CN109304014A - Autonomous cruise intelligent ball collecting robot based on machine vision - Google Patents
Autonomous cruise intelligent ball collecting robot based on machine vision Download PDFInfo
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- CN109304014A CN109304014A CN201811476052.0A CN201811476052A CN109304014A CN 109304014 A CN109304014 A CN 109304014A CN 201811476052 A CN201811476052 A CN 201811476052A CN 109304014 A CN109304014 A CN 109304014A
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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
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- Health & Medical Sciences (AREA)
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- Physical Education & Sports Medicine (AREA)
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Abstract
The invention discloses the autonomous cruise intelligent ball collecting robots based on machine vision, it include: chassis, it is supported horizontally on ground, and chassis bottom surface front is provided with a pair of baffle perpendicular to the ground, and lower end and ground have spacing and spacing is less than the diameter of sphere；Ball case is received, surface opening and the receipts ball case are fixed on the chassis and are located at chassis rear portion thereon；Transport mechanism, its be include outer housing and conveyer belt, outer housing lower side panel upper end be fixed on receive ball case upper opening at, lower end be not higher than plate washer lower end, height of the opposite epipleural lower end of the outer housing apart from ground is slightly larger than the diameter of sphere, the conveyer belt is set to inside outer housing, the conveyer belt is arranged at intervals with muti-piece baffle-wall along its length, and the diameter of sphere is slightly larger than perpendicular to the spacing between conveyer belt setting and adjacent baffle-wall.Automatic ball-picking can be achieved in the present invention, greatly improves ball picking-up efficiency, reduces the cost for picking up ball.
Description
Technical field
The present invention relates to intelligent ball collecting technical fields.It is more particularly related to independently patrolling based on machine vision
Navigate intelligent ball collecting robot.
Background technique
During daily tennis training or big event, tennis it is mixed and disorderly be dispersed in tennis court, need sportsman or
Caddie works to complete to pick up ball, and Many times are artificially to go to pick up ball, waste extra time and physical efficiency, influences training and competition effect
Fruit.Occur some similar hand-helds on the market and pick up ball vehicle, it is lower that this kind picks up ball vehicle functionality, needs personnel's Trolley
Ball is picked up, is shifted near ball ball vehicle is picked up, ball work is then picked up by ball picking up device completion, this kind of ball of picking up needs to be equipped with certain personnel
It completes, and hand-pushing ball collecting vehicle needs artificially constantly to look for object ball, wastes time and human cost.On the market also
Have it is some pick up ball semi-automation device, need to control robot completion and pick up ball, but not in time due to the target of ball, loading capacity etc.
Problem, which affects, picks up ball vehicle and is widely popularized.
Summary of the invention
It is it is an object of the present invention to provide the autonomous cruise intelligent ball collecting robot based on machine vision, it can be achieved that autonomous
Ball is picked up, ball picking-up efficiency is greatly improved, reduces the cost for picking up ball.
In order to realize these purposes and other advantages according to the present invention, the autonomous cruise intelligence based on machine vision is provided
Energy ball picking robot, comprising:
Chassis is supported horizontally on ground by a pair of of front-wheel and a pair of rear wheels, and chassis bottom surface front is the bottom of along
The width direction of disk is provided with a pair of baffle perpendicular to the ground, and lower end has spacing with ground and spacing is less than the straight of sphere
Diameter；
Ball case is received, surface opening and the receipts ball case are fixed on the chassis and are located at chassis rear portion thereon；
Transport mechanism, for the body structure that upper bottom surface is open, the transport mechanism is obliquely installed on receipts ball case
Between opening and chassis front, the transport mechanism includes outer housing and conveyer belt, and outer housing lower side panel upper end is fixed on
It receives at ball case upper opening, lower end is not higher than the lower end of plate washer and is fixed on a pair of of baffle, the opposite epipleural of the outer housing
Height of the lower end apart from ground is slightly larger than the diameter of sphere, and the conveyer belt is set to inside outer housing and along shell body length side
It is rotated in outer enclosure interior, the conveyer belt is arranged at intervals with muti-piece baffle-wall along its length, sets perpendicular to conveyer belt
It sets and spacing between adjacent baffle-wall is slightly larger than the diameter of sphere, when the baffle-wall turns to conveyer belt bottom, under baffle-wall
The height apart from ground is held to be less than radius of sphericity.
Preferably, the conveyer belt is driven by main motor and is rotated, and a pair of of front-wheel is driving wheel and passes through direct current generator
Driving, further includes control mechanism comprising control module and drive module interconnected, the control module and drive module
It is all set in chassis rear portion, the drive module is separately connected with a pair of of direct current generator and main motor.
Preferably, the control mechanism further includes camera and image processing module interconnected, the camera
It is fixed on front side of the chassis, described image processing module is set to chassis rear portion, described image processing module connection control mould
Block.
Preferably, the image that the pattern process module shoots camera is handled, is calculated and passed through control mould
Block control selections pick up ball, and specific method includes the following steps:
S1: camera is by the image transmitting of shooting to image processing module；
S2: image processing module calculates the N number of ball centre point shown in this image and figure by image processing algorithm
The distance between inconocenter point, and more N number of distance values, choose the smallest numerical value, and it is corresponding to match this minimum value
Then this position signal is transferred to control module by ball position, control drive module by control module and robot is driven to pick up
The sphere matched；
S3: repeating the above steps, until having picked up all spheres.
Preferably, the receipts ball case includes fixed case and active box, and the fixed case is fixed on chassis, the activity
Just activity is located in fixed case case.
Preferably, the fixed case is the cabinet of upper surface opening, and the fixed case is internally provided with collection ball bucket, receives
Case and delivery pipe, the ball bucket that integrates are described as infundibulate and the blocking case of the fixed connection bottom surface of upper opening and one side opening
Stop the side perforation opposite with conveyer belt upper end just of box opening, the collection ball bucket bottom has through-hole, the through-hole connection
It receives case upper opening, the case under shed connection delivery pipe upper port of receiving, the delivery pipe tilts down setting, the collection ball
Bucket is fixed on the support column support of fixed case bottom by more；
The active box is the hollow box body that upper bottom surface is open and the active box is sheathed on just on the outside of collection ball bucket
In active box, the active box by be hollow structure the first side case, second side case, third side case and the 4th side case one
Body formed composition, first side case closely fixed case close to conveyer belt medial surface and upper surface be provided with the gear frame of inverted U,
The gear frame is close to the side for stopping box opening just and penetrates through corresponding, and first side case is internally provided with inclined
First baffle, second side case and the first side case, which are oppositely arranged and are provided with inside second side case from centre to two sides, to dip down
Oblique a pair of of second baffle, second side case centre, which has, seals the opening being connected to, the third side with conveying infratubal port
Case and the 4th side case are oppositely arranged and inside is provided with inclined third baffle and fourth gear plate, and a pair of of second baffle is inclined
Lower end is separately connected third baffle and the inclined upper end of fourth gear plate, and the inclined lower end connection first baffle of fourth gear plate inclines
Oblique upper end, the inclined lower end of the first baffle connect the inclined lower end of third baffle, the first baffle, second baffle,
It is arc-shaped connection at third baffle and fourth gear plate interconnection, the first baffle and third baffle junction are provided with out
Ball mouth.
Preferably, the active box is further fixedly arranged on out ball case on the outside of the case of third side, and upper surface, which has, puts ball
Mouthful, the ball case out includes:
Ball channel out comprising be integrally formed ramp way and the horizontal channel of perforation, the ramp way is along ball mouth
It tilts down, the ball channel out, which is set as sphere, successively to be passed freely through side by side, and the length of the horizontal channel is slightly larger than
The diameter of sphere, the horizontal channel bottom surface have the engaging slot to lower groove；
Accessory plate is vertically positioned in horizontal channel and can be moved by the length direction level of oil cylinder drives edge horizontal channel
Dynamic, the accessory plate upper end protrudes from above the horizontal channel, horizontal channel bottom surface is close in lower end, pushes up on the horizontal channel
Face is the elastic webbing for being tightly connected horizontal channel side, and the accessory plate passes through elastic webbing and is fixedly connected with elastic webbing, described
The part that accessory plate is located in horizontal channel is provided with the ball mouth of horizontal perforation, can accommodate sphere just and pass freely through, described
Accessory plate is internally provided with vertical channel, and lower end is penetrated through to outside accessory plate lower end, and cooperation is inserted with vertically in the channel
Top plate, the top plate blocks the ball mouth just, described logical when the accessory plate is located at ramp way and horizontal channel junction
Road lower port corresponds to engaging slot upper port just, and fastening plate is combined in the engaging slot, and the fastening plate has and ball mouth one
The horizontal hole of cause；
Auxiliary rod comprising horizon bar, vertical bar and the hinge bar being in the same plane with fastening plate, the vertical bar
It is arranged in out in ball case vertically and the upper end of vertical bar protrudes from out outside ball case, horizon bar one is close in the lower end of the vertical bar
Side, the horizon bar are articulated with hinge bar upper end, and the other side of the horizon bar is located at the downside of fastening plate, the hinge bar
It is fixed in ball case out vertically；
Auxiliary tank, for the cube structure of upper surface opening, the auxiliary tank first side has ball hole, the goal
Mouth is just corresponding to penetrate through the horizontal channel port, and the opposite second side of the auxiliary tank passes through horizontal elastic mechanism connection
There is vertical support plate, the support plate level can move freely between first side and second side, in the support plate
It is connected between end and second side upper end by horizontal telescopic expansion plate, the hinged matching board lower end in first side lower end, institute
Matching board upper end is stated not higher than first side upper end；
Turntable, is vertically arranged and shaft is trunnion axis, and the disc surfaces concave along its circumferential circle uniform intervals
It falls into and is provided with multiple grooves, the groove accommodates sphere just, when the groove port of the turntable turns to bottom, is close to just
The upper opening of the corresponding auxiliary tank corresponds to ball-putting hole when the groove port of the turntable turns to the top just.
Preferably, rotation axis, width direction of the length direction along chassis, the rotation are provided between a pair of of baffle
Axis surface is in that dispersion shape is provided with muti-piece driving plate along its circumferential direction, and when the rotation axis rotates, outer housing does not interfere driving plate
Rotation.
Preferably, a pair of of baffle front end is extended to chassis front side a pair of of bar, is arranged in splayed, described
Height of the bar apart from ground is less than the diameter of the sphere, and the bar is detachably set on baffle.
Preferably, the transport mechanism passes through vertical support rod along the two sides in chassis width direction and is fixed on chassis
On.
The present invention is include at least the following beneficial effects:
Ball picking robot of the invention can realize automatic ball-picking, greatly improve ball picking-up efficiency, reduce pick up ball at
This；Setting additionally by fixed case and active box can facilitate the sphere that will be collected in active box timely and conveniently to take out, simultaneously
Active box is additionally provided with out ball case, it can be achieved that independently going out ball, once goes out a ball, improves the comfort level for the personnel of playing ball.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the sectional view of rotation axis of the present invention and driving plate；
Fig. 3 is the top view that the present invention receives ball case；
Fig. 4 is the side view inside fixed case of the present invention；
Fig. 5 is the main view of second side case of the present invention；
Fig. 6 main view of ball case for the first side case of the invention and out；
Fig. 7 is the structural schematic diagram of accessory plate of the present invention；
Fig. 8 is the structural schematic diagram of auxiliary rod of the present invention.
Description of symbols:
1, chassis, 2, fixed case, 3, active box, 4, conveyer belt, 5, baffle-wall, 6, baffle, 7, bar, 8, support rod, 9, turn
Moving axis, 10, driving plate, 11, go out ball case, 12, ramp way, 13, horizontal channel, 14, accessory plate, 141, ball mouth, 142, channel,
143, top plate, 144, fastening plate, 145, horizon bar, 146, vertical bar, 147, hinge bar, 15, auxiliary tank, 151, ball hole,
152, support plate, 153, expansion plate, 154, matching board, 16, turntable, 21, collection ball bucket, 22, case of receiving, 23, delivery pipe, 24, resistance
Gear case, the 31, first side case, 32, second side case, 33, third side case, the 34, the 4th side case, 35, gear frame, 36, first baffle, 37,
Second baffle.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be noted that experimental method described in following embodiments is unless otherwise specified conventional method, institute
Reagent and material are stated, unless otherwise specified, is commercially obtained；In the description of the present invention, term " transverse direction ", " vertical
To ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", the instructions such as "outside" side
Position or positional relationship are to be based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description of the present invention and simplification of the description,
It is not that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, because
This is not considered as limiting the invention.
As shown in Figure 1, the present invention provides a kind of autonomous cruise intelligent ball collecting robot based on machine vision, comprising: bottom
Disk 1 is supported horizontally on ground, width of the 1 bottom surface front of chassis along chassis 1 by a pair of of front-wheel and a pair of rear wheels
Direction is provided with a pair of baffle 6 perpendicular to the ground, and lower end and ground have spacing and spacing is less than the diameter of sphere；Receive ball
Case, surface opening and the receipts ball case are fixed on the chassis 1 and are located at 1 rear portion of chassis thereon；Transport mechanism is upper and lower
The body structure that bottom surface is open, the transport mechanism are obliquely installed between receipts ball case upper opening and 1 front of chassis, the biography
Sending mechanism includes outer housing and conveyer belt 4, and outer housing lower side panel upper end is fixed at receipts ball case upper opening, lower end is not higher than
The lower end of baffle 6 is simultaneously fixed on a pair of of baffle 6, and height of the opposite epipleural lower end of the outer housing apart from ground is slightly larger than
The diameter of sphere, the conveyer belt 4 is set to inside outer housing and rotates along outer housing length direction in outer enclosure interior, described
Conveyer belt 4 is arranged at intervals with muti-piece baffle-wall 5 along its length, between the setting of conveyer belt 4 and adjacent baffle-wall 5
Away from the diameter for being slightly larger than sphere, when the baffle-wall 5 turns to 4 bottom of conveyer belt, height of the lower end of baffle-wall 5 apart from ground is small
In radius of sphericity.
In the above-mentioned technical solutions, chassis 1 can may be frame structure for one block of plate, preferably rectangular, pick up ball machine
Device people is travelled forward by a pair of of front-wheel and a pair of rear wheels, and front wheels and rear wheels may be configured as universal wheel or Mecanum wheel, machine
The direction that people advances is the length direction on chassis 1, and a pair of of baffle 6 is symmetrical arranged in the central axes two sides on chassis 1 and is located at machine
The front of people, and receive the rear portion that ball case is located at robot.In structure as shown in Figure 1, the outer housing front side board of transport mechanism is not
It draws, to become apparent from the structural schematic diagram of conveyer belt 4 inside display outer housing, outer housing passes through 1 width direction two sides of chassis
Coverboard is fixed on a pair of of 6 inside of baffle, so that entire transport mechanism is located exactly between a pair of of baffle 6, conveyer belt 4 is located at shell
The centre in internal portion, conveyer belt 4 move from top to bottom close to the side of outer housing front side board；When robot travels forward, sphere
When rolling from a pair of of baffle 6 to transport mechanism, sphere may pass through to be rolled backward below outer housing front side board, and conveyer belt 4 is ceaselessly
It is rotating, baffle-wall 5 can take up sphere on the ground between front side board and back side panel, and between adjacent baffle-wall 5, pass through
Being conveyed into for conveyer belt 4 is received in ball case, and ball movement is picked up in completion；Baffle-wall 5 is arranged along the width direction of conveyer belt 4, and tight
The coverboard of outer housing two sides is suffered, the length of baffle-wall 5 is rationally set, so that multiple spheres can be disposably transmitted between adjacent baffle-wall 5,
Improve the efficiency for picking up ball.Shown in Fig. 1, baffle-wall 5 is not an entire plate, is divided into three pieces, and the spacing between adjacent panels is less than ball
Body diameter, realization can disposably transmit three spheres, and the present apparatus is that the transmission based on three tennises is designed.
In another technical solution, the transmission belt 4 is driven by main motor and is rotated, and a pair of of front-wheel is driving wheel and leads to
Direct current generator driving is crossed, further includes control mechanism comprising control module and drive module interconnected, the control module
It is all set in 1 rear portion of chassis with drive module, the drive module is separately connected with a pair of of direct current generator and main motor.
In the above-mentioned technical solutions, control module uses single-chip microcontroller, and the output end of control module is directly connected to drive module,
Drive module is separately connected main motor and direct current generator, controls drive module movement, drive module driving master by control module
Motor work, so that driving the movement of conveyer belt 4 to realize picks up ball, while drive module also drives direct current generator to work, and drives a pair of
Front-wheel walking and steering, to drive robot ambulation and steering.
In another technical solution, the control mechanism further includes camera and image processing module interconnected,
The camera is fixed on 1 front side of chassis, and described image processing module is set to 1 rear portion of chassis, and described image handles mould
Block link control module.The image that the pattern process module shoots camera is handled, is calculated and passed through control module
Control selections pick up ball, and specific method includes the following steps:
S1: camera is by the image transmitting of shooting to image processing module；
S2: image processing module calculates the N number of ball centre point shown in this image and figure by image processing algorithm
The distance between inconocenter point, and more N number of distance values, choose the smallest numerical value, and it is corresponding to match this minimum value
Then this position signal is transferred to control module by ball position, control drive module by control module and robot is driven to pick up
The sphere matched；
S3: repeating the above steps, until having picked up all spheres.
In the above-mentioned technical solutions, specific method includes: that camera acquisition vision signal forms image and is transferred in detail
Image processing module；Image processing module carries out gray processing, binaryzation, Denoising disposal etc. by image processing algorithm；To
The target sphere in image is extracted according to feature selecting；Calculate the centre coordinate value, external of multiple target sphere in image
Rectangle parameter；The central point for choosing shooting image is original point, and it is more to shoot original point calculating current location distance according to camera
The center position coordinates distance of target sphere；Sentenced according to original point with the distance weights of centre coordinate and each circumscribing edge point
It is fixed；Determining multiple target sphere according to judgement result, which is nearest apart from original point；It will determine the optimal path signal transmission of selection
To controller, controls robot and pick up ball movement；Successively determined next time after finding target sphere, until having picked up all mesh
Until marking sphere.
In another technical solution, the receipts ball case includes fixed case 2 and active box 3, and the fixed case 2 is fixed on bottom
On disk 1, activity is located in fixed case 2 active box 3 just, and the active box 3 is also arranged along the two sides of 1 width direction of chassis
There is a pair of through-hole penetrated through.Fixed case 2 is fixed on chassis 1, one side fixed transmission mechanism, on the other hand stores sphere, and
Active box 3 is inserted into fixed case 2 just from above, and setting is can to facilitate after the completion of sphere is collected and take the sphere of collection
Out, for using.One both hands are put by the setting of a pair of of through-hole for staff, to facilitate active box 3 from fixed case 2
Middle taking-up.
In another technical solution, as shown in Fig. 3 to 6, the fixed case 2 is the cabinet of upper surface opening, described solid
Determine case 2 and be internally provided with collection ball bucket 21, receive case 22 and delivery pipe 23, the ball bucket 21 that integrates is infundibulate and the fixed company of upper opening
The blocking case 24 of logical bottom surface and one side opening, the side for stopping case 24 to be open is just opposite with 4 upper end of conveyer belt to be passed through
Logical, 21 bottom of collection ball bucket has through-hole, and the through-hole is connected to 22 upper opening of case of receiving, 22 under shed of the case connection of receiving
23 upper port of delivery pipe, the delivery pipe 23 tilt down setting, and the collection ball bucket 21 is fixed on 2 bottom of fixed case by more
Support column support；
The active box 3 is the hollow box body that upper bottom surface is open and the active box 3 is sheathed on collection ball bucket 21 just
Outside is located in active box 3, the active box 3 by be hollow structure the first side case 31, second side case 32, third side case 33
It is integrally formed and constitutes with the 4th side case 34, closely medial surface and upper surface of the fixed case 2 close to conveyer belt 4 of first side case 31
Be provided with the gear frame 35 of inverted U, the gear frame 35 be close to just with the side that the blocking case 24 is open and penetrate through it is corresponding, it is described
First side case 31 is internally provided with inclined first baffle 36, and second side case 32 and the first side case 31 are oppositely arranged and second
Be provided with a pair of of the second baffle 37 tilted down inside side case 32 from centre to two sides, have among second side case 32 with
The opening of 23 lower port of delivery pipe sealing connection, third side case 33 and the 4th side case 34 is oppositely arranged and inside is provided with
Inclined third baffle and fourth gear plate, the inclined lower end of a pair of of second baffle 37 is separately connected third baffle and fourth gear plate inclines
Oblique upper end, the inclined lower end of fourth gear plate connect the inclined upper end of first baffle 36, and the first baffle 36 is inclined
Lower end connects the inclined lower end of third baffle, and the first baffle 36, second baffle 37, third baffle are mutually interconnected with fourth gear plate
Meeting place is arc-shaped connection, and the first baffle 36 and third baffle junction are provided with ball mouth.
In the above-mentioned technical solutions, active box 3 can take out from fixed case 2, thus facilitate taking-up sphere, however sphere
Final take out still needs tilting action case 3, therefore still not convenient enough, therefore is provided with the knot of active box 3 and fixed case 2
Active box 3 is sheathed in fixed case 2 by structure first with more convenient taking-up sphere, and 3 medial surface of active box closely collects ball bucket 21
Outside, the side that the shelves frame of 31 upper surface of the first side case closely stops case 24 to be open just, to drive sphere in conveyer belt 4
When to the top, gear frame 35 can be first passed through and entered back into stop in case 24, finally be slided from collection ball bucket 21, prevent sphere from other ground
Side skids off, and sphere enters in second side case 32 by receiving case 22 using delivery pipe 23 from the through-hole of collection 21 bottom of ball bucket
Portion, collect 21 bottom of ball bucket through-hole and 22 port of case of receiving size there are also the diameter of delivery pipe 23 can disposably accommodate it is multiple
Sphere prevents to block, and after sphere enters second side case 32, distinguishes free skating along the second baffle 37 that a pair tilts down
It moves to third baffle and fourth gear plate, third baffle and fourth gear plate are also downward hang plate, and sphere passes through fourth gear plate
The first baffle 36 passed through again when sliding into lower end diagonally downward continues to glide, until all spheres slide to ball mouth,
Ball mouth do not go out ball when block, and out ball when open again, the junction of all baffles be it is arc-shaped, facilitate sphere free skating
It moves to next baffle, inclined height of total inclined height equal to third baffle of fourth gear plate and first baffle 36, all baffles
Tilt angle be set as sphere and can freely glide, in order to guarantee that sphere glides smooth, all baffles are disposed as shiny surface,
Upper surface is made up of the material that friction is small.
In another technical solution, as shown in Fig. 6 to 8, the active box 3 is also fixedly installed in 33 outside of third side case
There is ball case 11 out, upper surface has ball-putting hole, and the ball case 11 out includes:
Ball channel out comprising be integrally formed ramp way 12 and the horizontal channel 13 of perforation, 12 edge of ramp way
Ball mouth tilts down, and the ball channel out, which is set as sphere, successively to be passed freely through side by side, the length of the horizontal channel 13
Degree is slightly larger than the diameter of sphere, and 13 bottom surface of horizontal channel has the engaging slot to lower groove；
Accessory plate 14, is vertically positioned in horizontal channel 13 and can be by the length direction of oil cylinder drives edge horizontal channel 13
It moves horizontally, 14 upper end of accessory plate protrudes from 13 top of horizontal channel, 13 bottom surface of horizontal channel is close in lower end, described
On horizontal channel 13 top surface be tightly connected 13 side of horizontal channel elastic webbing, the accessory plate 14 pass through elastic webbing and with bullet
Property band be fixedly connected, the part that the accessory plate 14 is located in horizontal channel 13 is provided with the ball mouth 141 of horizontal perforation, just
Sphere can be accommodated to pass freely through, the accessory plate 14 is internally provided with vertical channel 142, and lower end is penetrated through to accessory plate 14
End is outer, and cooperation is inserted with top plate 143 vertically in the channel 142, and the top plate 143 blocks the ball mouth 141 just, described auxiliary
When plate 14 being helped to be located at 13 junction of ramp way 12 and horizontal channel, 142 lower port of channel corresponds to engaging slot upper end just
Mouthful, fastening plate 144 is combined in the engaging slot, the fastening plate 144 has and the consistent horizontal hole of ball mouth 141；
Auxiliary rod comprising horizon bar 145, vertical bar 146 and the hinge bar being in the same plane with fastening plate 144
147, the vertical bar 146 is arranged in out in ball case 11 vertically and the upper end of vertical bar 146 protrudes from out outside ball case 11, described perpendicular
145 side of horizon bar is close in the lower end of straight-bar 146, and the horizon bar 145 is articulated with 147 upper end of hinge bar, the horizon bar 145
The other side be located at the downside of fastening plate 144, the hinge bar 147 is fixed in ball case 11 out vertically；
Auxiliary tank 15, for the cube structure of upper surface opening, 15 first side of auxiliary tank has ball hole 151,
The ball hole 151 is just corresponding to penetrate through 13 port of horizontal channel, and the opposite second side of the auxiliary tank 15 passes through water
Flat elastic mechanism is connected with vertical support plate 152, and the support plate 152 can be horizontal between first side and second side
It moves freely, is connected between 152 upper end of support plate and second side upper end by horizontal telescopic expansion plate 153, the
Hinged 154 lower end of matching board in one side lower end, 154 upper end of matching board are not higher than first side upper end；
Turntable 16, is vertically arranged and shaft is trunnion axis, 16 surface of turntable along its circumferential one enclose uniform intervals to
Sunken inside is provided with multiple grooves, and the groove accommodates sphere just, when the groove port of the turntable 16 turns to bottom, just
The good upper opening for being close to the corresponding auxiliary tank 15, when the groove port of the turntable 16 turns to the top, correspondence puts ball just
Mouthful.
In the above-mentioned technical solutions, 3 side of active box is additionally provided with the ball case 11 out that can once only go out a ball automatically,
When movement, ball picking robot can be placed in by place, automatically ball out, when needing to pick up ball or receive ball case and collect full sphere,
Active box 3 can be taken out from fixed case 2, then be put into an empty active box 3 in fixed case 2, continued to complete and pick up ball, and this
When active box 3 can be used as going out ball case 11 automatically, out ball case 11 ball-putting hole height setting rationally, players can not have to bend over
Or too much like hard work realization is vied for the ball.Sphere can be rolled to ramp way 12 from ball mouth automatically, and the sphere of ramp way 12 can continue to roll
It moves to horizontal channel 13 and presses down on vertical bar 146 in the initial state, vertical bar 146 drives 145 left end of horizon bar to occur
Inclination, so that the right end of horizon bar 145 ejects fastening plate 144 from engaging slot upwards, fastening plate 144 is upwards by top plate 143
13 top of horizontal channel is ejected, until fastening plate 144 is located in horizontal channel 13, sphere can be from the hole of fastening plate 144 at this time
In be rolled in horizontal channel 13, in horizontal channel 13 only accommodate a sphere, at this point, unclamp vertical bar 146,145 turns of horizon bar
It moves as level, fastening plate 144 freely drops down onto engaging slot, and top plate 143 freely drops down onto horizontal channel 13, is driven by oil cylinder auxiliary
Plate 14 is helped to be moved to the left, so that the sphere that will go into horizontal channel 13 pushes up to the left, sphere is to pass through ball hole 151 to the left
Extrusion fit plate 154, matching board 154 can only rotate, so that the elasticity of compression mechanism to the left of support plate 152 will be pushed, until
Sphere is completely into in auxiliary tank 15；Rotation turntable 16 has the upper opening of a groove port face auxiliary tank 15 up to it, this
When under the bounce effect of elastic mechanism, sphere is pressed into groove, and the setting of expansion plate 153 can guarantee that sphere will not
It falls, is always positioned in groove, rotate turntable 16, the sphere in groove can be sent to ball-putting hole, by taking groove is arranged 6 as an example,
Starting only 60 degree of the rotation every time of turntable 16 is set, and is rotated in same direction every time；When sphere enters in groove, drive
Accessory plate 14 moves right, on the one hand can squeeze to the right right side sphere, prevent sphere to be deposited in ball mouth, cannot freely under
Sliding, another aspect accessory plate 14 is moved to right to engaging slot, presses vertical bar 146 still further below at this time, so that sphere is from fastening plate 144
Into horizontal channel 13, repeatedly, repeat the above process, it can be achieved that going out ball automatically, primary goes out a ball.Integrated operation process
Are as follows: vertical bar 146 is first pressed, ball is put to horizontal channel 13, restarts oil cylinder and push accessory plate 14 to the left, then rotate turntable 16
Once, ball is taken, turntable 16 is rotated further by once, pushes accessory plate 14 to the right, press vertical bar 146 still further below, repeat the above steps,
Oil cylinder starts every time, and it is the length of horizontal channel 13 that the distance for pushing accessory plate 14 mobile, which is fixed,.
In another technical solution, rotation axis 9, width of the length direction along chassis 1 are provided between a pair of of baffle 6
Direction, 9 surface of rotation axis is in that dispersion shape is provided with muti-piece driving plate 10 along its circumferential direction, as shown in Fig. 2, the rotation axis 9
When rotation, outer housing does not interfere the rotation of driving plate 10.Rotation axis 9 is driven to rotate by driving mechanisms such as motors, when rotation axis 9
When rotation, driving plate 10 can drive sphere to rear from front, give sphere one power rolled backward, to facilitate sphere
Transmission is collected.When driving plate 10 turns to bottom, height of the lower end apart from ground is slightly larger than the radius of sphere, on the one hand may be used
Smoothly to the power of sphere one rolling, it on the other hand can guarantee that sphere does not stop between adjacent driven plate 10.Rotation axis 9 and drive
The setting of movable plate 10 can also smoothly be sent to so that in one or two sphere being only scattered and receive ball case.
In another technical solution, it is in eight that, which there is a pair of of bar 7 in a pair of of 6 front end of baffle to being extended on front side of chassis 1,
Font setting, height of the bar 7 apart from ground are less than the diameter of the sphere.Bar 7 is in outward splayed, when needing to receive
When the sphere of collection is more and more dispersed, by a pair of of bar 7 can enlarged ball capture range, thus quickly by multiple spheres
Disposable transmission is collected to receipts ball case.The bar 7 is detachably set on baffle 6, and removably can be threaded connection
Or other feasible modes, when the number of spheres for needing collection to pick up is less or more dispersed, dismountable bar 7, directly
Pick up ball.
In another technical solution, the transport mechanism passes through vertical support along the two sides of 1 width direction of chassis
Bar 8 is fixed on chassis 1.The setting of support rod 8 can play certain supporting role to transport mechanism, so that transport mechanism is more
Stablize.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. the autonomous cruise intelligent ball collecting robot based on machine vision characterized by comprising
Chassis is supported horizontally on ground by a pair of of front-wheel and a pair of rear wheels, and chassis bottom surface front is along chassis
Width direction is provided with a pair of baffle perpendicular to the ground, and lower end and ground have spacing and spacing is less than the diameter of sphere；
Ball case is received, surface opening and the receipts ball case are fixed on the chassis and are located at chassis rear portion thereon；
Transport mechanism, for the body structure that upper bottom surface is open, the transport mechanism is obliquely installed in receipts ball case upper opening
Between the front of chassis, the transport mechanism includes outer housing and conveyer belt, and receipts ball is fixed in outer housing lower side panel upper end
At case upper opening, lower end not higher than plate washer lower end and be fixed on a pair of of baffle, the opposite epipleural lower end of the outer housing
Height apart from ground is slightly larger than the diameter of sphere, and the conveyer belt is set to inside outer housing and exists along outer housing length direction
Outer housing inner rotation, the conveyer belt are arranged at intervals with muti-piece baffle-wall along its length, perpendicular to conveyer belt setting and
Spacing between adjacent baffle-wall is slightly larger than the diameter of sphere, when the baffle-wall turns to conveyer belt bottom, the lower end of baffle-wall away from
Height from the ground is less than radius of sphericity.
2. the autonomous cruise intelligent ball collecting robot based on machine vision as described in claim 1, which is characterized in that the biography
It send band to drive by main motor to rotate, it further includes control mechanism that a pair of of front-wheel, which is driving wheel and drives by direct current generator, packet
Control module and drive module interconnected are included, the control module and drive module are all set in chassis rear portion, the drive
Dynamic model block is separately connected with a pair of of direct current generator and main motor.
3. the autonomous cruise intelligent ball collecting robot based on machine vision as claimed in claim 2, which is characterized in that the control
Mechanism processed further includes camera and image processing module interconnected, and the camera is fixed on front side of the chassis, described
Image processing module is set to chassis rear portion, described image processing module link control module.
4. the autonomous cruise intelligent ball collecting robot based on machine vision as claimed in claim 2, which is characterized in that the figure
The image that shape processing module shoots camera, which is handled, calculated and passed through control module control selections, picks up ball, specific side
Method includes the following steps:
S1: camera is by the image transmitting of shooting to image processing module；
S2: image processing module is calculated by image processing algorithm in the N number of ball centre point and image shown in this image
The distance between heart point, and more N number of distance values, choose the smallest numerical value, and match the corresponding sphere of this minimum value
Then this position signal is transferred to control module by position, control drive module by control module and robot is driven to pick up matching
Sphere out；
S3: repeating the above steps, until having picked up all spheres.
5. the autonomous cruise intelligent ball collecting robot based on machine vision as described in claim 1, which is characterized in that the receipts
Ball case includes fixed case and active box, and the fixed case is fixed on chassis, and activity is located in fixed case the active box just.
6. the autonomous cruise intelligent ball collecting robot based on machine vision as claimed in claim 5, which is characterized in that described solid
Determine the cabinet that case is upper surface opening, the fixed case is internally provided with collection ball bucket, receive case and delivery pipe, and the collection ball bucket is
The blocking case of the fixed connection bottom surface of infundibulate and upper opening and one side opening, the side for stopping box opening just with biography
Send band upper end is opposite to penetrate through, the collection ball bucket bottom has through-hole, and the through-hole is connected to case upper opening of receiving, described to receive under case
Open communication delivery pipe upper port, the delivery pipe tilt down setting, and the collection ball bucket is fixed on fixed case bottom by more
The support column in portion supports；
The active box is the hollow box body that upper bottom surface is open and the active box is sheathed on the outside of collection ball bucket just and is located at
In active box, the active box by be the first side case of hollow structure, second side case, third side case and the 4th side case one at
Type is constituted, first side case closely fixed case close to conveyer belt medial surface and upper surface be provided with the gear frame of inverted U, it is described
Gear frame is close to the side for stopping box opening just and penetrates through corresponding, and first side case is internally provided with inclined first
Baffle, second side case and the first side case are oppositely arranged and are provided with inside second side case from centre to two sides and tilt down
A pair of of second baffle has among second side case and seals opening be connected to conveying infratubal port, third side case with
4th side case is oppositely arranged and inside is provided with inclined third baffle and fourth gear plate, a pair of of inclined lower end of second baffle
It is separately connected third baffle and the inclined upper end of fourth gear plate, the inclined lower end connection first baffle of fourth gear plate is inclined
Upper end, the inclined lower end of first baffle connect the inclined lower end of third baffle, the first baffle, second baffle, third
It is arc-shaped connection at baffle and fourth gear plate interconnection, the first baffle and third baffle junction are provided with out ball
Mouthful.
7. the autonomous cruise intelligent ball collecting robot based on machine vision as claimed in claim 6, which is characterized in that the work
Dynamic case is further fixedly arranged on out ball case on the outside of the case of third side, and upper surface has ball-putting hole, and the ball case out includes:
Ball channel out comprising be integrally formed ramp way and the horizontal channel of perforation, the ramp way is downward along ball mouth
Inclination, the ball channel out, which is set as sphere, successively to be passed freely through side by side, and the length of the horizontal channel is slightly larger than sphere
Diameter, the horizontal channel bottom surface have to lower groove engaging slot；
Accessory plate is vertically positioned in horizontal channel and can be moved horizontally by the length direction of oil cylinder drives edge horizontal channel,
The accessory plate upper end protrudes from above the horizontal channel, horizontal channel bottom surface is close in lower end, top surface on the horizontal channel
For the elastic webbing for being tightly connected horizontal channel side, the accessory plate passes through elastic webbing and is fixedly connected with elastic webbing, described auxiliary
The part for helping plate to be located in horizontal channel is provided with the ball mouth of horizontal perforation, can accommodate sphere just and pass freely through, described auxiliary
Intralamellar part is helped to be provided with vertical channel, lower end is penetrated through to outside accessory plate lower end, and cooperation is inserted with top vertically in the channel
Plate, the top plate blocks the ball mouth just, when the accessory plate is located at ramp way and horizontal channel junction, the channel
Lower port corresponds to engaging slot upper port just, and fastening plate is combined in the engaging slot, and the fastening plate has consistent with ball mouth
Horizontal hole；
Auxiliary rod comprising horizon bar, vertical bar and the hinge bar being in the same plane with fastening plate, the vertical bar are vertical
It is arranged in out in ball case and the upper end of vertical bar protrudes from out outside ball case, horizon bar side, institute are close in the lower end of the vertical bar
It states horizon bar and is articulated with hinge bar upper end, the other side of the horizon bar is located at the downside of fastening plate, and the hinge bar is vertical
It is fixed in ball case out；
Auxiliary tank, for the cube structure of upper surface opening, the auxiliary tank first side has ball hole, and the ball hole is proper
The good corresponding perforation horizontal channel port, the opposite second side of the auxiliary tank is connected with perpendicular by horizontal elastic mechanism
Straight support plate, the support plate level can move freely between first side and second side, support plate upper end with
By horizontal telescopic expansion plate connection between second side upper end, the hinged matching board lower end in first side lower end is described to match
Plywood upper end is not higher than first side upper end；
Turntable, is vertically arranged and shaft is trunnion axis, and the disc surfaces are recessed inwardly along its circumferential circle uniform intervals and set
Multiple grooves are equipped with, the groove accommodates sphere just, when the groove port of the turntable turns to bottom, is close to correspond to just
When the groove port of the upper opening of the auxiliary tank, the turntable turns to the top, ball-putting hole is corresponded to just.
8. the autonomous cruise intelligent ball collecting robot based on machine vision as described in claim 1, which is characterized in that a pair of gear
Rotation axis is provided between plate, for length direction along the width direction on chassis, the rotation axis surface is in dispersion shape along its circumferential direction
It is provided with muti-piece driving plate, when the rotation axis rotates, outer housing does not interfere the rotation of driving plate.
9. the autonomous cruise intelligent ball collecting robot based on machine vision as claimed in claim 8, which is characterized in that a pair of gear
Front edge of board is extended to chassis front side a pair of of bar, is arranged in splayed, and height of the bar apart from ground is less than
The diameter of the sphere, the bar are detachably set on baffle.
10. the autonomous cruise intelligent ball collecting robot based on machine vision as described in claim 1, which is characterized in that described
Transport mechanism passes through vertical support rod along the two sides in chassis width direction and is fixed on chassis.
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| CN201811476052.0A CN109304014B (en) | 2018-12-04 | 2018-12-04 | Autonomous cruising intelligent ball picking robot based on machine vision |
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| CN201811476052.0A CN109304014B (en) | 2018-12-04 | 2018-12-04 | Autonomous cruising intelligent ball picking robot based on machine vision |
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| CN109304014B (en) | 2020-06-30 |
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