CN109304014B

CN109304014B - Autonomous cruising intelligent ball picking robot based on machine vision

Info

Publication number: CN109304014B
Application number: CN201811476052.0A
Authority: CN
Inventors: 李东; 张贝贝; 陈鑫; 郑子豪; 刘金源; 张敬洋; 广文; 方仲康; 靳龙
Original assignee: Wuhan City Vocational College
Current assignee: Nanjing Feizhou Technology Co., Ltd
Priority date: 2018-12-04
Filing date: 2018-12-04
Publication date: 2020-06-30
Anticipated expiration: 2038-12-04
Also published as: CN109304014A

Abstract

The invention discloses an autonomous cruising intelligent ball picking robot based on machine vision, which comprises: the chassis is horizontally supported on the ground, a pair of baffles vertical to the ground are arranged at the front part of the lower bottom surface of the chassis, and the lower end of the baffle has a distance with the ground and the distance is smaller than the diameter of the sphere; the upper surface of the ball collecting box is opened, and the ball collecting box is fixed on the chassis and is positioned at the rear part of the chassis; transport mechanism, it is for including shell body and conveyer belt, shell body downside board upper end is fixed in and receives the lower extreme of ball case upper shed department, lower extreme not higher than the plate washer, the relative upside board lower extreme of shell body highly slightly is greater than spheroidal diameter from ground, the conveyer belt sets up inside the shell body, the conveyer belt is provided with the polylith and hinders the board along its length direction interval, and its perpendicular to conveyer belt setting and the interval between the adjacent board that hinders slightly is greater than spheroidal diameter. The invention can realize automatic ball picking, greatly improves the ball picking efficiency and reduces the ball picking cost.

Description

Autonomous cruising intelligent ball picking robot based on machine vision

Technical Field

The invention relates to the technical field of intelligent ball picking. More particularly, the invention relates to an autonomous cruise intelligent ball picking robot based on machine vision.

Background

In daily tennis training or large-scale match in-process, the tennis is in a messy dispersion in the tennis court, needs sportsman or caddie to accomplish and picks up the ball work, mostly is the people to remove to pick up the ball, extravagant unnecessary time and physical stamina, influence training and match effect. Some similar hand-held ball picking vehicles appear in the market, the ball picking vehicles have low functionality, people are required to manually push the cart to pick balls, the ball picking vehicles are pushed to the positions near the balls, then ball picking work is completed by the ball picking devices, the ball picking vehicles need to be equipped with certain people to complete the ball picking, and the hand-held ball picking vehicles are required to continuously search for target balls, so that time and labor cost are wasted. Some ball picking semi-automatic devices are arranged in the market, a robot needs to be controlled to pick balls, but the ball picking vehicles are widely popularized due to the fact that the ball targets are not timely, the load capacity is low and the like.

Disclosure of Invention

The invention aims to provide an autonomous cruising intelligent ball picking robot based on machine vision, which can realize autonomous ball picking, greatly improve the ball picking efficiency and reduce the ball picking cost.

To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided an autonomous cruise intelligent ball pick-up robot based on machine vision, comprising:

the chassis is horizontally supported on the ground through a pair of front wheels and a pair of rear wheels, a pair of baffles vertical to the ground are arranged at the front part of the lower bottom surface of the chassis along the width direction of the chassis, and the lower end of the baffles has a distance with the ground and the distance is smaller than the diameter of a sphere;

the upper surface of the ball collecting box is opened, and the ball collecting box is fixed on the chassis and is positioned at the rear part of the chassis;

transport mechanism, its box structure that is the equal open-ended of upper and lower bottom surface, transport mechanism inclines to set up between receipts ball case upper shed and chassis front portion, transport mechanism includes shell body and conveyer belt, shell body downside upper end is fixed in and receives ball case upper shed department, the lower extreme is not higher than the lower extreme of plate washer and be fixed in on a pair of baffle, the height that shell body is relative goes up the side plate lower extreme from ground slightly is greater than spheroidal diameter, the conveyer belt sets up in the shell body inside and rotates at the shell body inside along shell body length direction, the conveyer belt is provided with the polylith baffle along its length direction interval, and its perpendicular to conveyer belt setting and the interval between the adjacent baffle slightly is greater than spheroidal diameter, when baffle rotates to the conveyer belt bottom, the lower extreme of baffle is less than the spheroid radius apart from the height on ground.

Preferably, the conveyer belt passes through the main motor drive and rotates, and a pair of front wheel is the drive wheel and passes through direct current motor drive, still includes control mechanism, and it includes interconnect's control module and drive module, control module and drive module all set up in the chassis rear portion, drive module is connected with a pair of direct current motor and main motor respectively.

Preferably, the control mechanism further comprises a camera and an image processing module which are connected with each other, the camera is fixed on the front side of the chassis, the image processing module is arranged on the rear portion of the chassis, and the image processing module is connected with the control module.

Preferably, the image processing module processes and calculates the image shot by the camera and controls the selective ball picking through the control module, and the specific method comprises the following steps:

s1: the camera transmits the shot image to the image processing module;

s2: the image processing module calculates the distances between the center points of the N spheres displayed in the image and the center point of the image through an image processing algorithm, compares N distance values, selects the minimum value, matches the sphere position corresponding to the minimum value, transmits the position signal to the control module, and controls the driving module through the control module to drive the robot to pick up the matched sphere;

s3: and repeating the steps until all the spheres are picked up.

Preferably, the ball collecting box comprises a fixed box and a movable box, the fixed box is fixed on the chassis, and the movable box is just movably positioned in the fixed box.

Preferably, the fixed box is a box body with an opening on the upper surface, a ball collecting hopper, a ball receiving box and a conveying pipe are arranged in the fixed box, the ball collecting hopper is funnel-shaped, the upper opening of the ball collecting hopper is fixedly communicated with a blocking box with an opening on the lower bottom surface and an opening on one side surface, the side surface of the opening of the blocking box is just communicated with the upper end of the conveying belt relatively, a through hole is formed in the bottom of the ball collecting hopper, the through hole is communicated with the upper opening of the ball receiving box, the lower opening of the ball receiving box is communicated with the upper port of the conveying pipe, the conveying pipe is arranged in a downward inclined mode, and the ball;

the movable box is a hollow box body with openings on the upper bottom surface and the lower bottom surface, the movable box is just sleeved outside the ball collecting hopper and is positioned in the fixed box, the movable box is formed by integrally molding a first side box, a second side box, a third side box and a fourth side box which are all of hollow structures, the first side box is close to the inner side surface of the fixed box close to the conveyor belt, the upper surface of the first side box is provided with an inverted U-shaped baffle frame, the baffle frame is just clung to and communicated with the side surface of the opening of the baffle box, an inclined first baffle plate is arranged in the first side box, the second side box is opposite to the first side box, a pair of second baffle plates which are inclined downwards are arranged in the second side box from the middle to two sides, the middle of the second side box is provided with an opening which is hermetically communicated with the lower port of the conveying pipe, the third side box and the fourth side box are opposite to each other, and inclined third baffle, the lower ends of the pair of second baffles are respectively connected with the upper ends of the third baffles and the fourth baffles, the lower ends of the fourth baffles are connected with the upper ends of the first baffles, the lower ends of the first baffles are connected with the lower ends of the third baffles, the mutual connection parts of the first baffles, the second baffles, the third baffles and the fourth baffles are connected in a circular arc shape, and ball outlets are formed in the connection parts of the first baffles and the third baffles.

Preferably, the movable box is further fixedly provided with a ball outlet box outside the third side box, the upper surface of the movable box is provided with a ball outlet, and the ball outlet box comprises:

the ball outlet channel comprises an inclined channel and a horizontal channel which are integrally formed and run through, the inclined channel inclines downwards along a ball outlet, the ball outlet channel is formed in a way that balls can only pass through the ball outlet channel side by side freely in sequence, the length of the horizontal channel is slightly larger than the diameter of the balls, and a clamping groove with a lower groove is arranged on the lower bottom surface of the horizontal channel;

the auxiliary plate is vertically positioned in the horizontal channel and can horizontally move along the length direction of the horizontal channel under the drive of an oil cylinder, the upper end of the auxiliary plate protrudes above the horizontal channel, the lower end of the auxiliary plate is tightly attached to the bottom surface of the horizontal channel, the upper top surface of the horizontal channel is an elastic belt hermetically connected with the side surface of the horizontal channel, the auxiliary plate penetrates through the elastic belt and is fixedly connected with the elastic belt, a horizontally through ball opening is formed in the part of the auxiliary plate positioned in the horizontal channel and just can freely receive a ball body to pass through, a vertical channel is arranged in the auxiliary plate, the lower end of the vertical channel penetrates out of the lower end of the auxiliary plate, a top plate is vertically inserted in the channel in a matching way and just blocks the ball opening, when the auxiliary plate is positioned at the joint of the inclined channel and the horizontal channel, the lower end opening of the channel just corresponds to, the clamping plate is provided with a horizontal hole consistent with the ball opening;

the auxiliary rod comprises a horizontal rod, a vertical rod and a hinge rod, wherein the horizontal rod, the vertical rod and the hinge rod are positioned in the same plane with the clamping plate, the vertical rod vertically penetrates through the ball outlet box, the upper end of the vertical rod protrudes out of the ball outlet box, the lower end of the vertical rod is tightly attached to one side of the horizontal rod, the horizontal rod is hinged to the upper end of the hinge rod, the other side of the horizontal rod is positioned on the lower side surface of the clamping plate, and the hinge rod is vertically fixed in the ball outlet box;

the auxiliary box is of a square structure with an opening on the upper surface, a first side surface of the auxiliary box is provided with a ball inlet, the ball inlet is just correspondingly penetrated through the horizontal channel port, a second side surface opposite to the auxiliary box is connected with a vertical supporting plate through a horizontal elastic mechanism, the supporting plate can horizontally and freely move between the first side surface and the second side surface, the upper end of the supporting plate is connected with the upper end of the second side surface through a horizontal telescopic expansion plate, the lower end of the first side surface is hinged with the lower end of a matching plate, and the upper end of the matching plate is not higher than the upper end of the first side surface;

the carousel, its vertical setting and pivot are the horizontal axis, the carousel surface is along the inside sunken a plurality of recesses that are provided with of its circumference round even interval, the recess holds the spheroid just, when the notch of carousel rotated to the bottom, hug closely the correspondence just the upper shed of auxiliary tank, when the notch of carousel rotated to the top, correspond the mouth of putting the ball just.

Preferably, a rotating shaft is arranged between the pair of baffles, the length direction of the rotating shaft is along the width direction of the chassis, a plurality of driving plates are arranged on the surface of the rotating shaft in a scattering manner along the circumferential direction of the rotating shaft, and when the rotating shaft rotates, the outer shell does not interfere with the rotation of the driving plates.

Preferably, a pair of stop levers are arranged at the front ends of the pair of baffles in a splayed manner and extend towards the front side of the chassis, the height from the stop levers to the ground is smaller than the diameter of the ball body, and the stop levers are detachably arranged on the baffles.

Preferably, both sides of the conveying mechanism along the width direction of the chassis are fixed on the chassis through vertical supporting rods.

The invention at least comprises the following beneficial effects:

the ball picking robot can realize automatic ball picking, greatly improves the ball picking efficiency and reduces the ball picking cost; in addition, the balls collected in the movable box can be conveniently taken out in time through the arrangement of the fixed box and the movable box, and meanwhile, the movable box is also provided with a ball outlet box, so that independent ball outlet can be realized, one ball can be discharged at a time, and the comfort level of ball players is improved.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a sectional view of a rotating shaft and a driving plate of the present invention;

FIG. 3 is a top view of the ball collection bin of the present invention;

FIG. 4 is a side view of the interior of the holding tank of the present invention;

FIG. 5 is a front view of a second side box of the present invention;

FIG. 6 is a front view of the first side box and the ball discharge box of the present invention;

FIG. 7 is a schematic view of the structure of the auxiliary plate of the present invention;

fig. 8 is a schematic structural view of the auxiliary lever of the present invention.

Description of reference numerals:

1. chassis, 2, fixed case, 3, movable case, 4, conveyer belt, 5, baffle, 6, baffle, 7, pin, 8, bracing piece, 9, axis of rotation, 10, drive board, 11, play football shirt, 12, inclined channel, 13, horizontal channel, 14, accessory board, 141, ball mouth, 142, channel, 143, roof, 144, block board, 145, horizontal rod, 146, vertical rod, 147, hinged rod, 15, accessory case, 151, goal, 152, backup pad, 153, expansion plate, 154, mating board, 16, carousel, 21, ball collecting bucket, 22, ball receiving case, 23, conveyer pipe, 24, baffle case, 31, first side case, 32, second side case, 33, third side case, 34, fourth side case, 35, baffle frame, 36, first baffle, 37, second baffle.

Detailed Description

The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.

It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1, the present invention provides an autonomous cruise intelligent ball picking robot based on machine vision, comprising: the chassis 1 is horizontally supported on the ground through a pair of front wheels and a pair of rear wheels, a pair of baffles 6 vertical to the ground are arranged at the front part of the lower bottom surface of the chassis 1 along the width direction of the chassis 1, and the lower end of the baffles has a distance with the ground and the distance is smaller than the diameter of a sphere; the upper surface of the ball collecting box is opened, and the ball collecting box is fixed on the chassis 1 and is positioned at the rear part of the chassis 1; the conveying mechanism is a box body structure with openings on the upper bottom surface and the lower bottom surface, the conveying mechanism is obliquely arranged between the upper opening of the ball collecting box and the front part of the chassis 1, the conveying mechanism comprises an outer shell and a conveying belt 4, the upper end of the lower side plate of the outer shell is fixed at the upper opening of the ball collecting box, the lower end of the lower side plate of the outer shell is not higher than the lower ends of the baffles 6 and is fixed on the baffles 6, the height from the lower end of the upper side plate opposite to the outer shell to the ground is slightly larger than the diameter of the sphere, the conveyor belt 4 is arranged in the outer shell and rotates in the outer shell along the length direction of the outer shell, a plurality of baffle plates 5 are arranged at intervals along the length direction of the conveyor belt 4, the distance between the adjacent baffle plates 5 is slightly larger than the diameter of the sphere, and when the baffle plates 5 rotate to the lowest end of the conveyor belt 4, the height of the lower ends of the baffle plates 5 from the ground is smaller than the radius of the sphere.

In the above technical solution, the chassis 1 may be a plate or a frame structure, preferably, the chassis is square, the ball picking robot moves forward through a pair of front wheels and a pair of rear wheels, the front wheels and the rear wheels may be universal wheels or mecanum wheels, the direction in which the robot moves forward is the length direction of the chassis 1, the pair of baffles 6 are symmetrically arranged on two sides of the central axis of the chassis 1 and are located at the front of the robot, and the ball collection box is located at the rear of the robot. In the structure shown in fig. 1, the front side plate of the outer shell of the conveying mechanism is not shown to more clearly show the structural schematic diagram of the conveying belt 4 inside the outer shell, the outer shell is fixed inside the pair of baffles 6 through the shell plates on both sides of the chassis 1 in the width direction, so that the whole conveying mechanism is just positioned between the pair of baffles 6, the conveying belt 4 is positioned in the middle of the inside of the outer shell, and one side of the conveying belt 4 close to the front side plate of the outer shell moves from top to bottom; when the robot moves forwards and the ball rolls from the pair of baffle plates 6 to the conveying mechanism, the ball can pass through the lower part of the front side plate of the outer shell and roll backwards, the conveying belt 4 rotates ceaselessly, the baffle plates 5 can take the ball up from the ground between the front side plate and the rear side plate and are positioned between the adjacent baffle plates 5, and the ball enters the ball collecting box through the conveying of the conveying belt 4 to finish the ball collecting action; the baffle 5 is arranged along the width direction of the conveyor belt 4 and is close to the shell plates on two sides of the outer shell, the length of the baffle 5 is reasonably arranged, a plurality of balls can be conveyed between the adjacent baffles 5 at one time, and the ball picking efficiency is improved. As shown in figure 1, the baffle 5 is not a whole plate and is divided into three blocks, the distance between the adjacent blocks is smaller than the diameter of the ball, so that three balls can be conveyed at one time, and the device is designed based on the conveying of three tennis balls.

In another technical scheme, the transmission belt 4 is driven to rotate by a main motor, the pair of front wheels are driving wheels and are driven by a direct current motor, the transmission belt further comprises a control mechanism, the control mechanism comprises a control module and a driving module which are connected with each other, the control module and the driving module are both arranged at the rear part of the chassis 1, and the driving module is respectively connected with the pair of direct current motors and the main motor.

In the technical scheme, the control module adopts a single chip microcomputer, the output end of the control module is directly connected with the driving module, the driving module is respectively connected with the main motor and the direct current motor, the driving module controls the driving module to act, the driving module drives the main motor to work so as to drive the conveying belt 4 to move and realize ball picking, and meanwhile, the driving module also drives the direct current motor to work so as to drive the pair of front wheels to walk and turn, so that the robot is driven to walk and turn.

In another technical scheme, the control mechanism further comprises a camera and an image processing module which are connected with each other, the camera is fixed on the front side of the chassis 1, the image processing module is arranged on the rear portion of the chassis 1, and the image processing module is connected with the control module. The image processing module processes and calculates the images shot by the camera and controls selective ball picking through the control module, and the specific method comprises the following steps:

s1: the camera transmits the shot image to the image processing module;

s3: and repeating the steps until all the spheres are picked up.

In the above technical solution, the specific method comprises: the camera collects video signals to form images and transmits the images to the image processing module; the image processing module carries out graying, binaryzation, denoising processing and the like through an image processing algorithm; thereby extracting the target sphere region in the image according to the feature selection; calculating central coordinate values and circumscribed rectangle parameters of the multi-target spheres in the image; selecting a central point of a shot image as an original point, and calculating the coordinate distance between the current position and the central position of the multi-target sphere according to the original shooting point of the camera; judging according to the distance weighted values of the original point, the center coordinate and each external edge point; determining which distance from the multi-target sphere to the original point is closest according to the judgment result; transmitting the judged and selected optimal path signal to a controller to control the robot to pick up the ball; and after the target ball is picked up, sequentially judging for the next time until all the target balls are picked up.

In another technical scheme, the ball collecting box comprises a fixed box 2 and a movable box 3, the fixed box 2 is fixed on the chassis 1, the movable box 3 is just movably positioned in the fixed box 2, and a pair of through holes are formed in the movable box 3 along two sides of the chassis 1 in the width direction. Fixed case 2 is fixed in on the chassis 1, fixed transport mechanism on the one hand, and the spheroid is accomodate to on the other hand, and movable box 3 is from inserting fixed case 2 in just, and its setting is after the spheroid is collected and is accomplished, can conveniently take out the spheroid of collecting to supply to use. The arrangement of a pair of through holes can be used for a worker to put in two hands, so that the movable box 3 can be conveniently taken out of the fixed box 2.

In another technical solution, as shown in fig. 3 to 6, the fixed box 2 is a box body with an open upper surface, a ball collecting hopper 21, a ball receiving box 22 and a conveying pipe 23 are arranged inside the fixed box 2, the ball collecting hopper 21 is funnel-shaped and has an upper opening fixedly communicated with a blocking box 24 with an open lower bottom surface and a side surface, the open side surface of the blocking box 24 is just opposite to and communicated with the upper end of the conveyor belt 4, the bottom of the ball collecting hopper 21 is provided with a through hole communicated with the upper opening of the ball receiving box 22, the lower opening of the ball receiving box 22 is communicated with the upper opening of the conveying pipe 23, the conveying pipe 23 is arranged in a downward inclined manner, and the ball collecting hopper 21 is supported by a plurality of supporting pillars fixed at the bottom of;

the movable box 3 is a hollow box body with openings on the upper and lower bottom surfaces, the movable box 3 is just sleeved outside the ball collecting hopper 21 and is positioned in the fixed box 2, the movable box 3 is formed by integrally molding a first side box 31, a second side box 32, a third side box 33 and a fourth side box 34 which are all of a hollow structure, the first side box 31 is close to the inner side surface of the fixed box 2 close to the conveyor belt 4, the upper surface of the first side box 31 is provided with an inverted U-shaped baffle frame 35, the baffle frame 35 is just attached to and communicated with the side surface of the opening of the baffle box 24, an inclined first baffle plate 36 is arranged inside the first side box 31, the second side box 32 is arranged opposite to the first side box 31, a pair of second baffle plates 37 which incline downwards are arranged inside the second side box 32 from the middle to the two sides, the middle of the second side box 32 is provided with an opening which is hermetically communicated with the lower end opening of the conveying pipe 23, the third side box 33 and the fourth side box 34 are arranged opposite, and inclined, the lower ends of the pair of second baffles 37 are respectively connected with the upper ends of the third baffles and the fourth baffles, the lower ends of the fourth baffles are connected with the upper ends of the first baffles 36, the lower ends of the first baffles 36 are connected with the lower ends of the third baffles, the mutual connection parts of the first baffles 36, the second baffles 37, the third baffles and the fourth baffles are connected in a circular arc shape, and ball outlets are formed in the connection parts of the first baffles 36 and the third baffles.

In the above technical solution, the movable box 3 can be taken out from the fixed box 2 to conveniently take out the spheres, however, the final taking out of the spheres still needs to incline the movable box 3, which is not convenient enough, therefore, the structure of the movable box 3 and the fixed box 2 is provided to more conveniently take out the spheres, firstly, the movable box 3 is sleeved in the fixed box 2, the inner side surface of the movable box 3 is close to the outer side of the sphere collecting bucket 21, the baffle frame on the upper surface of the first side box 31 is just close to the side surface of the opening of the blocking box 24, so that when the conveyor belt 4 drives the spheres to the top, the spheres can firstly pass through the baffle frame 35 and then enter the blocking box 24, finally slide down from the sphere collecting bucket 21 to prevent the spheres from sliding out from other places, the spheres pass through the through hole at the bottom of the sphere collecting bucket 21 through the sphere receiving box 22 and then enter the second side box 32 through the conveying pipe 23, the size of the through hole at the bottom of the sphere collecting bucket 21 and the port of, prevent to take place to block, after the spheroid got into second side case 32, freely slide respectively to third baffle and fourth baffle along the second baffle 37 of a pair of downward sloping, third baffle and fourth baffle also are decurrent hang plate, the spheroid passes through the first baffle 36 that the rethread slant descends downwards when the fourth baffle slides to the lower extreme, until all spheroids landing to go out the ball mouthful department, go out the ball mouthful and block up when not going out the ball, and open again when going out the ball, the junction of all baffles is arc, make things convenient for the spheroid to freely slide to next baffle, the total height of slope of fourth baffle and first baffle 36 equals the height of slope of third baffle, the inclination of all baffles sets up to spheroid can freely slide down for the spheroid, in order to guarantee the smooth and easy of spheroid gliding, all baffles all set up to the smooth surface, the upper surface is made through the less material of frictional force.

In another technical solution, as shown in fig. 6 to 8, a ball outlet box 11 is further fixedly disposed outside the third side box 33 of the movable box 3, and the upper surface of the ball outlet box has a ball outlet, and the ball outlet box 11 includes:

the ball outlet channel comprises an inclined channel 12 and a horizontal channel 13 which are integrally formed and run through, the inclined channel 12 inclines downwards along a ball outlet, the ball outlet channel is formed in a way that balls can only pass through the ball outlet channel side by side freely in sequence, the length of the horizontal channel 13 is slightly larger than the diameter of the balls, and the lower bottom surface of the horizontal channel 13 is provided with a clamping groove with a lower groove;

an auxiliary plate 14 vertically positioned in the horizontal channel 13 and horizontally moving along the length direction of the horizontal channel 13 by the driving of an oil cylinder, wherein the upper end of the auxiliary plate 14 protrudes above the horizontal channel 13, the lower end of the auxiliary plate is tightly attached to the bottom surface of the horizontal channel 13, the upper top surface of the horizontal channel 13 is an elastic band hermetically connected with the side surface of the horizontal channel 13, the auxiliary plate 14 passes through the elastic band and is fixedly connected with the elastic band, a horizontally through ball port 141 is arranged at the part of the auxiliary plate 14 positioned in the horizontal channel 13 and just can accommodate a ball to freely pass through, a vertical channel 142 is arranged in the auxiliary plate 14, the lower end of the vertical channel 142 is through to the lower end of the auxiliary plate 14, a top plate 143 is vertically inserted in the channel 142, the ball port 141 is just blocked by the top plate 143, and when the auxiliary plate 14 is positioned at the joint of the inclined channel 12 and the horizontal channel 13, the lower end port of, a clamping plate 144 is matched in the clamping groove, and the clamping plate 144 is provided with a horizontal hole consistent with the ball opening 141;

the auxiliary rod comprises a horizontal rod 145, a vertical rod 146 and a hinge rod 147, the horizontal rod 145 and the hinge rod are located in the same plane with the clamping plate 144, the vertical rod 146 vertically penetrates through the ball outlet box 11, the upper end of the vertical rod 146 protrudes out of the ball outlet box 11, the lower end of the vertical rod 146 is tightly attached to one side of the horizontal rod 145, the horizontal rod 145 is hinged to the upper end of the hinge rod 147, the other side of the horizontal rod 145 is located on the lower side surface of the clamping plate 144, and the hinge rod 147 is vertically fixed in the ball outlet box 11;

the auxiliary box 15 is of a square structure with an opening on the upper surface, a ball inlet 151 is formed in a first side surface of the auxiliary box 15, the ball inlet 151 just penetrates through the port of the horizontal channel 13 correspondingly, a vertical support plate 152 is connected to a second side surface, opposite to the auxiliary box 15, through a horizontal elastic mechanism, the support plate 152 can move horizontally and freely between the first side surface and the second side surface, the upper end of the support plate 152 is connected with the upper end of the second side surface through a horizontal telescopic expansion plate 153, the lower end of the first side surface is hinged to the lower end of a matching plate 154, and the upper end of the matching plate 154 is not higher than the upper end of the first side surface;

carousel 16, its vertical setting and pivot are the horizontal axis, 16 surfaces of carousel inwards cave in along the even interval of its circumference round and are provided with a plurality of recesses, the spheroid is held just to the recess, 16's notch rotates when the lower extreme, hugs closely the correspondence just auxiliary box 15's upper shed, 16's notch rotates when the top, corresponds the mouth of putting the ball just.

In the technical scheme, the ball outlet box 11 capable of automatically discharging one ball at a time is further arranged on the side face of the movable box 3, when a ball picking robot is placed beside a field to automatically discharge the balls during sports, when the balls need to be picked or the ball collecting box collects full balls, the movable box 3 can be taken out from the fixed box 2, an empty movable box 3 is placed into the fixed box 2 to continue to pick the balls, the movable box 3 at the moment can serve as the automatic ball outlet box 11, the ball outlet height of the ball outlet box 11 is reasonable, and a sporter can take the balls without stooping or too much effort. The sphere can automatically roll to the inclined channel 12 from the sphere outlet, the sphere in the inclined channel 12 can continuously roll to the horizontal channel 13, when in an initial state, the vertical rod 146 is pressed downwards, the vertical rod 146 drives the left end of the horizontal rod 145 to incline, so that the right end of the horizontal rod 145 ejects the clamping plate 144 upwards from the clamping groove, the clamping plate 144 ejects the top plate 143 upwards from the horizontal channel 13 until the clamping plate 144 is positioned in the horizontal channel 13, at the moment, the sphere can roll to the horizontal channel 13 from the hole of the clamping plate 144, only one sphere is accommodated in the horizontal channel 13, at the moment, the vertical rod 146 is loosened, the horizontal rod 145 rotates to be horizontal, the clamping plate 144 freely falls into the clamping groove, the top plate 143 freely falls into the horizontal channel 13, the auxiliary plate 14 is driven by the oil cylinder to move leftwards, so that the sphere entering into the horizontal channel 13 is ejected leftwards, the sphere presses the matching plate 154 leftwards through the sphere inlet 151, the engaging plate 154 can only rotate, thereby pushing the supporting plate 152 to the left to compress the elastic mechanism until the ball completely enters the auxiliary box 15; the rotary table 16 is rotated until a groove opening is opposite to the upper opening of the auxiliary box 15, at the moment, under the action of the rebound force of the elastic mechanism, the ball is extruded into the groove, the arrangement of the expansion plate 153 can ensure that the ball does not fall down and is always positioned in the groove, the rotary table 16 is rotated, the ball in the groove can be sent to the ball placing opening, for example, 6 grooves are arranged, the rotary table 16 is set to rotate for 60 degrees at each start, and the rotary table rotates along the same direction at each time; when the ball body enters the groove, the auxiliary plate 14 is driven to move rightwards, on one hand, the ball body on the right side can be squeezed rightwards, the ball body is prevented from being accumulated at the ball outlet and cannot slide freely, on the other hand, the auxiliary plate 14 moves rightwards to the clamping groove, at the moment, the vertical rod 146 is pressed downwards, and therefore the ball body enters the horizontal channel 13 from the clamping plate 144, the process is repeated, automatic ball discharging can be achieved, and only one ball can be discharged at a time. The whole operation process is as follows: the vertical rod 146 is pressed first, balls are placed to the horizontal channel 13, the oil cylinder is started to push the auxiliary plate 14 leftwards, then the rotary table 16 is rotated once to take the balls, the rotary table 16 is rotated once again to push the auxiliary plate 14 rightwards, the vertical rod 146 is pressed downwards, the steps are repeated, and the distance for pushing the auxiliary plate 14 to move is fixed and is the length of the horizontal channel 13 when the oil cylinder is started every time.

In another technical solution, a rotating shaft 9 is disposed between a pair of baffles 6, the length direction of the rotating shaft 9 is along the width direction of the chassis 1, a plurality of driving plates 10 are disposed on the surface of the rotating shaft 9 in a scattering manner along the circumferential direction, as shown in fig. 2, when the rotating shaft 9 rotates, the outer shell does not interfere with the rotation of the driving plates 10. The rotating shaft 9 is driven to rotate by a driving mechanism such as a motor, when the rotating shaft 9 rotates, the driving plate 10 can drive the ball body from the front to the rear, and backward rolling force is given to the ball body, so that the ball body is convenient to convey and collect. When the driving plate 10 rotates to the lowest part, the height of the lower end of the driving plate from the ground is slightly larger than the radius of the sphere, so that on one hand, rolling force can be smoothly applied to the sphere, and on the other hand, the sphere can be ensured not to stay between the adjacent driving plates 10. The arrangement of the rotary shaft 9 and the driving plate 10 allows smooth transfer to the ball collecting box even when there are only one or two balls scattered.

In another technical scheme, a pair of stop rods 7 are arranged at the front ends of the pair of baffles 6 in a splayed manner and extend towards the front side of the chassis 1, and the height of the stop rods 7 from the ground is smaller than the diameter of the sphere. The pin 7 outwards is the splayed, when the spheroid that needs to collect is more and comparatively dispersed, can enlarge spheroidal collection scope through a pair of pin 7 to quick collect a plurality of spheroids disposable conveying to receiving the ball case. The stop lever 7 is detachably arranged on the baffle 6, the detachable mode can be a threaded connection mode or other feasible modes, and when the number of the picked up balls needs to be less or the balls are scattered, the stop lever 7 can be detached to directly pick up the balls.

In another technical scheme, two sides of the conveying mechanism along the width direction of the chassis 1 are fixed on the chassis 1 through vertical supporting rods 8. The supporting rod 8 can support the conveying mechanism to a certain extent, so that the conveying mechanism is more stable.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims

1. Ball robot is picked up to intelligence of independently cruising based on machine vision, its characterized in that includes:

the chassis is horizontally supported on the ground through a pair of front wheels and a pair of rear wheels, a pair of baffle plates vertical to the ground are arranged at the front part of the lower bottom surface of the chassis along the width direction of the chassis, and the lower ends of the baffle plates have a distance with the ground and the distance is smaller than the diameter of a sphere;

the conveying mechanism is of a box body structure with openings in the upper bottom surface and the lower bottom surface, the conveying mechanism is obliquely arranged between the upper opening of the ball collecting box and the front part of the chassis, the conveying mechanism comprises an outer shell and a conveying belt, the upper end of a lower side plate of the outer shell is fixed at the upper opening of the ball collecting box, the lower end of the lower side plate of the outer shell is not higher than the lower end of a baffle and is fixed on the pair of baffles, the height from the lower end of the upper side plate opposite to the lower side plate of the outer shell to the ground is slightly larger than the diameter of a ball, the conveying belt is arranged in the outer shell and rotates in the outer shell along the length direction of the outer shell, the conveying belt is provided with a plurality of baffle plates at intervals along the length direction of the conveying belt, the conveying belt is perpendicular to the conveying belt;

the ball collecting box comprises a fixed box and a movable box, the fixed box is fixed on the chassis, and the movable box is just movably positioned in the fixed box;

the fixed box is a box body with an opening on the upper surface, a ball collecting hopper, a ball receiving box and a conveying pipe are arranged in the fixed box, the ball collecting hopper is funnel-shaped, the upper opening of the ball collecting hopper is fixedly communicated with a blocking box with an opening on the lower bottom surface and an opening on one side surface, the opening side surface of the blocking box is just communicated with the upper end of the conveying belt relatively, a through hole is formed in the bottom of the ball collecting hopper and communicated with the upper opening of the ball receiving box, the lower opening of the ball receiving box is communicated with the upper port of the conveying pipe, the conveying pipe is arranged in a downward inclined mode, and the ball collecting hopper is supported;

the movable box is a hollow box body with openings on the upper bottom surface and the lower bottom surface, the movable box is just sleeved outside the ball collecting hopper and is positioned in the fixed box, the movable box is formed by integrally molding a first side box, a second side box, a third side box and a fourth side box which are all of hollow structures, the first side box is close to the inner side surface of the fixed box close to the conveyor belt, the upper surface of the first side box is provided with an inverted U-shaped baffle frame, the baffle frame is just clung to and communicated with the side surface of the opening of the baffle box, an inclined first baffle plate is arranged in the first side box, the second side box is opposite to the first side box, a pair of second baffle plates which are inclined downwards are arranged in the second side box from the middle to two sides, the middle of the second side box is provided with an opening which is hermetically communicated with the lower port of the conveying pipe, the third side box and the fourth side box are opposite to each other, and inclined third baffle, the inclined lower ends of the pair of second baffles are respectively connected with the inclined upper ends of the third baffle and the fourth baffle, the inclined lower end of the fourth baffle is connected with the inclined upper end of the first baffle, the inclined lower end of the first baffle is connected with the inclined lower end of the third baffle, the mutual connection parts of the first baffle, the second baffle, the third baffle and the fourth baffle are in circular arc connection, and a ball outlet is formed in the connection part of the first baffle and the third baffle;

the activity case still fixedly is provided with out the ball case in the third side case outside, and its upper surface has puts the ball mouth, it includes to go out the ball case:

the auxiliary plate is vertically positioned in the horizontal channel and can horizontally move along the length direction of the horizontal channel under the drive of an oil cylinder, the upper end of the auxiliary plate protrudes above the horizontal channel, the lower end of the auxiliary plate is tightly attached to the bottom surface of the horizontal channel, the upper top surface of the horizontal channel is an elastic belt hermetically connected with the side surface of the horizontal channel, the auxiliary plate penetrates through the elastic belt and is fixedly connected with the elastic belt, a horizontally through ball opening is formed in the part of the auxiliary plate positioned in the horizontal channel and just can freely receive a ball body to pass through, a vertical channel is arranged in the auxiliary plate, the lower end of the vertical channel is penetrated to the outside of the lower end of the auxiliary plate, a top plate is vertically inserted in the channel in a matching way and just blocks the ball opening, when the auxiliary plate is positioned at the joint of the inclined channel and the horizontal channel, the lower port of the vertical channel arranged in the auxiliary plate just, the clamping plate is provided with a horizontal hole consistent with the ball opening;

2. The machine vision based autonomous cruise intelligent ball pick-up robot of claim 1, wherein the conveyor belt is driven to rotate by a main motor, the pair of front wheels are driving wheels and are driven by a direct current motor, the ball pick-up robot further comprises a control mechanism which comprises a control module and a driving module which are connected with each other, the control module and the driving module are both arranged at the rear part of the chassis, and the driving module is respectively connected with the pair of direct current motors and the main motor.

3. The machine vision-based autonomous cruise intelligent ball pick-up robot as claimed in claim 2, wherein the control mechanism further comprises a camera and an image processing module connected with each other, the camera is fixed on the front side of the chassis, the image processing module is arranged on the rear part of the chassis, and the image processing module is connected with the control module.

4. The machine vision-based autonomous cruise intelligent ball-picking robot is characterized in that the image processing module processes, calculates and controls selective ball-picking through the control module according to images shot by the camera, and the method comprises the following steps:

s1: the camera transmits the shot image to the image processing module;

s3: and repeating the steps until all the spheres are picked up.

5. The machine vision-based autonomous cruise intelligent ball picking robot as claimed in claim 1, wherein a rotation shaft is arranged between a pair of baffles, the length direction of the rotation shaft is along the width direction of the chassis, a plurality of driving plates are arranged on the surface of the rotation shaft in a scattering manner along the circumferential direction of the rotation shaft, and when the rotation shaft rotates, the outer shell does not interfere with the rotation of the driving plates.

6. The machine vision-based autonomous cruise intelligent ball picking robot is characterized in that a pair of blocking plates are arranged at the front ends of the blocking plates in a splayed mode, a height of each blocking plate from the ground is smaller than the diameter of each ball, and the blocking plates are detachably arranged on the blocking plates.

7. The machine vision-based autonomous cruise intelligent ball picking robot is characterized in that two sides of the conveying mechanism in the width direction of the chassis are fixed on the chassis through vertical supporting rods.