CN108579030A - A kind of robot of view-based access control model picks up ball method - Google Patents
A kind of robot of view-based access control model picks up ball method Download PDFInfo
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- CN108579030A CN108579030A CN201810309634.3A CN201810309634A CN108579030A CN 108579030 A CN108579030 A CN 108579030A CN 201810309634 A CN201810309634 A CN 201810309634A CN 108579030 A CN108579030 A CN 108579030A
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- robot
- tennis
- access control
- control model
- image
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Classifications
-
- 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
-
- 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
-
- 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
- A63B47/025—Installations continuously collecting balls from the playing areas, e.g. by gravity, with conveyor belts
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/38—Training appliances or apparatus for special sports for tennis
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robots of view-based access control model to pick up ball method, and the robot can be equipped with the camera of sphere and the mechanical arm for grabbing ball for identification by the Mecanum wheel Omni-mobile mounted on pedestal, the robot front end；The robot of the view-based access control model of the present invention picks up ball method at low cost, the good advantage of reliability, due to size, color and the shape more standard of tennis, the distance between robot and tennis can be obtained by directly calculating the area of identified tennis in the picture, complicated calculations caused by three-dimensional fix are avoided, also effectively improves and picks up ball efficiency.
Description
Technical field
It is especially that a kind of robot of view-based access control model picks up ball method the present invention relates to robot field.
Background technology
Tennis as a grace but fierce movement, receive and like from all parts of the world crowd.It is such a
It is prevailing in global movement, be referred to as the second in the world ball game.When carrying out tennis, although running each time
With all unusual pleasants of swinging the bat, if but tennis be detached from the control of racket and player and pick up ball especially for new person player
The very cumbersome, tiresome that all seems but have no way out.The ball picking method of present so-called ball picking up device, generally passes through personnel
Remote control trolley, trolley carry out picking up ball by certain mechanical structure, and there is no too big advantages in terms of saving the time.
Invention content
The technical problem to be solved by the present invention is to the shortcomings that overcoming the above prior art：A kind of at low cost, operation is provided
The robot of reliable view-based access control model picks up ball method.
Technical solution of the invention is as follows：A kind of robot of view-based access control model picks up ball method, and the robot can lead to
The Mecanum wheel Omni-mobile mounted on pedestal is crossed, the robot front end is equipped with the camera and use of sphere for identification
Include the following steps in the ball method of picking up of the mechanical arm for grabbing ball, robot：
1）One sub-picture of front is obtained by the camera mounted on robot front end, then uses recognizer identification tennis simultaneously
Tennis is oriented relative to the orientation immediately ahead of robot according to the coordinate of tennis region in the picture in image；
2）Robot according to location information by driving mounted on robot bottom Mecanum wheel by robot body towards
The direction of target tennis is moved, and robot constantly reads the image in camera in moving process, and constantly identifies tennis side
, direction of advance is constantly corrected according to tennis azimuth information by robot in moving process so that the tennis region identified is always
Positioned at the center of acquired image, i.e. tennis is always in the front of robot, while whenever the tennis region identified is located at
The area of tennis region on the image is calculated when the center of described image, when the tennis area of calculating is more than certain value, that is, table
Show that distance is less than certain value between robot and tennis, robot stops movement；
3）According to step 2）In calculating, meet set distance condition, robot stops movement, and tennis is in machine at this time
The front of people, the distance between tennis and robot are at a distance from being set when debugging, according to setting between robot and tennis
Set a distance, robot control machinery arm complete the grasping movement to target tennis according to setpoint distance.
The end of the mechanical arm has the manipulator of gripping, crawl or absorption sphere.
The robot base is equipped with 4 Mecanum wheels driven by stepper motors, and stepper motor driving Mike receives
Nurse wheel rotates, and by controlling the rotation direction and velocity of rotation of four Mecanum wheels, it includes rotation that can make robot generation
The movement in random two-dimensional direction inside, to realize Omni-mobile.
The mechanical arm, Mecanum wheel, camera drive part be electrically connected with the controller.
The recognizer is：ORB characteristics algorithms or recognition methods based on HSV color spaces.
The recognition methods based on HSV color spaces is specially：Image is transformed into HSV colors from RBG color spaces
Space carries out mean filter to image, and target object has the colour gamut of target object, using mask unrelated colour gamut be set as it is completely black or
Quan Bai, the edge of detection image detect connected set, find out the area of all connected regions, remove the too small connected region of area,
It is to examine to ask length-width ratio, the excessive and too small connected region of removal length-width ratio, remaining connected region to remaining connected region
The target tennis region measured, reading the coordinate of this regional center in the picture can obtain immediately ahead of tennis opposed robots
Orientation.
The beneficial effects of the invention are as follows：The robot of the view-based access control model of the present invention, which picks up ball method, has at low cost, reliability
Good advantage using ORB characteristics algorithms or is based on HSV color spaces due to size, color and the shape more standard of tennis
Recognition methods can efficient identification, substantially increase the accuracy of robot identification and the mobility of robot, while can
The distance between robot and tennis are obtained by directly calculating the area of identified tennis in the picture, avoids three-dimensional
Complicated calculations caused by space orientation also effectively improve and pick up ball efficiency.
Specific implementation mode
The present invention is described in further details with specific embodiment below, but the present invention is not only limited in detail below in fact
Apply example.
Embodiment
A kind of robot of view-based access control model picks up ball method, and the robot base can be similar with lorry, and the four of pedestal
Wheel is 4 Mecanum wheels driven by stepper motors, and stepper motor drives Mecanum wheel rotation, by controlling 4 Mikes
The rotation direction and velocity of rotation of Na Mu wheels, it includes the movement for being rotated in interior random two-dimensional direction that robot can be made, which to generate,
To realize Omni-mobile, the positive front end of robot is equipped with the camera of sphere for identification, camera towards robot
Front, camera central axes are parallel with horizontal plane, and height of the camera central axes apart from ground level is equal with tennis radius, institute
It states the positive front end of robot and is additionally provided with mechanical arm for grabbing ball, the end that the prior art may be used in the mechanical arm has folder
Take, capture or adsorb the manipulator or mechanical device of the devices such as sphere.The driving of the mechanical arm, Mecanum wheel, camera
Part is electrically connected with the controller.The ball method of picking up of the robot includes the following steps：
1）Controller obtains one sub-picture of front by the camera mounted on robot front end, then image from RBG colors
Space is transformed into HSV color spaces, carries out mean filter to image, target object has the colour gamut of target object, uses mask handle
Unrelated colour gamut is set as completely black or complete white, and the edge of detection image detects connected set, finds out the area of all connected regions, removes
The too small connected region of area asks length-width ratio, the excessive and too small connected region of removal length-width ratio to remain remaining connected region
Under connected region be the target tennis region that detects, net can be obtained by reading the coordinate of this regional center in the picture
Orientation immediately ahead of ball opposed robots；
2）Robot according to location information by driving mounted on robot bottom Mecanum wheel by robot body towards
The direction of target tennis is moved, and robot constantly reads the image in camera in moving process, and constantly identifies tennis side
, direction of advance is constantly corrected according to tennis azimuth information by robot in moving process so that the tennis region identified is always
Positioned at the center of acquired image, i.e. tennis is always in the front of robot, while whenever the tennis region identified is located at
Calculate the area of tennis region on the image when the center of described image, tennis apart from the nearlyr tennis of robot on the image
Area is bigger, and tennis, with regard to smaller, is set apart from the remoter tennis of robot area on the image when the tennis area of calculating is more than
Indicate that distance is less than setting value between robot and tennis when definite value, robot stops movement；
3）According to step 2）In calculating, meet set distance condition, robot stops movement, and tennis is in machine at this time
The front of people, the distance between tennis and robot are at a distance from being set when debugging, according to setting between robot and tennis
Set a distance, robot control machinery arm complete the grasping movement to target tennis according to setpoint distance.The present invention does not obtain net
Position of the ball in real space, but by constantly adjusting robot motion direction and apart from the place of tennis setpoint distance
Stop, belonging to has closed loop control method, tennis when robot halts and the relative position of robot be it is constant, because
This, if debugging the mechanical arm completes an action that can just catch the position, such as a series of transformation matrixs, and in machine
Recorded in tool arm controller this action can, mechanical arm executed after robot stops this record action energy
Catch tennis.
The feature implementation example that the above is only the present invention, is not limited in any way the scope of the present invention.It is all to use together
The technical solution formed Deng exchange or equivalence replacement, all falls within rights protection scope of the present invention.
Claims (6)
1. a kind of robot of view-based access control model picks up ball method, the robot can pass through the Mecanum wheel omnidirectional mounted on pedestal
Mobile, the robot front end is equipped with the camera of sphere and the mechanical arm for grabbing ball for identification, it is characterised in that：Machine
The ball method of picking up of device people includes the following steps：
1）One sub-picture of front is obtained by the camera mounted on robot front end, then uses recognizer identification tennis simultaneously
Tennis is oriented relative to the orientation immediately ahead of robot according to the coordinate of tennis region in the picture in image；
2）Robot according to location information by driving mounted on robot bottom Mecanum wheel by robot body towards
The direction of target tennis is moved, and robot constantly reads the image in camera in moving process, and constantly identifies tennis side
, direction of advance is constantly corrected according to tennis azimuth information by robot in moving process so that the tennis region identified is always
Positioned at the center of acquired image, i.e. tennis is always in the front of robot, while whenever the tennis region identified is located at
The area of tennis region on the image is calculated when the center of described image, when the tennis area of calculating is more than certain value, that is, table
Show that distance is less than certain value between robot and tennis, robot stops movement；
3）According to step 2）In calculating, meet set distance condition, robot stops movement, and tennis is in machine at this time
The front of people, the distance between tennis and robot are at a distance from being set when debugging, according to setting between robot and tennis
Set a distance, robot control machinery arm complete the grasping movement to target tennis according to setpoint distance.
2. the robot of view-based access control model according to claim 1 picks up ball method, it is characterised in that：The end of the mechanical arm
With pickup, crawl or the manipulator for adsorbing sphere.
3. the robot of view-based access control model according to claim 1 picks up ball method, it is characterised in that：The robot base peace
Equipped with 4 Mecanum wheels driven by stepper motors, stepper motor drives Mecanum wheel rotation, by controlling four Mikes
The rotation direction and velocity of rotation of Na Mu wheels, it includes the movement for being rotated in interior random two-dimensional direction that robot can be made, which to generate,
To realize Omni-mobile.
4. the robot of view-based access control model according to claim 1 picks up ball method, it is characterised in that：The mechanical arm, Mike
Na Mu takes turns, the drive part of camera is electrically connected with the controller.
5. the robot of view-based access control model according to claim 1 picks up ball method, it is characterised in that：The recognizer is：
ORB characteristics algorithms or recognition methods based on HSV color spaces.
6. the robot of view-based access control model according to claim 1 picks up ball method, it is characterised in that：It is described to be based on HSV colors
The recognition methods in space is：Image is transformed into HSV color spaces from RBG color spaces, mean filter, target are carried out to image
Object has the colour gamut of target object, and unrelated colour gamut is set as completely black or complete white using mask, the edge of detection image, detection connection
Collection, finds out the area of all connected regions, and the too small connected region of removal area is sought length-width ratio to remaining connected region, gone
Except the excessive and too small connected region of length-width ratio, remaining connected region is the target tennis region detected, reads this
The coordinate of regional center in the picture can obtain the orientation immediately ahead of tennis opposed robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810309634.3A CN108579030A (en) | 2018-04-09 | 2018-04-09 | A kind of robot of view-based access control model picks up ball method |
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| CN201810309634.3A CN108579030A (en) | 2018-04-09 | 2018-04-09 | A kind of robot of view-based access control model picks up ball method |
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| CN108579030A true CN108579030A (en) | 2018-09-28 |
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| CN201810309634.3A Pending CN108579030A (en) | 2018-04-09 | 2018-04-09 | A kind of robot of view-based access control model picks up ball method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366754A (en) * | 2018-11-30 | 2019-02-22 | 宣城市安工大工业技术研究院有限公司 | A kind of intelligence drilling robot and its application method |
| CN109954254A (en) * | 2019-03-19 | 2019-07-02 | 武汉理工大学 | Based on omnidirectional come the court intelligent ball collecting robot of good fortune wheel |
| CN110433467A (en) * | 2019-08-13 | 2019-11-12 | 南京邮电大学 | Picking up table tennis ball robot operation method and equipment based on binocular vision and ant group algorithm |
| CN112703504A (en) * | 2018-10-19 | 2021-04-23 | 深圳新物种科技有限公司 | Object identification method and device, electronic equipment and computer readable storage medium |
| 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 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112703504A (en) * | 2018-10-19 | 2021-04-23 | 深圳新物种科技有限公司 | Object identification method and device, electronic equipment and computer readable storage medium |
| CN109366754A (en) * | 2018-11-30 | 2019-02-22 | 宣城市安工大工业技术研究院有限公司 | A kind of intelligence drilling robot and its application method |
| CN109954254A (en) * | 2019-03-19 | 2019-07-02 | 武汉理工大学 | Based on omnidirectional come the court intelligent ball collecting robot of good fortune wheel |
| 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 |
| CN110433467A (en) * | 2019-08-13 | 2019-11-12 | 南京邮电大学 | Picking up table tennis ball robot operation method and equipment based on binocular vision and ant group algorithm |
| CN110433467B (en) * | 2019-08-13 | 2021-02-12 | 南京邮电大学 | Operation method and device of table tennis ball picking robot based on binocular vision and ant colony algorithm |
| 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 |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180928 |
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| RJ01 | Rejection of invention patent application after publication |