CN109364443A - A kind of ball picking robot - Google Patents
A kind of ball picking robot Download PDFInfo
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- CN109364443A CN109364443A CN201811439555.0A CN201811439555A CN109364443A CN 109364443 A CN109364443 A CN 109364443A CN 201811439555 A CN201811439555 A CN 201811439555A CN 109364443 A CN109364443 A CN 109364443A
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- ball
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- picking robot
- pick
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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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- Physical Education & Sports Medicine (AREA)
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Abstract
The invention discloses a kind of ball picking robot, the ball picking robot includes: fuselage, water wheel type vane drum picks up ball machine structure, two arm type auxiliary pick up spherical structure, dynamical system and control system；The water wheel type vane drum picks up the front that ball machine structure is fixedly installed on the fuselage, two arm types auxiliary pick up ball machine structure swingable two sides for being set to the fuselage respectively, pick up ball machine structure by two arm types auxiliary and the ball that be located at the fuselage two sides will be pushed to the front of the fuselage；Ball machine structure, which is picked up, by the water wheel type vane drum rotates the ball for picking up and being located in front of the fuselage forward.The present invention picks up ball machine structure by water wheel type vane drum, two arm type auxiliary pick up spherical structure realization and pick up ball, overcomes and carries out tennis crawl using gripper, the extremely low technological deficiency of ball picking-up efficiency improves ball picking-up efficiency.
Description
Technical field
The present invention relates to robot field, in particular to a kind of ball picking robot.
Background technique
Tennis is a kind of ball game, is usually carried out between two singles sportsmen or two pairs of combinations, tennis
Now have become very popular exercise and entertainment selection, it is general with tennis rather than just a kind of athletics event
All over changing, the heavy property for picking up ball task is also highlighted.There are also the ball picking robots that auxiliary picks up ball, but these pick up ball machine device
People picks up tennis in the form of gripper, and ball picking-up efficiency is extremely low.
Summary of the invention
The object of the present invention is to provide a kind of ball picking robots, to improve the efficiency for picking up ball.
To achieve the above object, the present invention provides following schemes:
A kind of ball picking robot, the ball picking robot include: that fuselage, water wheel type vane drum pick up ball machine structure, two hands
Arm-type auxiliary picks up spherical structure, dynamical system and control system；
The water wheel type vane drum picks up the front that ball machine structure is fixedly installed on the fuselage；The water wheel type vane drum
Ball machine structure is picked up for picking up the ball being located in front of the fuselage；
Two arm types auxiliary pick up ball machine structure swingable two sides for being set to the fuselage respectively, two hands
Arm-type auxiliary picks up ball machine structure for the ball for being located at the fuselage two sides to be pushed to the front of the fuselage；
The control system is electrically connected with the dynamical system, and the control system is for controlling the dynamical system；
The dynamical system is set to the lower section of the fuselage, and the dynamical system is for driving the fuselage to move.
Optionally, water wheel type vane drum mechanism includes roller, multiple blades, shaft and picks up ball machine structure driving electricity
Machine；
The blade is rectangle, and the first side of the blade is corresponding with the third side of the blade, the leaf
The second side of piece is corresponding with the four side of the blade；
Multiple blades are uniformly distributed in the outside of the shaft；
The first side of the blade is fixedly connected with the shaft, in the midpoint of the first side and the shaft
Point is overlapped, and the length of the first side is less than the length of the shaft；
The roller offers multiple entrances, and multiple entrances are respectively arranged at the correspondence position between adjacent two blade
It sets；
The both ends of the shaft are fixedly connected on the center point of two end faces of the roller, and from the center of circle of two end faces
Place, extends two fixing ends, and the radius of the end face is greater than the length of the second side of the blade；
It is described to pick up ball mechanism driving-motor and the shaft axis connection, for driving the shaft to turn with preset revolving speed
It is dynamic；
Two fixing ends pass through bearing respectively and connect with the fuselage.
Optionally, it includes movable arm and Servo-controller, the movable arm that the arm type auxiliary, which picks up spherical structure,
The side of the fuselage, the Servo-controller and the movable arm axis connection are set by universal wheel, for driving
State opening and closing with predetermined angle for movable arm.
Optionally, the dynamical system includes four-wheel differential type walking mechanism and power battery, the four-wheel difference walking
Mechanism is set to the lower section of the fuselage, and the power battery is electrically connected with the four-wheel difference walking mechanism.
Optionally, the four-wheel differential type walking mechanism includes two power drive motors, two driving wheels and two ten thousand
To support wheel, two driving wheels are respectively arranged at the two sides at the rear of the four-wheel differential type walking mechanism, described in two
Universal support wheel is respectively arranged at the two sides in the front of the four-wheel differential type walking mechanism；
Two power drive motors respectively with two one-to-one axis connections of driving wheel；
The power battery and the driving motor are electrically connected with the controller.
Optionally, storage basket is provided on the fuselage, the storage basket is provided with goal mouth.
Optionally, ball taking port is provided in the storage basket.
Optionally, the control system includes binocular stereo image sensor, gyroscope accelerometer, multiple Distance-sensings
Device and controller；The binocular stereo image sensor is set to the front of the fuselage, and connect with the controller, described
Binocular stereo image sensor is used to obtain the image information of ball distribution situation in place, and described image information is sent to institute
State controller；
The gyroscope accelerometer is set to the lower section of the fuselage, and connect with the controller, the gyroscope
Accelerometer is used to obtain the motion information of fuselage, and the motion information is sent to the controller；
Multiple range sensors are uniformly distributed in the two sides and rear of the fuselage, and the range sensor is for visiting
The barrier of the fuselage two sides and rear, acquired disturbance object information are surveyed, and the obstacle information is sent to the control
Device；
The controller is connect with the dynamical system, and the controller is used for according to described image information, the movement
Information and the obstacle information control the dynamical system and drive the fuselage.
Optionally, the range sensor is avoiding obstacles by supersonic wave range sensor.
Optionally, the range sensor is infrared distance sensor.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The invention discloses a kind of ball picking robot, the ball picking robot includes: that fuselage, water wheel type vane drum pick up ball
Mechanism, two arm type auxiliary pick up spherical structure, dynamical system and control system；The water wheel type vane drum is picked up ball machine structure and is fixed
It is set to the front of the fuselage, two arm types auxiliary pick up ball machine structure swingable be set to the fuselage two respectively
The front that ball machine structure will be pushed to the fuselage positioned at the ball of the fuselage two sides is picked up by two arm type auxiliary in side；
Ball machine structure, which is picked up, by the water wheel type vane drum rotates the ball for picking up and being located in front of the fuselage forward.The present invention passes through water wheels
Formula vane drum picks up ball machine structure, two arm type auxiliary pick up spherical structure realization and pick up ball, overcomes and is grabbed using gripper progress tennis
It takes, the extremely low technological deficiency of ball picking-up efficiency improves ball picking-up efficiency.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structure chart of ball picking robot provided by the invention；
Fig. 2 is a kind of structure chart of the water wheel type vane drum mechanism of ball picking robot provided by the invention；
Fig. 3 is a kind of structure chart of the four-wheel difference walking mechanism of ball picking robot provided by the invention；
Fig. 4 is that a kind of controller of ball picking robot provided by the invention carries out the schematic diagram of Jian Qiu path optimization.
Specific embodiment
The object of the present invention is to provide a kind of ball picking robots, to improve the efficiency for picking up ball.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Mode is applied to be described in further detail invention.
As shown in Figure 1, the ball picking robot includes: fuselage 1, water wheel type the present invention provides a kind of ball picking robot
Vane drum picks up 2, two arm type auxiliary of ball machine structure and picks up 5 (not shown in figure 1) of spherical structure 3, dynamical system 4 and control system；
The water wheel type vane drum picks up the front that ball machine structure 2 is fixedly installed on the fuselage 1；The water wheel type vane drum picks up ball machine
Structure 2 is used to pick up the ball for being located at 1 front of fuselage；Specifically, as shown in Figure 2: water wheel type vane drum mechanism 2 includes
Roller 201, multiple blades 202, shaft 203 and pick up 204 (not shown) of ball mechanism driving-motor；The blade 202 is length
Rectangular, the first side of the blade 202 is corresponding with the third side of the blade 202, the second side of the blade 202
It is corresponding with the four side of the blade 202；Multiple blades 202 are uniformly distributed in the outside of the shaft 203；It is described
The first side of blade 202 is fixedly connected with the shaft 203, the midpoint at the midpoint of the first side and the shaft 203
It is overlapped, the length of the first side is less than the length of the shaft 203；The roller 201 offers multiple entrances, Duo Gesuo
State the corresponding position that entrance is respectively arranged between adjacent two blade 202；
The both ends of the shaft 203 are respectively fixedly connected in the center point of two end faces of the roller 201, and from two
The center point of end face extends two fixing ends；The radius of the end face is greater than the length of the second side of the blade 202；
Two fixing ends pass through bearing respectively and connect with the fuselage；
It is described to pick up ball mechanism driving-motor 204 and 203 axis connection of shaft, for driving the shaft 203 with default
Rotational speed；The roller 201 is fixedly connected with the fuselage 1；The front lower place of the roller 201 offers entrance, described
The junction of roller 201 and the fuselage 1 offers outlet.Of the invention picks up ball mechanism driving-motor 204 using miniature gear
Decelerating motor, rated power 5W, revolving speed 200rpm.
Two arm types auxiliary pick up the swingable two sides for being set to the fuselage 1 respectively of ball machine structure 2, described in two
Arm type auxiliary picks up ball machine structure 2 for the ball for being located at the two sides of the fuselage 1 to be pushed to the front of the fuselage；Specifically,
It includes movable arm and Servo-controller that the arm type auxiliary, which picks up spherical structure 2, and the movable arm is arranged by universal wheel
In the side of the fuselage, the Servo-controller and the movable arm axis connection, for driving the movable arm
It is opened and closed with predetermined angle.The length of the movable arm is 12cm, and the signal of the Servo-controller is MG996R.
The control system 5 is electrically connected with the dynamical system 4, and the control system 5 is for controlling the dynamical system；
The control system includes binocular stereo image sensor, gyroscope accelerometer, multiple range sensors and controller；It is described
Binocular stereo image sensor is set to the front of the fuselage, and connect with the controller, and the binocular stereo image passes
Sensor is used to obtain the image information of ball distribution situation in place, and described image information is sent to the controller；It is described
Gyroscope accelerometer is set to the lower section of the fuselage, and connect with the controller, and the gyroscope accelerometer is used for
The motion information of fuselage is obtained, and the motion information is sent to the controller；Multiple range sensors uniformly divide
The two sides and rear of the fuselage are distributed in, the range sensor is used to detect the barrier of the fuselage two sides and rear, obtains
Obstacle information is obtained, and the obstacle information is sent to the controller；The controller is connect with the dynamical system,
The controller is used to control the dynamical system according to described image information, the motion information and the obstacle information and drive
Move the fuselage.The range sensor is avoiding obstacles by supersonic wave range sensor or infrared distance sensor.The gyroscope adds
Speed is calculated as 6 axis gyroscope accelerometers.
The dynamical system 4 is set to the lower section of the fuselage 1, and the dynamical system 4 is for driving the fuselage to move；
Specifically, as shown in figure 3, the dynamical system includes four-wheel differential type walking mechanism 301 and power battery 302, the four-wheel
Difference walking mechanism 301 is set to the lower section of the fuselage, the power battery 302 and the four-wheel difference walking mechanism 301
Electrical connection.The four-wheel differential type walking mechanism 301 includes two power drive motors, two driving wheel 301_1 and two ten thousand
To support wheel 301_2, two driving wheels are respectively arranged at the two sides at the rear of the four-wheel differential type walking mechanism, and two
The Universal support wheel is respectively arranged at the two sides in the front of the four-wheel differential type walking mechanism；Two power drive electricity
Machine respectively with two one-to-one axis connections of driving wheel；The power battery and the driving motor with the control
Device electrical connection.The power battery 302 is installed on the inside of the fuselage 1, power battery of the invention using 60Wh lithium from
Sub- battery uses the right angle 30W motor as power supply energy, power drive motor of the invention, laterally empty to save robot interior
Between.
It is provided with storage basket on the fuselage, the storage basket is provided with goal mouth, and the goal mouth is towards water wheel type leaf
Piece cylinder mechanism.Ball taking port is provided in the storage basket.Slide rail type ball taking port automatic shutter is arranged in the top of the ball taking port
Device, so that user takes out the tennis picked up.
The present invention also provides a specific embodiments: firstly, the size of tennis court is that have the specification of standard,
The model of tennis court is pre-set in the controller of control system, the ball picking robot is passed by binocular stereo image
The collected real-time RGB_D image information of sensor, is matched, specifically with the model of the tennis court pre-set
For be to be matched to the white line on tennis court, to carry out instant positioning based on computer vision and map structuring,
Know robot direction currently locating in tennis court, position.
Later, controller carries out block division to tennis court along white line to collected RGB_D image, then passes through color difference
The mode compared, (because the color of tennis is different from place color, while the size shape of tennis is fixed, so can be from picture
Tennis is identified in face), judge the quantity of the tennis of different blocks, position in frame out.
In this course, controller will be directed in the block that robot is currently located the position of (distance is about 5m) tennis
Carry out calculating judgement；Quantity statistics are only carried out for the tennis compared with far region), by comparing the tennis quantity in different blocks,
Judge that the tennis of different blocks picks up priority, so carry out it is optimal pick up course of action diameter preliminary planning, and control dynamical system and make to pick up
Ball robot advances according to the path of planning.When robot enters current (being separated by white line) and picks up ball block, again
According to the range information in RGB_D image, (precision ± 0.05m) is accurately positioned to the tennis in block, and according to tennis
Position carry out the path optimum programming in block, guided robot successively inswept each tennis and is received into basket, is picked up
Ball path optimization schematic diagram is as shown in Figure 4.
Ball picking robot of the invention, can be with using the four-wheel differential type walking mechanism of double driving wheel+bis- Universal supports wheels
Realize that any direction is advanced forward.In ball picking robot walking process, by six axis gyroscope accelerometers collect speed,
The motion informations such as direction carry out real-time inertial navigation；It is acquired at interval of a period of time (about 2s) by dimensional image sensor
To RGB_D image information matching amendment (it is contemplated herein that operational performance, does not do real-time calculation) is carried out to the orientation of robot, with
Ensure that robot walks according to the track of planning.It, will meanwhile if the range sensor of avoidance determines front and has foreign matter blocking
The route that adjust automatically machine people advances is to get around obstacle.Obstacle avoidance algorithm using fuzzy logic control avoidance method realize,
When ball picking robot advances to above tennis, persistently rotates water wheel type vane drum and pick up the blade of ball machine structure for net
Ball, which is rolled, to be got rid of in the storage basket at rear.Conventional sense set about it is arm-type assist picking up the movable arm of spherical structure, kept for 45 degree
Angle is opened and closed, in order to which the tennis in front of guiding net ball robot is gathered to roller front.The arm-type auxiliary of state assistant is picked up
The advantage of spherical structure is that tennis robot does not need to be accurately aligned with tennis, it is only necessary to which tennis is in the positive and negative 45 degree of regions in front
It is interior, that is, it can ensure that the pickup of tennis.
Meanwhile (landform judged by RGB_D image analysis is XYZ in 90 degree of right angles for specific positions such as corners
Area of space), by rotating movable arm, tennis from side direction impact corner, so that tennis is flicked to normal region
In, then carry out conventional ball of picking up and act.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The invention discloses a kind of ball picking robot, the ball picking robot includes: that fuselage, water wheel type vane drum pick up ball
Mechanism, two arm type auxiliary pick up spherical structure, dynamical system and control system；The water wheel type vane drum is picked up ball machine structure and is fixed
It is set to the front of the fuselage, two arm types auxiliary pick up ball machine structure swingable be set to the fuselage two respectively
The front that ball machine structure will be pushed to the fuselage positioned at the ball of the fuselage two sides is picked up by two arm type auxiliary in side；
Ball machine structure, which is picked up, by the water wheel type vane drum picks up the ball being located in front of the fuselage.The present invention is rolled by water wheel type blade
Cylinder picks up ball machine structure, two arm type auxiliary pick up spherical structure realization and pick up ball, overcomes and carries out tennis crawl using gripper, picks up ball effect
The extremely low technological deficiency of rate, improves ball picking-up efficiency.
The present invention also passes through drive system, according to the control of control system, drives ball picking robot to pick up ball, overcomes existing
Manual tennis the technical issues of picking up the heaviness of ball cart and needing manual operation.
Tennis recognition efficiency is improved using binocular stereo image sensor identification tennis.
Image information that controller in logical control system is obtained according to binocular stereo image sensor and tennis court
Model solidifies path, and carries out path modification by the image information that obtains in real time, improves that pick up course of action diameter cured
Accuracy further improves the efficiency for picking up ball.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Specific examples are used herein to describe the principles and implementation manners of the present invention, the explanation of above embodiments
Method and its core concept of the invention are merely used to help understand, described embodiment is only that a part of the invention is real
Example is applied, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art are not making creation
Property labour under the premise of every other embodiment obtained, shall fall within the protection scope of the present invention.
Claims (10)
1. a kind of ball picking robot, which is characterized in that the ball picking robot includes: that fuselage, water wheel type vane drum pick up ball machine
Structure, two arm type auxiliary pick up spherical structure, dynamical system and control system；
The water wheel type vane drum picks up the front that ball machine structure is fixedly installed on the fuselage；The water wheel type vane drum picks up ball
Mechanism is used to pick up the ball being located in front of the fuselage；
Two arm types auxiliary pick up ball machine structure swingable two sides for being set to the fuselage respectively, two arm types
Auxiliary picks up ball machine structure for the ball for being located at the fuselage two sides to be pushed to the front of the fuselage；
The control system is electrically connected with the dynamical system, and the control system is for controlling the dynamical system；
The dynamical system is set to the lower section of the fuselage, and the dynamical system is for driving the fuselage to move.
2. a kind of ball picking robot according to claim 1, which is characterized in that water wheel type vane drum mechanism includes
Roller, multiple blades, shaft and pick up ball mechanism driving-motor；
The blade is rectangle, and the first side of the blade is corresponding with the third side of the blade, the blade
Second side is corresponding with the four side of the blade；
Multiple blades are uniformly distributed in the outside of the shaft；
The first side of the blade is fixedly connected with the shaft, the midpoint weight of the midpoint of the first side and the shaft
It closes, the length of the first side is less than the length of the shaft；
The roller offers multiple entrances, and multiple entrances are respectively arranged at the corresponding position between adjacent two blade；
The both ends of the shaft are respectively fixedly connected in the center point of two end faces of the roller, and from the center of circle of two end faces
Two fixing ends are extended at place, and the radius of the end face is greater than the length of the second side of the blade；
Two fixing ends pass through bearing respectively and connect with the fuselage；
It is described to pick up ball mechanism driving-motor and the shaft axis connection, for driving the shaft with preset rotational speed.
3. a kind of ball picking robot according to claim 1, which is characterized in that the arm type auxiliary picks up spherical structure and includes
The side of the fuselage, the servorudder are arranged in by universal wheel for movable arm and Servo-controller, the movable arm
Machine and the movable arm axis connection, for driving opening and closing with predetermined angle for the movable arm.
4. a kind of ball picking robot according to claim 1, which is characterized in that the dynamical system includes four-wheel differential type
Walking mechanism and power battery, the four-wheel difference walking mechanism are set to the lower section of the fuselage, the power battery and institute
State the electrical connection of four-wheel difference walking mechanism.
5. a kind of ball picking robot according to claim 4, which is characterized in that the four-wheel differential type walking mechanism includes
Two power drive motors, two driving wheels and two Universal support wheels, two driving wheels are respectively arranged at the four-wheel
The two sides at the rear of differential type walking mechanism, two Universal support wheels are respectively arranged at the four-wheel differential type walking mechanism
Front two sides；
Two power drive motors respectively with two one-to-one axis connections of driving wheel；
The power battery and the driving motor are electrically connected with the controller.
6. a kind of ball picking robot according to claim 1, which is characterized in that be provided with storage basket, institute on the fuselage
It states storage basket and is provided with goal mouth.
7. a kind of ball picking robot according to claim 6, which is characterized in that be provided with ball taking port in the storage basket.
8. a kind of ball picking robot according to claim 1, which is characterized in that the control system includes binocular solid figure
As sensor, gyroscope accelerometer, multiple range sensors and controller；The binocular stereo image sensor is set to institute
The front of fuselage is stated, and is connect with the controller, the binocular stereo image sensor is distributed feelings for obtaining ball in place
The image information of condition, and described image information is sent to the controller；
The gyroscope accelerometer is set to the lower section of the fuselage, and connect with the controller, and the gyroscope accelerates
Degree counts the motion information for obtaining fuselage, and the motion information is sent to the controller；
Multiple range sensors are uniformly distributed in the two sides and rear of the fuselage, and the range sensor is for detecting institute
The barrier at fuselage two sides and rear, acquired disturbance object information are stated, and the obstacle information is sent to the controller；
The controller is connect with the dynamical system, and the controller is used for according to described image information, the motion information
The dynamical system, which is controlled, with the obstacle information drives the fuselage.
9. a kind of ball picking robot according to claim 8, which is characterized in that the range sensor is avoiding obstacles by supersonic wave
Range sensor.
10. a kind of ball picking robot according to claim 8, which is characterized in that the range sensor is infrared distance
Sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811439555.0A CN109364443B (en) | 2018-11-29 | 2018-11-29 | Ball picking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811439555.0A CN109364443B (en) | 2018-11-29 | 2018-11-29 | Ball picking robot |
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| Publication Number | Publication Date |
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| CN109364443A true CN109364443A (en) | 2019-02-22 |
| CN109364443B CN109364443B (en) | 2020-10-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112915500A (en) * | 2021-01-22 | 2021-06-08 | 北京科技大学 | Double-positioning object picking trolley |
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| CN201168401Y (en) * | 2008-01-04 | 2008-12-24 | 华南农业大学 | Electric tennis ball-picking machine with mechanical arm |
| CN102614641A (en) * | 2012-03-15 | 2012-08-01 | 上海电力学院 | Intelligent integrated tennis ball picking robot |
| CN202637866U (en) * | 2012-04-13 | 2013-01-02 | 上海电机学院 | Intelligent tennis ball pickup machine |
| CN103955150A (en) * | 2013-09-12 | 2014-07-30 | 上海交通大学 | Semi-automatic intelligent tennis pick-up robot and control method thereof |
| CN107097229A (en) * | 2017-06-08 | 2017-08-29 | 无锡工艺职业技术学院 | The working method of binocular vision remote control ball picking robot system |
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2018
- 2018-11-29 CN CN201811439555.0A patent/CN109364443B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201168401Y (en) * | 2008-01-04 | 2008-12-24 | 华南农业大学 | Electric tennis ball-picking machine with mechanical arm |
| CN102614641A (en) * | 2012-03-15 | 2012-08-01 | 上海电力学院 | Intelligent integrated tennis ball picking robot |
| CN202637866U (en) * | 2012-04-13 | 2013-01-02 | 上海电机学院 | Intelligent tennis ball pickup machine |
| CN103955150A (en) * | 2013-09-12 | 2014-07-30 | 上海交通大学 | Semi-automatic intelligent tennis pick-up robot and control method thereof |
| CN107097229A (en) * | 2017-06-08 | 2017-08-29 | 无锡工艺职业技术学院 | The working method of binocular vision remote control ball picking robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112915500A (en) * | 2021-01-22 | 2021-06-08 | 北京科技大学 | Double-positioning object picking trolley |
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