CN109847291B - Automatic ball picking robot and ball picking method - Google Patents

Abstract

The invention provides an automatic ball picking robot, which comprises: the robot comprises a machine body shell and a robot chassis, wherein the machine body shell is covered at the top of the robot chassis, the head end of the machine body shell is provided with an opening, the bottom of the robot chassis is provided with a driving wheel, a camera is arranged in the machine body shell and extends out of the opening at the head end of the machine body shell, a ball picking mechanism and a cylinder loading mechanism are arranged in an inner cavity of the machine body shell, and the ball picking mechanism comprises a collecting impeller, a collecting slideway and a conveying device; the invention also provides a method for collecting the shuttlecocks by the automatic shuttlecock picking robot; the automatic ball picking robot provided by the invention identifies and analyzes the image acquired by the camera, and controls the robot to turn and walk by judging whether the ball exists in the image or not and the position of the ball; the work efficiency of the ball picking robot is improved.

Description

Automatic ball picking robot and ball picking method

Technical Field

The invention relates to an automatic ball picking robot, in particular to an automatic ball picking robot and a ball picking method applied to a badminton match training field.

Background

In the badminton training process, multi-ball training is a necessary method. During training, a coach uses a service robot to serve balls to enable a trainer to achieve the purpose of skillfully learning a certain action, is generally used for exercise of beginners or consolidation exercise of a new technology, and is relatively fixed during exercise. During multi-ball training, dozens of shuttlecocks are scattered in each corner of a training field and are inconvenient to collect. The common method is that the badminton shuttlecocks are picked up one by an assistant and then are arranged in a basin basket, so that the work intensity is high and the efficiency is extremely low.

There is no or few badminton collecting and picking device in the market, and in order to make up for the blank in the market, it is necessary to design a robot capable of automatically walking and picking up badminton, so that the work intensity of a badminton picker is reduced, and meanwhile, the badminton picking efficiency is improved.

Accordingly, there is a need for improvements in the art.

Disclosure of Invention

The invention aims to provide an efficient automatic ball picking robot and a ball picking method.

In order to solve the technical problem, the invention provides an automatic ball picking robot which comprises: comprises a machine body shell and a robot chassis;

the machine body shell is covered on the top of the robot chassis;

the head end of the machine body shell is provided with an opening;

the bottom of the robot chassis is provided with a driving wheel;

the camera is arranged in the machine body shell and extends out of the opening at the head end of the machine body shell;

a ball picking mechanism and a cylinder loading mechanism are arranged in the inner cavity of the machine body shell;

the ball picking mechanism comprises a collecting impeller, a collecting slideway and a conveying device;

the collecting impeller is arranged at the opening at the head end of the machine body shell, the collecting slideway is matched with the collecting impeller for use, and the collecting impeller is positioned between the collecting slideway and the opening at the head end of the machine body shell;

the collecting slideway is provided with at least two grooves, and the conveying device is positioned below the collecting slideway;

the conveying device comprises two rubber belts arranged in parallel,

the cylinder loading mechanism comprises a split charging ball cylinder, a push rod and a ball cylinder guide mechanism;

the subpackage ball barrel is positioned right below one end of the rubber belt, and a chassis sliding groove is arranged right below the subpackage ball barrel; the two sides of the subpackage ball barrel are respectively provided with a push rod and an empty ball barrel

The ball cylinder guide mechanism comprises a cylinder inlet funnel and a ball cylinder guide disc;

arc-shaped notches are formed in the upper side and the lower side of the ball cylinder guide disc; the hollow spherical barrel is positioned in the arc-shaped notch of the spherical barrel guide disc; the cylinder-entering funnel is positioned above the ball cylinder guide disc.

As an improvement of the automatic ball picking robot of the invention:

the counter weight brush is installed to partial shipment ball section of thick bamboo bottom one side, and its axis is in the tilt state who becomes 15 contained angles with the plumb line when partial shipment ball section of thick bamboo does not have the ball to fall.

As a further improvement of the automatic ball picking robot of the invention:

the top of the machine body shell is provided with an opening, and the cylinder-entering funnel penetrates through the opening at the top of the machine body shell.

As a further improvement of the automatic ball picking robot of the invention:

and a raised cambered surface is arranged on the cambered notch of the ball cylinder guide disc.

The invention also provides a method for collecting the shuttlecocks by the automatic shuttlecock picking robot, which comprises the following steps:

1) the collecting impeller rotates to bring the shuttlecocks outside the machine body shell into the collecting slide way, the ball heads of the shuttlecocks drop downwards to a position between the two rubber belts under the action of gravity, the shuttlecocks are conveyed to the upper part of the split charging ball cylinder by the two rubber belts, and the shuttlecocks freely drop into the split charging ball cylinder,

2) when the accumulated four shuttlecocks fall into the split charging ball barrel, the gravity center of the split charging ball barrel moves from the lower part of the rotating shaft to the upper part, so that the split charging ball barrel rotates to the position transversely lying on the sliding chute, the push rod extends into the split charging ball barrel to push the shuttlecocks into the empty ball barrel, and the gravity center of the split charging ball barrel returns to the lower part and rotates back to the original working position;

3) the ball cylinder guide plate rotates 180 degrees, and in the rotating process, an empty ball cylinder filled with the shuttlecocks and arranged below the ball cylinder guide plate rolls out due to the self gravity; when the rotary ball barrel rotates to 180 degrees, a new empty ball barrel below the ball barrel guide disc reaches a working position, and the empty ball barrel in the barrel funnel falls into the upper part of the ball barrel guide disc.

The invention also provides a use method of the automatic ball picking robot, which comprises the following steps:

1) acquiring a digital image through a camera, judging whether shuttlecocks exist in the acquired digital image, calculating the position of the shuttlecocks if the shuttlecocks exist, and executing the step 2), and executing the step 3) if no shuttlecocks exist in the digital image;

2) and according to the position of the badminton obtained by the image, different treatments are respectively carried out:

2.1) if the shuttlecocks are in the collectable range, starting to collect the shuttlecocks;

2.2) if the shuttlecocks are not in the collectable range, driving the automatic shuttlecock picking robot to operate until the shuttlecocks are in the collectable range, and starting to collect the shuttlecocks;

3) the automatic shuttlecock picking robot starts to rotate in situ for a certain angle, and repeats the step 1) until no shuttlecock exists in the digital image rotating for 360 degrees, the robot stops working;

as an improvement of the use method of the automatic ball picking robot, the automatic ball picking robot comprises the following steps:

2.2): if a ball is found in the image but the shuttlecock is not in the collectable range, the automatic shuttlecock picking robot is driven to move towards the shuttlecock, and when encountering an obstacle in the advancing process, the shuttlecock enters an obstacle avoiding mode;

firstly, the automatic ball picking robot is turned right by 30 degrees, then whether obstacles exist is detected, if the obstacles exist, the automatic ball picking robot is turned right by 30 degrees, until no obstacles exist, and the obstacle avoiding mode is ended when no obstacle exists;

until the shuttlecock is positioned in the collectable range; shuttlecocks begin to be collected.

The automatic ball picking robot and the ball picking method have the technical advantages that:

the automatic ball picking robot provided by the invention utilizes the FPGA module to identify and analyze the image acquired by the camera, and controls the robot to turn and walk by judging whether the ball exists in the image or not and the position of the ball; the ball outlet of the ball picking mechanism in the machine body is connected with the ball inlet of the tube filling mechanism through a split charging ball tube which can automatically turn, so that the integrated function of collecting and filling the badminton is realized. In order to ensure that the subpackage ball barrel can realize autonomous steering and resetting, the weight of the subpackage ball barrel and the position of a steering shaft need to be calculated and subjected to data analysis, so that the subpackage ball barrel can start to steer only when four shuttlecocks fall into the subpackage ball barrel, and the subpackage ball barrel can reset when the four shuttlecocks enter the barreling mechanism. The sorting and the cylinder loading process of the shuttlecocks are greatly simplified by the aid of the split charging ball cylinders, and the working efficiency of the shuttlecock picking robot is improved. The section of thick bamboo mechanism is including going into a funnel and a ball section of thick bamboo guiding mechanism, only needs to put into a funnel with empty ball section of thick bamboo, and the ball section of thick bamboo just can get into ball section of thick bamboo guiding mechanism automatically after the robot begins work, and after filling a ball section of thick bamboo, ball section of thick bamboo guiding mechanism rotates and discharges a ball section of thick bamboo, has practiced thrift a large amount of manpowers, has reduced working strength.

Drawings

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

FIG. 1 is a schematic view of the overall structure of the automatic ball picking robot of the present invention;

FIG. 2 is a schematic view of the internal structure of FIG. 1;

FIG. 3 is a rear view of FIG. 2;

FIG. 4 is a schematic view of the structure of the collecting device of FIG. 2;

FIG. 5 is an exploded view of the automatic ball pick robot of FIG. 1;

FIG. 6 is a flow chart of the automatic ball picking robot of the present invention;

FIG. 7 is a schematic structural view of the loading mechanism of FIG. 5;

FIG. 8 is a schematic structural view of the split charging sleeve 9 of FIG. 7 without shuttlecocks;

FIG. 9 is a schematic view of the split charging sleeve 9 of FIG. 7 filled with shuttlecocks;

fig. 10 is a schematic structural view of the ball guide plate 15 in fig. 5;

fig. 11 is a schematic structural view of the loading hopper 5 in fig. 5;

fig. 12 is a schematic structural diagram of the ball guide disc 15 and the inlet funnel 5 in fig. 5;

fig. 13 is a schematic structural view of the assembled ball 9 and the push rod 14 in fig. 5.

Detailed Description

The invention will be further described with reference to specific examples, but the scope of the invention is not limited thereto.

Embodiment 1, an automatic ball picking robot, as shown in fig. 1-13, comprises a body shell 1 and a robot chassis 10 with a single chip microcomputer.

The machine body shell 1 is a box structure with a hollow interior, and the machine body shell 1 is covered on the top of the robot chassis 10.

Four driving wheels 4 are arranged at four corners of a robot chassis 10, a power supply module for supplying electric energy is arranged at the front end of the robot chassis 10 and is connected with each motor, and an image processing system, a multi-sensor information data processing system and a control system are arranged on the robot chassis 10;

the image processing system comprises a camera 3, a holder and a digital image module; the pan-tilt is a supporting device for fixing the camera 3 and is used for connecting the camera 3 with the machine body shell 1. The digital image module is an FPGA module and is used for processing and storing the image acquired by the camera 3 so as to judge whether the shuttlecock exists in the image. The camera 3 is a CMOS camera.

The multi-sensor information data processing system comprises an ultrasonic ranging module and an encoder module, wherein the ultrasonic ranging module is positioned at the front end of the robot chassis 10, and the encoder module is divided into a left rear wheel encoder arranged at a left rear wheel and a right rear wheel encoder arranged at a right rear wheel; the ultrasonic ranging module is used for detecting whether an obstacle exists in front or not, and the encoder module detects the speed of mechanical movement.

The control system comprises a front wheel differential motor, a rear wheel driving circuit and a motor and is used for controlling the automatic ball picking robot to move.

Rectangular windows are arranged at the top and the tail end of the engine body shell 1, and an opening is arranged at the head end of the engine body shell 1.

The rectangular window at the top of the machine body shell 1 is used for placing the cylinder-in funnel 5, and the rectangular window at the tail end is used for discharging the full ball cylinder 17.

The inner cavity of the machine body shell 1 is provided with a ball picking mechanism and a cylinder filling mechanism which are both arranged at the top of the robot chassis 10.

The ball picking mechanism comprises a collecting impeller 2, a collecting slideway 6, a first motor 7 and a conveying device;

one end of the collecting impeller 2 is connected with a first motor 7 through a pair of gears, and the other end is connected with a conveyor belt through a secondary chain transmission 12. The conveyor belt is sleeved on the two groups of conveying wheels 13, the two groups of conveying wheels 13 in the conveyor belt are fixed on the vertical partition plate 21 through conveying wheel shafts, and the conveyor belt is positioned between the vertical partition plate 21 and the collection slide 6.

The collection impeller 2 is matched with the collection slideway 6 for use, and the collection slideway 6 is arranged on one side of the collection impeller 2.

One part of the collecting impeller 2 extends out of the opening at the head end of the machine body shell 1, and the collecting impeller 2 can sweep the badminton into the inner cavity of the machine body shell 1.

The collecting slide way 6 is provided with a plurality of grooves with the width slightly larger than the diameter of the badminton head, when the collecting impeller 2 rotates to sweep the badminton into the collecting slide way 6, the badminton with the upward or downward badminton head falls into the grooves under the action of gravity, so that the badminton is in the same direction and is downward. Make badminton orientation automatic adjustment for unanimity under the action of gravity, provide the guarantee for can accomplishing the dress section of thick bamboo.

Conveyor is located under collecting slide 6, and conveyor includes two sets of transfer gear 13 of parallel arrangement, and the quantity of every group transfer gear 13 is two, all overlaps on every group transfer gear 13 to be equipped with a rubber belt 19, the same parallel arrangement of two rubber belts 19, and two rubber belt 19's interval is less than badminton afterbody maximum diameter. The badminton is swept by collection impeller 2 and is collected 6 tops of slide and fall into between two rubber belts 19, because two rubber belts 19 intervals are less than badminton afterbody maximum diameter, badminton bulb automatic adjustment is vertical downwards under the action of gravity. The axial position of the transmission wheel 13 can be adjusted on the transmission wheel shaft for adjusting the distance between the two rubber belts 19 so as to meet the collecting requirements of shuttlecocks with different specifications and sizes of the shuttlecocks.

The cylinder loading mechanism comprises a split charging ball cylinder 9, a ball pushing mechanism and a ball cylinder guide mechanism;

partial shipment ball section of thick bamboo 9 is connected through the vertical baffle 21 of minor axis with robot chassis 10, partial shipment ball section of thick bamboo 9 can be rotatory around the minor axis, the axis is in the tilt state with plumb line one-tenth 15 contained angles when partial shipment ball section of thick bamboo 9 does not have the ball to fall into, the counter weight brush is installed to 9 bottom one sides of partial shipment ball section of thick bamboo, not only be used for the arrangement badminton, also make partial shipment ball section of thick bamboo 9 focus be located minor axis below and partial shipment ball section of thick bamboo 9 and set up for the slope, when four badmings fall into partial shipment ball section of thick bamboo 9, partial shipment ball section of thick bamboo 9 whole focus shifts up to the minor. One end of the terminal point of the rubber belt 19 is positioned right above the ball distributing cylinder 9.

When the split charging barrel 9 rotates to a horizontal state, two ends of the split charging barrel 9 respectively face the push rod 14 and the empty barrel 16, the push rod 14 slides along the sliding groove 20 to push four shuttlecocks from the split charging barrel 9 to the empty barrel 16, and when the shuttlecocks pass through the bottom of the split charging barrel 9, the counterweight hairbrush combs the shuttlecocks. Rectangular openings (visible in figure 13) with different sizes are formed in two sides of the subpackaging ball barrel 9, the lower side openings are opposite to the chassis sliding grooves 20, so that the push rod 14 can extend into the subpackaging ball barrel 9, and the upper side openings are convenient for connecting the connecting rod of the push rod 14 to move.

The split charging barrel 9 is in a vertical and slightly inclined state when receiving the shuttlecocks. As shown in fig. 8, when no badminton falls, the gravity center of the split charging barrel 9 is positioned below the rotating shaft; as shown in FIG. 9, when four shuttlecocks fall, the gravity center of the divided barrel 9 is shifted to the upper part of the rotating shaft. When the split charging barrel 9 is filled with four shuttlecocks, the gravity center of the whole split charging barrel 9 is shifted to the upper part from the lower part of the rotating shaft by the weight of the shuttlecocks, so that the split charging barrel 9 is changed from a straight state to a horizontal state, and when the shuttlecocks are pushed out by the push rod 14, the gravity center of the split charging barrel 9 is shifted to the original position again; when the push rod 14 is moved out, the subpackaging ball barrel 9 automatically returns to the inclined straight state from the lying state, and the whole process can be finished without the driving of a motor.

The ball pushing mechanism comprises a group of four-bar mechanisms, a push rod 14 and a second motor 8;

the second motor 8 is directly connected with a crank of the four-bar mechanism, and the push rod 14 is connected with a connecting rod of the four-bar mechanism;

the push rod 14 is installed on the chassis sliding groove 20, a sensor is installed in the subpackage ball barrel 9 and used for detecting the state of the subpackage ball barrel 9, when the subpackage ball barrel 9 lies horizontally, the sensor drives the second motor 8 to rotate, the push rod 14 is enabled to slide along the sliding groove 20, and four shuttlecocks are pushed into the empty ball barrel 16 from the subpackage ball barrel 9.

The ball cylinder guide mechanism comprises a cylinder inlet funnel 5, a ball cylinder guide disc 15, a guide disc bracket 18 and a third motor 11;

the third motor 11 is connected with a long shaft in the guide disc bracket 18 through a gear, and the spherical cylinder guide disc 15 is fixedly arranged on the long shaft and can rotate along with the long shaft;

the upper side and the lower side of the ball cylinder guide disc 15 are provided with arc-shaped notches matched with the hollow ball cylinder 16, and the arc-shaped notches of the ball cylinder guide disc 15 can be directly opposite to the bottom of the cylinder inlet funnel 5.

A plurality of empty ball cylinders 16 (the empty ball cylinder 16 filled with balls is used as a full ball cylinder 17) are arranged in the cylinder-entering funnel 5, and the cylinder-entering funnel 5 is positioned right above the ball cylinder guide disc 15. When the ball cylinder guide disc 15 rotates, the full ball cylinder 16 below the cylinder inlet funnel 5 can be discharged, and after the cylinder guide disc 15 rotates 180 degrees, the empty ball cylinder 16 of the cylinder inlet funnel 5 falls into the ball cylinder guide disc 15, so that the replacement of the empty ball cylinder 16 and the full ball cylinder 17 is completed. The top of the cylinder-entering funnel 5 passes through the top opening of the machine body shell 1. The top and the bottom of the cylinder entering funnel 5 are provided with openings, the cylinder entering funnel 5 is placed into and hung on the machine body shell 1 from a rectangular window at the top end of the machine body shell 1 (the rectangular window at the top end of the machine body shell 1 is slightly smaller than the opening at the top of the cylinder entering funnel 5 so as to ensure that the cylinder entering funnel 5 cannot fall down), and the opening at the top of the cylinder entering funnel 5 is used for placing an empty sphere cylinder 16.

The rotation of the ball guide plate 15 simultaneously effects the entry of an empty ball socket 16 and the discharge of a full ball socket 17, only the empty ball socket 16 has to be stacked in the inlet funnel 5 from the top. The ball tube guiding disc 15 comprises two discs 151, the two discs 151 are fixedly connected through a connecting rod 152, two arc-shaped notches are symmetrically formed in the discs 151 to form the shape characteristic of 'two concave and two convex', and the depth of each arc-shaped notch can be just right matched with the depth of one empty ball tube 16. A tube-entering funnel 5 is arranged above the ball tube guide disc 15 (as shown in fig. 12, a right view of a relative position between the ball tube guide disc 15 and the tube-entering funnel 5 is shown), and when an arc-shaped gap above the ball tube guide disc 15 is just opposite to an opening below the tube-entering funnel 5, an empty ball tube 16 in the tube-entering funnel 5 enters the ball tube guide disc 15 under the action of gravity. When the ball is loaded, the two notches of the ball cylinder guide disc 15 are positioned right above and below, and at the moment, the opening below the cylinder-entering funnel 5 is blocked by the convex cambered surface of the ball cylinder guide disc 15 (see figure 12), so that the ball cylinder in the cylinder-entering funnel 5 cannot fall. At this time, a hollow ball tube 16 is arranged in the gap groove right above, the ball tube in the gap groove right below is aligned with the opening of the horizontal split charging ball tube 9, and the push rod 14 pushes the badminton out of the split charging ball tube 9 to enter the ball tube. When the push rod 14 moves three times, the ball barrel in the gap right below is filled to become a full ball barrel 17, the third motor 11 drives the ball barrel guide plate 15 to rotate 180 degrees anticlockwise (seen from a right view), the full ball barrel 17 rolls out from the lower right side in the first stage in the rotation process and continues to rotate to the second stage, the lower gap opens on the lower side of the access barrel funnel 5, an empty ball barrel 16 in the access barrel funnel 5 enters the gap groove and continues to rotate to the third stage, the ball barrel guide plate 15 finishes 180 degrees of rotation, the lower gap groove drives the empty ball barrel 16 which just falls to rotate right above, the lower opening of the access barrel funnel 5 is blocked by the ball barrel guide plate 15 again, meanwhile, the upper gap rotates right below, the ball barrel in the gap groove is aligned with the opening of the horizontal split-charging ball barrel 9, and the badminton is waited to be pushed in by the push rod 14. The circulation completes the entrance of the empty ball barrel 16 and the discharge of the full ball barrel 17.

The filled balls are discharged from the rectangular window at the rear end of the body casing 1 and accumulated in the ball storage box at the rear of the base plate 10.

The automatic ball picking robot has the working process as shown in figure 6, and the two front driving wheels 4 of the robot are driven by the front wheel differential motor, so that the robot can conveniently advance and freely turn.

The ultrasonic ranging module is used for detecting whether an obstacle exists in front or not, and the encoder module detects the speed of mechanical movement.

1) Firstly, the automatic ball picking robot motion control module is responsible for sending out a collected image signal to inform the camera 3 to obtain a digital image, the obtained digital image is stored in an SRAM memory, then the digital image module processes the image in the SRAM memory through a related image processing program to judge whether the obtained digital image contains a badminton or not, if the badminton exists, the position of the ball is calculated, and the position of the ball is transmitted to the automatic ball picking robot motion control module. The motion control module of the automatic shuttlecock picking robot receives the position of the shuttlecock.

The method for obtaining whether the badminton exists in the acquired digital image by the image processing program comprises the following steps: after the camera 3 is calibrated by using a Zhangyingyou chessboard calibration method, the camera 3 simulates the perception of human eyes to the three-dimensional world by adopting a binocular parallax ranging principle, the pixel difference of a target object in the left camera 3 and the right camera 3 is calculated, and the distance between the target object and a visual ranging system can be obtained by calculating according to a triangle similarity principle to carry out ranging.

The image processing procedure is a conventional technique, and after a digital image is obtained, the image is subjected to a preceding stage. The main function of the previous image processing is to improve the image, which increases the chance of successful image processing. The next step is segmentation, which is to separate the obtained image into a main body and a background part, in this text, the target to be searched by the robot is the badminton, so the external shape characteristic of the badminton is key, and an algorithm based on a boundary is needed to be used as the basis for segmenting the image, and the characteristic selection method used in the invention is to retain the image characteristic of the badminton by image binarization.

Then recognition, which is the process of assigning a label to an object based on the information provided by its description. The final result of the image processing in the present invention is to determine whether a shuttlecock is present in the acquired image.

2) And according to the presence or absence of the shuttlecocks found by the images, respectively carrying out different treatments:

2.1) if a ball is found in the image and the badminton is in the collectable range, the motion control module controls the collection impeller 2 to collect the ball into the collection system, and a ball picking task is completed.

2.2) if a ball is found in the image but not in the collectable range, the motion control module calculates the proper travelling distance of the self-service object picking robot, then drives the self-service object picking robot to advance, and when encountering an obstacle in the process of advancing, the ultrasonic module sends a signal that the obstacle exists in the front to the motion control module. At the moment, the robot motion control module receives a signal that an obstacle exists in front, and then the robot motion control module enters an obstacle avoiding mode.

The process of entering the obstacle avoidance mode comprises the following steps: the ultrasonic transmitter of the ultrasonic ranging module transmits ultrasonic waves, and then waits for signals reflected by the ultrasonic waves; if the ultrasonic wave reflected back is not received, the fact that no obstacle exists in front of the vehicle is shown, the ultrasonic wave is transmitted by the ultrasonic transmitter, and the obstacle is continuously detected; if the reflected ultrasonic wave is received, the obstacle is found, whether the obstacle influences the advancing is judged, if the obstacle is beyond 15 cm, the vehicle is not prevented from advancing, an obstacle signal in front does not need to be sent, the vehicle returns to the ultrasonic wave transmitting process, and the obstacle is continuously detected; if the obstacle can obstruct the automatic ball-picking robot to move forward within 15 cm in front of the automatic ball-picking robot, a signal indicating that the obstacle exists in front is sent out to inform the motion control module to enter an obstacle avoiding mode.

The obstacle avoidance mode is as follows: firstly, the automatic ball picking robot is turned right by 30 degrees, then whether obstacles exist is detected, if the obstacles exist, the automatic ball picking robot is turned right by 30 degrees until no obstacles exist, and the obstacle avoiding mode is ended when no obstacle exists.

And calculating the time from the transmission of the ultrasonic wave to the reception of the reflected ultrasonic wave, dividing the time by 2 and multiplying the time by the propagation speed of the ultrasonic wave in the air, so that the distance of the obstacle can be calculated.

2.3) if no badminton is found, the automatic badminton picking robot enters a badminton searching mode, and the differential motor drives the automatic badminton picking robot to rotate in situ to search the badminton.

And starting a buzzer to inform a worker if the shuttlecock is not in the acquired digital image after the autorotation is accumulated for one week.

If the shuttlecocks still exist but the loading capacity of the shuttlecocks reaches the maximum, the robot still stops running and starts the buzzer.

When the shuttlecock loading amount has reached the maximum, the full bobbin 17 is blocked from being discharged because the bobbin housing box has filled the bobbin, that is, the rotation of the bobbin guide plate 15 is blocked. The third motor 11 cannot work normally and the motion control system gives an alarm.

The specific working process of the collecting system comprises the following steps:

the first motor 7 controls the collection impeller 2 to rotate around the shaft to drive the shuttlecocks to enter the collection slide 6, the shuttlecocks are lifted up along with the rotation of the collection impeller 2, the shuttlecocks are separated from the collection slide 6 at the highest point, the ball head falls down between the two rubber belts 19 under the action of gravity, the shuttlecocks are conveyed to the upper part of the split-charging ball barrel 9 by the two rubber belts 19 by virtue of the rotation of the conveying wheel 13, the shuttlecocks freely fall to the split-charging ball barrel 9 at the end point of the rubber belts 19, when four shuttlecocks fall, the gravity center of the split-charging ball barrel 9 moves from the lower part of the rotating shaft to the upper part, so that the split-charging ball barrel 9 rotates anticlockwise to lie on the sliding chute 20, meanwhile, the robot walks and the motors of the collection impeller 2 are suspended, the push rod 14 is driven by the second motor 8 to rotate for one circle to complete one-time push movement, the, the suspended motor continues to operate.

When the push rod 14 finishes three times of complete push motions cumulatively, the empty ball barrel 16 becomes a full ball barrel 17 after being filled with twelve balls, the ball barrel guide disc 15 rotates 180 degrees, the full ball barrel 17 below the ball barrel guide disc 15 rolls out due to self gravity when rotating 30 degrees and is discharged from a rectangular window at the tail end of the machine body shell 1, and when the full ball barrel rotates to 180 degrees, a new empty ball barrel 16 below the ball barrel guide disc 15 reaches a working position to wait for the shuttlecocks to be filled. Meanwhile, the ball barrel in the barrel funnel 5 falls into the notch groove above the ball barrel guide plate 15, and the replacement of the empty ball barrel 16 and the full ball barrel 17 is ensured.

Finally, it is also noted that the above-mentioned lists merely illustrate a few specific embodiments of the invention. It is obvious that the invention is not limited to the above embodiments, but that many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.

Claims (7)

1. Automatic pick up ball robot, its characterized in that: comprises a machine body shell (1) and a robot chassis (10);

the machine body shell (1) is covered on the top of the robot chassis (10);

the head end of the machine body shell (1) is provided with an opening;

the bottom of the robot chassis (10) is provided with a driving wheel (4);

the machine body shell (1) is internally provided with a camera (3), and the camera (3) extends out of the opening at the head end of the machine body shell (1);

a ball picking mechanism and a cylinder loading mechanism are arranged in the inner cavity of the machine body shell (1);

the ball picking mechanism comprises a collecting impeller (2), a collecting slideway (6) and a conveying device;

the collecting impeller (2) is arranged at an opening at the head end of the machine body shell (1), the collecting slideway (6) is matched with the collecting impeller (2) for use, and the collecting impeller (2) is positioned between the collecting slideway (6) and the opening at the head end of the machine body shell (1);

at least two grooves are formed in the collecting slide way (6), and the conveying device is located right below the collecting slide way (6);

the conveying device comprises two rubber belts (19) which are arranged in parallel,

the cylinder loading mechanism comprises a split charging ball cylinder (9), a push rod (14) and a ball cylinder guide mechanism;

the subpackage ball barrel (9) is positioned under the rubber belt (19), and a chassis sliding groove (20) is arranged under the subpackage ball barrel (9); a push rod (14) and a hollow ball tube (16) are respectively arranged at the two sides of the subpackaging ball tube (9)

The ball cylinder guide mechanism comprises a cylinder inlet funnel (5) and a ball cylinder guide disc (15);

arc-shaped notches are formed in the upper side and the lower side of the ball cylinder guide disc (15); the hollow ball cylinder (16) is positioned in the arc-shaped gap of the ball cylinder guide disc (15); the cylinder inlet funnel (5) is positioned above the ball cylinder guide disc (15).

2. The automatic ball picking robot of claim 1, wherein:

the bottom end one side of the bottom of the subpackage ball barrel (9) is provided with a balance weight brush, and the subpackage ball barrel (9) is in an inclined state forming a 15-degree included angle with a plumb line when no ball falls.

3. The automatic ball picking robot of claim 2, wherein:

the top of the machine body shell (1) is provided with an opening, and the cylinder inlet funnel (5) penetrates through the top opening of the machine body shell (1).

4. The automatic ball picking robot of claim 3, wherein:

and a raised cambered surface is arranged on the cambered notch of the ball cylinder guide disc (15).

5. The method for collecting shuttlecocks by using the automatic shuttlecock picking robot as claimed in any one of claims 1 to 4, comprising the steps of:

1) the collecting impeller (2) rotates to bring the shuttlecocks outside the machine body shell (1) into the collecting slide way (6), the shuttlecocks drop downwards to a position between the two rubber belts (19) under the action of gravity, the shuttlecocks are conveyed to the upper part of the subpackaging ball barrel (9) by the two rubber belts (19) and fall into the subpackaging ball barrel (9) freely,

2) when the accumulated four shuttlecocks fall into the split charging ball barrel (9), the gravity center of the split charging ball barrel (9) moves to the upper part from the lower part of the rotating shaft, so that the split charging ball barrel (9) rotates to be horizontally laid on the sliding chute (20), the push rod (14) extends into the split charging ball barrel (9) to push the shuttlecocks into the empty ball barrel (16), and the gravity center of the split charging ball barrel (9) returns to the lower part and rotates back to the original working position;

3) the ball cylinder guide disc (15) rotates 180 degrees, and in the rotating process, the hollow ball cylinder (16) filled with the shuttlecocks and arranged below the ball cylinder guide disc (15) rolls out due to the self gravity; when the ball cylinder guide disc rotates to 180 degrees, a new empty ball cylinder (16) below the ball cylinder guide disc (15) reaches a working position, and the empty ball cylinder in the cylinder-entering hopper (5) falls into the upper part of the ball cylinder guide disc (15).

6. Use of the automatic ball picking robot according to any of claims 1-4, characterized in that it comprises the following steps:

1) acquiring a digital image through a camera (3), judging whether a badminton exists in the acquired digital image, calculating the position of the badminton if the badminton exists, and executing the step 2); if not, repeating the step 1);

2) and according to the presence or absence of the shuttlecocks found by the images, respectively carrying out different treatments:

2.1), if a ball is found in the image and the badminton is in the collectable range, starting to collect the badminton;

2.2) if the shuttlecocks are found in the image but not in the collectable range, driving the automatic shuttlecock picking robot to run until the shuttlecocks are in the collectable range, and starting to collect the shuttlecocks;

2.3) if no badminton is found, the automatic badminton picking robot starts to rotate in situ to search the badminton, and the step (1) is executed again.

7. The use method of the automatic ball picking robot according to claim 6, characterized in that:

2.2): if a ball is found in the image but the shuttlecock is not in the collectable range, the automatic shuttlecock picking robot is driven to want the shuttlecock to move, and when the shuttlecock meets an obstacle in the advancing process, the automatic shuttlecock picking robot enters an obstacle avoiding mode;

firstly, the automatic ball picking robot is turned right by 30 degrees, then whether obstacles exist is detected, if the obstacles exist, the automatic ball picking robot is turned right by 30 degrees, until no obstacles exist, and the obstacle avoiding mode is ended when no obstacle exists;

until the shuttlecock is positioned in the collectable range; shuttlecocks begin to be collected.

Images