched the application scenarios of robot.
Brief description of the drawings
Fig. 1 is system construction drawing；
Fig. 2 is robot architecture's figure；
Fig. 3 is robot bottom sectional view；
Fig. 4 is robot front view；
Fig. 5 is system, control circuit structure chart；
Fig. 6 is embedded handle circuit structure diagram.
Each label is represented in figure：
The embedded handle of 1 binocular vision remote control ball picking robot 2
1-1 the first camera 1-2 second cameras
1-3 control systems 1-4 picks up ball impeller
1-5 the first infrared sensor the second infrared sensors of 1-6
The infrared sensors of the 3rd infrared sensor 1-8 of 1-7 the 4th
1-9 first tires the second tires of 1-10
1-11 third round tire 1-12 fourth round tires
1-13 kick backs 1-14 hinders ball plate
1-15 spheroid 1-16 storage ball cases
1-17 the first steering wheel the second steering wheels of 1-18
The steering wheels of the 3rd steering wheel 1-20 of 1-19 the 4th
The first wireless modules of steering wheel 1-22 of 1-21 the 5th
The USB of the first USB 1-24 of 1-23 the 2nd
The MCU of the first power modules of 1-25 1-26 the first
2-1 second source module 2-2 display screens
The MCU 2-4 rocking bars of 2-3 the 2nd
2-5 second source modules
Embodiment
The present invention is specifically described below by embodiment：
As shown in figure 1, the binocular vision remote control ball picking robot system of the present invention is picked up by binocular vision remote control
Ball robot 1, embedded handle 2 are constituted.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, binocular vision remote control ball picking robot 1 is by binocular vision system, environment
Sensory perceptual system, pick up ball system, kinematic system, control system 1-3 composition.
As shown in Figure 2, Figure 3, Figure 4, the binocular vision system and control system of binocular vision remote control ball picking robot 1
Connection, it includes the first camera 1-1, second camera 1-2, is characterized in：First camera 1-1, second camera 1-2
It it is 30 degree in the top of bi-mode intelligent ball picking robot 1 based on binocular vision, and with the angle of the robot plane of symmetry.
As shown in figure 3, the context aware systems of binocular vision remote control ball picking robot 1 are connected with control system, its
Including the first infrared sensor 1-5, the second infrared sensor 1-6, the 3rd infrared sensor 1-7, the 4th infrared sensor 1-8,
It is characterized in：First infrared sensor 1-5, the second infrared sensor 1-6, the 3rd infrared sensor 1-7, the 4th infrared sensor
1-8 is located on the cornerwise four direction of robot respectively.
As shown in Figure 2, Figure 3, Figure 4, the ball system of picking up of binocular vision remote control ball picking robot 1 connects with control system
Connect, it includes picking up ball impeller 1-4, kick back 1-13, resistance ball plate 1-14, the 5th steering wheel 1-21, storage ball case 1-16, is characterized in：
5th steering wheel 1-21 controls pick up ball impeller 1-4 and roll spheroid 1-15 during rotation, and warp is rolled on kick back 1-13
Resistance ball plate 1-14 is slipped in storage ball case 1-16.
As shown in figure 3, the kinematic system of binocular vision remote control ball picking robot 1 is connected with control system, it includes
First tire 1-9, the second tire 1-10, third round tire 1-11, fourth round tire 1-12, the first steering wheel 1-17, the second steering wheel 1-18,
3rd steering wheel 1-19, the 4th steering wheel 1-20, are characterized in：First steering wheel 1-17 control first tires 1-9, the second steering wheel 1-18 controls
Make the second tire 1-10, the 3rd steering wheel 1-19 control third round tire 1-11, the 4th steering wheel 1-20 and control fourth round tire 1-12, first
Tire 1-9, the second tire 1-10, third round tire 1-11, fourth round tire 1-12 pick up ball machine with the bi-mode intelligent based on binocular vision
The plane of symmetry angle of device people 1 is 0 degree.
As shown in figure 5, the control system 1-3 of binocular vision remote control ball picking robot 1 includes the first MCU1-26, the
One wireless module 1-22, the first power module 1-25, the first USB1-23, the 2nd USB1-24, wherein, the first power module 1-25
Power supply needed for first MCU1-26, the first wireless module 1-22, the first USB1-23, the 2nd USB1-24 work is provided；Embedded hand
Handle 2 is controlled by the first wireless module 1-22 to the first MCU1-26, the bi-mode intelligent based on binocular vision is picked up ball machine device
People 1 is operated in distance control mode；First MCU1-26 uses ARM Cortex-A9 processors.
As shown in fig. 6, the embedded handle 2 of binocular vision remote control ball picking robot 1 includes the second wireless module 2-
1st, display screen 2-2, the 2nd MCU2-3, rocking bar 2-4, second source module 2-5, are characterized in：2nd MCU2-3 uses ARM
Cortex-A9 processors.
The specific of the present invention picks up ball process and is：
When distance control mode works：By being based at the top of the bi-mode intelligent ball picking robot 1 of binocular vision
First camera 1-1, second camera 1-2 gather court image information, the first infrared sensor 1-5, the second infrared sensor
1-6, the 3rd infrared sensor 1-7, the 4th infrared sensor 1-8 are perceived to peripheral obstacle, and the first MCU1-26 is by image
Information and peripheral obstacle information are sent to the display screen 2-3 in embedded handle 2 in real time, and operator is according to display screen 2-3
The court information of display controls the first steering wheel 1-17, the second steering wheel 1-18, the 3rd steering wheel 1-19, the 4th rudder by rocking bar 2-4
Machine 1-20 is rotated, and then is controlled the movement locus of the bi-mode intelligent ball picking robot 1 based on binocular vision and picked spheroid.
Above example is only a kind of present invention embodiment therein, and it describes more specific and detailed, but can not
Therefore understand as the limitation to the scope of the claims of the present invention.It should be pointed out that coming for one of ordinary skill in the art
Say, in the case where not departing from the concept thereof of the present invention, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.
Claims (6)
1. the working method of binocular vision remote control ball picking robot system, it is characterised in that：The system is remote by binocular vision
Journey manipulation ball picking robot (1) and embedded handle (2) composition；Binocular vision remote control ball picking robot (1) is by binocular vision
Feel system, context aware systems, pick up ball system, kinematic system, control system (1-3) composition；
Binocular vision remote control ball picking robot (1) can work under distance control mode；
Operator can control the motion road of binocular vision remote control ball picking robot (1) by embedded handle (2)
Footpath, and pick spheroid；Pass through the first camera (1-1) at the top of binocular vision remote control ball picking robot (1), second
Camera (1-2) gathers court image information, the first infrared sensor (1-5), the second infrared sensor (1-6), the 3rd infrared
Sensor (1-7), the 4th infrared sensor (1-8) are perceived to peripheral obstacle, and by image information and peripheral obstacle
Information is sent to the display screen (2-3) in embedded handle (2), court of the operator according to display screen (2-3) display in real time
Information, the first steering wheel (1-17), the second steering wheel (1-18), the 3rd steering wheel (1-19), the 4th steering wheel are controlled by rocking bar (2-4)
(1-20) is rotated, and then is controlled the movement locus of binocular vision remote control ball picking robot (1) and picked spheroid.
2. the working method of binocular vision remote control ball picking robot system according to claim 1, it is characterised in that：
Binocular vision system is connected with control system (1-3), and it includes the first camera (1-1), second camera (1-2), wherein, the
One camera (1-1), second camera (1-2) are located at the top of binocular vision remote control ball picking robot (1), and and robot
The angle of the plane of symmetry is 30 degree.
3. the working method of binocular vision remote control ball picking robot system according to claim 1, it is characterised in that：
Context aware systems are connected with control system (1-3), and it includes the first infrared sensor (1-5), the second infrared sensor (1-
6), the 3rd infrared sensor (1-7), the 4th infrared sensor (1-8), wherein, it is the first infrared sensor (1-5), second infrared
Sensor (1-6), the 3rd infrared sensor (1-7), the 4th infrared sensor (1-8) are located at cornerwise four of robot respectively
On direction.
4. the working method of binocular vision remote control ball picking robot system according to claim 1, it is characterised in that：
Kinematic system is connected with control system (1-3), and it includes first tire (1-9), the second tire (1-10), third round tire (1-
11), fourth round tire (1-12), the first steering wheel (1-17), the second steering wheel (1-18), the 3rd steering wheel (1-19), the 4th steering wheel (1-
20), wherein, the first steering wheel (1-17) control first tire (1-9), the second steering wheel (1-18) control the second tire (1-10), the
Three steering wheels (1-19) control third round tire (1-11), the 4th steering wheel (1-20) control fourth round tire (1-12)；First tire (1-
9), the second tire (1-10), third round tire (1-11), fourth round tire (1-12) and binocular vision remote control ball picking robot
(1) plane of symmetry angle is 0 degree.
5. the working method of binocular vision remote control ball picking robot system according to claim 1, it is characterised in that：
Control system (1-3) includes the first MCU (1-26), the first wireless module (1-22), the first power module (1-25), the first USB
(1-23), the 2nd USB (1-24), wherein, the first power module (1-25) provides the first MCU (1-26), the first wireless module (1-
22), power supply needed for the first USB (1-23), the 2nd USB (1-24) work；Embedded handle (2) passes through the first wireless module (1-
22) the first MCU (1-26) is controlled, binocular vision remote control ball picking robot (1) is operated in distance control mode；
First MCU (1-26) uses ARM Cortex-A9 processors.
6. the working method of binocular vision remote control ball picking robot system according to claim 1, it is characterised in that：
Embedded handle (2) is by the second wireless module (2-1), display screen (2-2), the 2nd MCU (2-3), rocking bar (2-4), second source
Module (2-5) is constituted；3rd MCU (2-1) uses ARM Cortex-A9 processors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710425749.4A CN107097229A (en) | 2017-06-08 | 2017-06-08 | The working method of binocular vision remote control ball picking robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710425749.4A CN107097229A (en) | 2017-06-08 | 2017-06-08 | The working method of binocular vision remote control ball picking robot system |
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| Publication Number | Publication Date |
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| CN107097229A true CN107097229A (en) | 2017-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710425749.4A Withdrawn CN107097229A (en) | 2017-06-08 | 2017-06-08 | The working method of binocular vision remote control ball picking robot system |
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| Country | Link |
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| CN (1) | CN107097229A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825436A (en) * | 2017-11-28 | 2018-03-23 | 北京科技大学 | A kind of intelligent lacquer painting nursing robot and its method for lacquer painting nursing |
| CN109364443A (en) * | 2018-11-29 | 2019-02-22 | 王湖 | A kind of ball picking robot |
| CN111599252A (en) * | 2020-05-12 | 2020-08-28 | 桂林电子科技大学 | Programmable teaching robot based on game mechanism |
-
2017
- 2017-06-08 CN CN201710425749.4A patent/CN107097229A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825436A (en) * | 2017-11-28 | 2018-03-23 | 北京科技大学 | A kind of intelligent lacquer painting nursing robot and its method for lacquer painting nursing |
| CN109364443A (en) * | 2018-11-29 | 2019-02-22 | 王湖 | A kind of ball picking robot |
| CN111599252A (en) * | 2020-05-12 | 2020-08-28 | 桂林电子科技大学 | Programmable teaching robot based on game mechanism |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170829 |
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| WW01 | Invention patent application withdrawn after publication |