CN110279996A - Golf robot control system based on UWB location navigation - Google Patents

Golf robot control system based on UWB location navigation Download PDF

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Publication number
CN110279996A
CN110279996A CN201910573462.5A CN201910573462A CN110279996A CN 110279996 A CN110279996 A CN 110279996A CN 201910573462 A CN201910573462 A CN 201910573462A CN 110279996 A CN110279996 A CN 110279996A
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China
Prior art keywords
golf
ball
module
navigation
unit
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CN201910573462.5A
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CN110279996B (en
Inventor
温振钊
徐继琛
肖冬冬
林丹妮
邓小时
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Guangzhou Ruida Information Technology Co Ltd
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Guangzhou Ruida Information Technology Co Ltd
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Priority to CN201910573462.5A priority Critical patent/CN110279996B/en
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    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B47/00Devices for handling or treating balls, e.g. for holding or carrying balls
    • A63B47/02Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
    • A63B47/021Devices 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
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B47/00Devices for handling or treating balls, e.g. for holding or carrying balls
    • A63B47/02Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
    • A63B47/021Devices 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
    • A63B2047/022Autonomous machines which find their own way around the playing surface

Abstract

The invention discloses the golf robot control systems based on UWB location navigation, it is related to robotic technology field, solve the problems, such as that existing golf ball picking-up efficiency is low, precision is smaller, cruising ability is poor, its key points of the technical solution are that: including machine end, wireless communication module, remote control end and two base stations;The machine end includes body, power supply, UWB positioning navigation module, master controller, travels drive module and pick up ball drive module;The UWB positioning navigation module includes navigation elements, UWB positioning unit and compass;The remote control end includes screen unit, rocking bar unit and push-button unit, have the function of can automatic and remote control complete patrol to pick up two kinds of golf, enhance golf and patrol and pick up precision and efficiency, extend the cruising ability of robot.

Description

Golf robot control system based on UWB location navigation
Technical field
The present invention relates to robotic technology fields, more specifically, it relates to the golf ball machine based on UWB location navigation Device people's control system.
Background technique
In recent years, stepping up as people 's material life is horizontal, more and more people participate in golf sports , golf sports are a kind of sunshine sports that enjoyment the Nature enjoyment and physical training can be combined together, very much Developed country is popular to realize, so developing golf sports is trend of the times.But big by golf course site area It influences, golf recycles the problem for becoming golf sports.
Currently, being recycled for golf, generally uses and manually pick up ball, pilot steering picks up ball vehicle and picks up ball or robot It receives rope and picks up ball.Ball manually is picked up, not only wastes a large amount of manpower and material resources, and ball picking-up efficiency is low, user experience is poor.Manually Ball is picked up in driving, and due to picking up the increase of ball car weight amount, pilot steering picks up in ball vehicle driving process, easily breaks golf course place Bad, later maintenance cost is higher.Existing robot receives rope and picks up ball, most of to pick up ball by remote control operation completion receipts rope, not yet Having can complete to patrol the robot for picking up golf automatically, direction discernment, navigation route planning and the continuation of the journey energy of robot Power becomes the technical problem that automatic machinery people is applied in golf.
Therefore, how to design a kind of golf robot control system based on UWB location navigation is that we compel at present Cut problem to be solved.
Summary of the invention
The object of the present invention is to provide the golf robot control systems based on UWB location navigation, and having can be automatic It completes to patrol and pick up two kinds of functions of golf with remote control, enhances golf and patrol and pick up precision and efficiency, extend the continuous of robot Boat ability.
Above-mentioned technical purpose of the invention has the technical scheme that the height based on UWB location navigation Golf ball robot control system, including machine end, wireless communication module, remote control end and two base stations, machine end and remote control end Between pass through wireless communication module communication connection realize bidirectional data transfers;
The machine end includes body, power supply, UWB positioning navigation module, master controller, traveling drive module and picks up Ball drive module;Wherein,
The power supply, for powering to control system;
The UWB positioning navigation module includes navigation elements, UWB positioning unit and compass;The navigation elements are used for Store or receive the navigation data of the body;The UWB positioning unit, for measuring the body and being laid in golf The distance between the base station of field, and calculate the two-dimensional coordinate of body;The compass is used to load in the instruction direction measured On the two-dimensional coordinate of UWB positioning unit measurement, to realize the body to the direction discernment of the navigation data;
The master controller, for generating corresponding traveling drive command according to the navigation data and picking up ball driving life It enables;
The traveling drive module, for driving the body to travel according to the traveling drive command;
It is described to pick up ball drive module, drive the body to be picked up in the process of moving for picking up ball drive command according to It takes, store golf, and fully loaded golf is unloaded;
The remote control end includes screen unit, rocking bar unit and push-button unit;Wherein,
The screen unit, for showing the parameters of the machine end transmission;
The rocking bar unit picks up ball driving mould for manipulating described in the driving direction and control of the traveling drive module The opening and closing of block;
The push-button unit picks up ball mode and automatically picking up balls mode and system parameter is matched manually for switch robot It sets.
Make robot to mesh by UWB location technology in conjunction with the direction-measuring function of compass by using above-mentioned technical proposal The direction identification of punctuate traveling is more accurate;Using machine end and remote control end between both-way communication so that robot have remote control, Automatically it patrols and picks up dual function, enhance the flexibility that robot uses, enhance golf and patrol and pick up precision and efficiency, reduce Golf patrols the manpower and material resources for picking up investment.
The present invention is further arranged to: the machine end is equipped with the ultrasound for hiding large obstacle for controlling the body Wave obstacle avoidance module.
By using above-mentioned technical proposal, using avoiding obstacles by supersonic wave module, convenient for the barrier on body driving path It is identified, and controls body and detoured according to identification information, enhance the Stability and dependability of body driving process.
The present invention is further arranged to: the machine end is equipped with for opening charge power supply to power supply after charging pile identification The bluetooth module of charging.
By using above-mentioned technical proposal, when body returns to charging pile charging, charging pile identifies body through bluetooth module After the case where opening charge power supply, realizing and charge to power supply, charging pile is avoided to cause electricity consumption to waste when not charging.
The present invention is further arranged to: the power supply includes charging device, 24V voltage regulator circuit, 24V battery, 5V steady Volt circuit and voltameter;The charging device, 24V voltage regulator circuit, 24V battery, 5V voltage regulator circuit and master controller are successively electrical Connection;The voltameter is used to measure the electricity of the 24V battery, and by the charge transport measured to master controller;It is described to fill Electrical part is photovoltaic panel or wireless charger.
By using above-mentioned technical proposal, diversity, Supply Security and the real-time monitoring for enhancing power supply are surplus Remaining electricity.
The present invention is further arranged to: the traveling drive module includes electric-motor drive unit, left driving motor, right driving Motor, left encoder and right encoder;Output end, electric-motor drive unit, left driving motor, the left encoder of the master controller It is successively electrically connected with the input terminal of master controller;The output end of the master controller, electric-motor drive unit, right driving motor, The input terminal of right encoder and master controller is successively electrically connected.
By using above-mentioned technical proposal, convenient for being recorded to body mileage and closed-loop control body travel speed.
The present invention is further arranged to: the ball drive module of picking up includes picking up ball unit, ball storehouse, steering engine and pressure sensing Device;The ball unit of picking up is for picking up golf in ball storehouse;The steering engine is used to control the opening and closing of ball storehouse port;The pressure Force snesor is used to detect the weight in ball storehouse.
By using above-mentioned technical proposal, ball amount is picked up by obtaining after the quality information conversion of pressure sensor detection, when picking up When ball amount reaches preset value, main controller controls body, which is travelled to default position in storehouse, to carry out unloading ball, and body is continued working.
The present invention is further arranged to: the remote control end is equipped with the wireless serial mould for host computer and the communication connection of remote control end Block.
By using above-mentioned technical proposal, using wireless serial module, host computer is transferred data to realize to body Monitoring and control.
The present invention is further arranged to: the wireless communication module is 2.4Gnrf communication module.
By using above-mentioned technical proposal, enhance the Stability and dependability of data transmission.
The present invention is further arranged to: the model STM32F103ZET6 of the master controller.
By using above-mentioned technical proposal, main controller is enable to complete a series of action command.
The present invention is further arranged to: the direction discernment of the body specifically:
If the line between two base stations is the X-axis in two-dimensional coordinate;Defining C (X, Y) is body own coordinate, T (X, Y) For coordinate of ground point;Angle of the A as between body coordinate Y-axis and the direct north of compass measurement is set, B is body and due north Angle between direction;Then body is located at the azimuth AT of rectangular coordinate system relative target point are as follows:
AT=atant ((T_X, C_X), (T_Y, C_Y)) × 180/ π+∠ A- ∠ B;
When user uses the system for the first time, body is moved into the far point in X-axis far from origin, and make body direction and sit It is consistent to mark Y direction;Then the Macintosh at operation remote control end, makes master controller record current state.
By using above-mentioned technical proposal, end is remotely controlled by the distance between the body of acquisition and two base stations through sliding intermediate value After filtering, the coordinate of body is calculated by trigonometric function, then the both-way communication being remotely controlled between body;Then will refer to Instruction direction that compass measures loads on two-dimensional coordinate, and be calculated body in two-dimensional coordinate between object orientation Angle, so that the direction discernment of body is more accurate;Body is carried out after calibrating for the first time, calibration data is recorded and is stored, For subsequent calls, does not need to calibrate azimuth every time, enhance the high efficiency that control system uses.
In conclusion the invention has the following advantages: by UWB location technology in conjunction with the direction-measuring function of compass, The direction identification for travelling robot to target point is more accurate;Using both-way communication between machine end and remote control end, so that machine Device people has remote control, patrols automatically and pick up dual function, enhances the flexibility that robot uses, and enhances golf and patrols and picks up precision And efficiency, it reduces golf and patrols the manpower and material resources for picking up investment;Barrier on body driving path is identified, and Control body detours according to identification information, enhances the Stability and dependability of body driving process;Charging pile is through bluetooth Charge power supply is opened after module identification body, realizes and charges to power supply, charging pile is avoided to cause electricity consumption unrestrained when not charging The case where expense, occurs;Enhance diversity, Supply Security and the real-time monitoring remaining capacity of power supply.
Detailed description of the invention
Fig. 1 is the architecture diagram in the embodiment of the present invention;
Fig. 2 is the working principle diagram in the embodiment of the present invention;
Fig. 3 is body two-dimensional coordinate instrumentation plan in the embodiment of the present invention.
In figure: 1, being remotely controlled end;11, screen unit;12, rocking bar unit;13, push-button unit;14, wireless serial module;2, Wireless communication module;3, machine end;31, power supply;311, charging device;312,24V voltage regulator circuit;313,24V battery; 314,5V voltage regulator circuit;315, voltameter;32, UWB positioning navigation module;321, navigation elements;322, UWB positioning unit; 323, compass;33, master controller;34, drive module is travelled;341, electric-motor drive unit;342, left encoder;343, left drive Dynamic motor;344, right encoder;345, right driving motor;35, ball drive module is picked up;351, pressure sensor;352, steering engine; 36, avoiding obstacles by supersonic wave module;37, bluetooth module.
Specific embodiment
Below in conjunction with attached drawing 1-3, invention is further described in detail.
Embodiment: the golf robot control system based on UWB location navigation, as shown in Figure 1, include machine end 3, Wireless communication module 2, remote control end 1 and two base stations are communicated to connect between machine end 3 and remote control end 1 by wireless communication module 2 Realize bidirectional data transfers.
As shown in Figure 1, machine end 3 includes body, power supply 31, UWB positioning navigation module 32, master controller 33, row It sails drive module 34 and picks up ball drive module 35.Wherein, power supply 31 is used to power to control system.UWB location navigation mould Block 32 includes navigation elements 321, UWB positioning unit 322 and compass 323.Navigation elements 321 are for storing or receiving body Navigation data.UWB positioning unit 322 is calculated for measuring body and being laid in the distance between base station of golf course The two-dimensional coordinate of body out.The instruction direction that compass 323 is used to measure loads the two dimension measured in UWB positioning unit 322 On coordinate, to realize body to the direction discernment of navigation data.Master controller 33 is used to generate corresponding row according to navigation data It sails drive command and picks up ball drive command.Drive module 34 is travelled to be used for according to traveling drive command driving body traveling.Pick up ball Drive module 35 picks up ball drive command for basis and drives body to pick in the process of moving, stores golf, and will expire The golf of load unloads.
As shown in Figure 1, remote control end 1 includes screen unit 11, rocking bar unit 12 and push-button unit 13.Wherein, screen unit 11 parameters transmitted for showing machine end 3.Rocking bar unit 12 be used for manipulate travel drive module 34 driving direction with And the opening and closing of ball drive module 35 is picked up in control.Push-button unit 13 is used to switch the manual of robot and picks up ball mode and automatically picking up balls mould Formula and systematic parameter configuration.In the present embodiment, systematic parameter configuration includes but is not limited to the speed of service of body, operation model It encloses.By UWB location technology in conjunction with the direction-measuring function of compass 323, the direction identification for travelling robot to target point is more Precisely.Increased using both-way communication between machine end 3 and remote control end 1 so that robot has remote control, patrols automatically and pick up dual function The flexibility that Qiang Liao robot uses enhances golf and patrols and picks up precision and efficiency, reduces golf and patrols and picks up investment Manpower and material resources.
As shown in Figure 1, machine end 3 is equipped with the avoiding obstacles by supersonic wave module 36 for hiding large obstacle for controlling body.Benefit With avoiding obstacles by supersonic wave module 36, convenient for being identified to the barrier on body driving path, and controls body and believed according to identification Breath detours, and enhances the Stability and dependability of body driving process.
As shown in Figure 1, machine end 3 is equipped with the bluetooth to charge for opening charge power supply after charging pile identification to power supply 31 Module 37.When body returns to charging pile charging, charging pile opens charge power supply, realization pair after bluetooth module 37 identifies body The case where power supply 31 charges, and charging pile is avoided to cause electricity consumption to waste when not charging.
As shown in Figures 1 and 2, power supply 31 includes charging device 311,24V voltage regulator circuit 312,24V battery 313,5V Voltage regulator circuit 314 and voltameter 315.Charging device 311,24V voltage regulator circuit 312,24V battery 313,314 and of 5V voltage regulator circuit Master controller 33 is successively electrically connected.Voltameter 315 is used to measure the electricity of 24V battery 313, and extremely by the charge transport measured Master controller 33.Charging device 311 is photovoltaic panel or wireless charger, enhances diversity, the power supply safety of power supply 31 Property and real-time monitoring remaining capacity.
As shown in Figures 1 and 2, traveling drive module 34 includes electric-motor drive unit 341, left driving motor 343, right driving Motor 345, left encoder 342 and right encoder 344.Output end, electric-motor drive unit 341, the left driving electricity of master controller 33 The input terminal of machine 343, left encoder 342 and master controller 33 is successively electrically connected.The output end of master controller 33, motor driven Unit 341, right driving motor 345, right encoder 344 and master controller 33 input terminal be successively electrically connected, convenient for body Mileage is recorded and closed-loop control body travel speed.
As shown in Figures 1 and 2, picking up ball drive module 35 includes picking up ball unit, ball storehouse, steering engine 352 and pressure sensor 351.Ball unit is picked up for picking up golf in ball storehouse;Steering engine 352 is used to control the opening and closing of ball storehouse port.Pressure sensor 351 for detecting the weight in ball storehouse.Ball amount is picked up by obtaining after the conversion of quality information that pressure sensor 351 detects, when picking up ball When amount reaches preset value, the control body of master controller 33, which is travelled to default position in storehouse, to carry out unloading ball, and body is continued working.
As shown in Figure 1, remote control end 1 is equipped with the wireless serial module 14 communicated to connect for host computer and remote control end 1.Utilize nothing Line serial port module 14 transfers data to host computer to realize the monitoring and control to body.
In the present embodiment, wireless communication module 2 use 2.4Gnrf communication module, enhancing data transmission stability with Reliability.
In the present embodiment, the model STM32F103ZET6 of master controller 33, enables main controller 33 to complete one The action command of series.
As shown in figure 3, the direction discernment of body specifically:
If the line between two base stations is the X-axis in two-dimensional coordinate;Defining C (X, Y) is body own coordinate, T (X, Y) For coordinate of ground point;Set the angle between the direct north that A is measured as body coordinate Y-axis and compass 323, B be body with Angle between direct north;Then body is located at the azimuth AT of rectangular coordinate system relative target point are as follows:
AT=atant ((T_X, C_X), (T_Y, C_Y)) × 180/ π+∠ A- ∠ B;
When user uses the system for the first time, body is moved into the far point in X-axis far from origin, and make body direction and sit It is consistent to mark Y direction.Then the Macintosh at operation remote control end 1, makes master controller 33 record current state.
Be remotely controlled end 1 by the distance between the body of acquisition and two base stations through slide median filtering after, pass through triangle letter Number calculates the coordinate of body, then the both-way communication being remotely controlled between body.Then instruction side compass 323 measured To load on two-dimensional coordinate, and be calculated body in two-dimensional coordinate between object azimuth so that the side of body It is more accurate to identifying.Body is carried out after calibrating for the first time, calibration data is recorded and is stored, for subsequent calls, no It needs to calibrate azimuth every time, enhances the high efficiency that control system uses.
Working principle: by UWB location technology in conjunction with the direction-measuring function of compass 323, travel robot to target point Direction identification it is more accurate.Using both-way communication between machine end 3 and remote control end 1, so that robot has remote control, patrols automatically Dual function is picked up, the flexibility that robot uses is enhanced, golf is enhanced and patrols and pick up precision and efficiency, reduce golf Ball patrols the manpower and material resources for picking up investment.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, those skilled in the art Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this All by the protection of Patent Law in the scope of the claims of invention.

Claims (10)

1. the golf robot control system based on UWB location navigation, it is characterized in that: including machine end (3), wireless telecommunications Module (2), remote control end (1) and two base stations, pass through wireless communication module (2) communication link between machine end (3) and remote control end (1) Connect realization bidirectional data transfers;
The machine end (3) includes body, power supply (31), UWB positioning navigation module (32), master controller (33), traveling It drive module (34) and picks up ball drive module (35);Wherein,
The power supply (31), for powering to control system;
The UWB positioning navigation module (32) includes navigation elements (321), UWB positioning unit (322) and compass (323);Institute Navigation elements (321) are stated for storing or receiving the navigation data of the body;The UWB positioning unit (322), for measuring The body and it is laid in the distance between base station of golf course, and calculates the two-dimensional coordinate of body;The compass (323) for the instruction direction measured to be loaded the two-dimensional coordinate measured in the UWB positioning unit (322), to realize Body is stated to the direction discernment of the navigation data;
The master controller (33), for generating corresponding traveling drive command according to the navigation data and picking up ball driving life It enables;
The traveling drive module (34), for driving the body to travel according to the traveling drive command;
It is described to pick up ball drive module (35), drive the body to be picked up in the process of moving for picking up ball drive command according to It takes, store golf, and fully loaded golf is unloaded;
The remote control end (1) includes screen unit (11), rocking bar unit (12) and push-button unit (13);Wherein,
The screen unit (11), for showing the parameters of the machine end (3) transmission;
The rocking bar unit (12) picks up ball drive for manipulating described in the driving direction and control of traveling drive module (34) The opening and closing of dynamic model block (35);
The push-button unit (13) picks up ball mode and automatically picking up balls mode and system parameter is matched manually for switch robot It sets.
2. the golf robot control system according to claim 1 based on UWB location navigation, it is characterized in that: institute It states machine end (3) and is equipped with the avoiding obstacles by supersonic wave module (36) for hiding large obstacle for controlling the body.
3. the golf robot control system according to claim 1 based on UWB location navigation, it is characterized in that: institute It states machine end (3) and is equipped with the bluetooth module (37) to charge for opening charge power supply after charging pile identification to power supply (31).
4. the golf robot control system according to claim 3 based on UWB location navigation, it is characterized in that: institute Stating power supply (31) includes charging device (311), 24V voltage regulator circuit (312), 24V battery (313), 5V voltage regulator circuit (314) With voltameter (315);The charging device (311), 24V voltage regulator circuit (312), 24V battery (313), 5V voltage regulator circuit (314) It is successively electrically connected with master controller (33);The voltameter (315) is used to measure the electricity of the 24V battery (313), and will The charge transport measured is to master controller (33);The charging device (311) is photovoltaic panel or wireless charger.
5. the golf robot control system according to claim 1 based on UWB location navigation, it is characterized in that: institute Stating traveling drive module (34) includes electric-motor drive unit (341), left driving motor (343), right driving motor (345), left volume Code device (342) and right encoder (344);Output end, electric-motor drive unit (341), the left driving electricity of the master controller (33) The input terminal of machine (343), left encoder (342) and master controller (33) is successively electrically connected;The master controller (33) it is defeated Outlet, electric-motor drive unit (341), right driving motor (345), right encoder (344) and master controller (33) input terminal according to Secondary electric connection.
6. the golf robot control system according to claim 1 based on UWB location navigation, it is characterized in that: institute Stating and picking up ball drive module (35) includes picking up ball unit, ball storehouse, steering engine (352) and pressure sensor (351);It is described to pick up ball unit use It is picked up in ball storehouse in by golf;The steering engine (352) is used to control the opening and closing of ball storehouse port;The pressure sensor (351) for detecting the weight in ball storehouse.
7. the golf robot control system according to claim 1 based on UWB location navigation, it is characterized in that: institute It states remote control end (1) and is equipped with the wireless serial module (14) communicated to connect for host computer and remote control end (1).
8. the golf robot control system according to claim 1 based on UWB location navigation, it is characterized in that: institute Stating wireless communication module (2) is 2.4Gnrf communication module.
9. the golf robot control system according to claim 1 based on UWB location navigation, it is characterized in that: institute State the model STM32F103ZET6 of master controller (33).
10. according to claim 1 described in -9 any one based on the golf robot control system of UWB location navigation, It is characterized in that: the direction discernment of the body specifically:
If the line between two base stations is the X-axis in two-dimensional coordinate;Defining C (X, Y) is body own coordinate, and T (X, Y) is mesh Punctuate coordinate;Angle of the A as between body coordinate Y-axis and the direct north of compass (323) measurement is set, B is for body and just Angle of the north between;Then body is located at the azimuth AT of rectangular coordinate system relative target point are as follows:
AT=atant ((T_X, C_X), (T_Y, C_Y)) × 180/ π+∠ A- ∠ B;
When user uses the system for the first time, body is moved into the far point in X-axis far from origin, and make body direction and coordinate Y Axis direction is consistent;Then the Macintosh of operation remote control end (1) makes master controller (33) to record current state.
CN201910573462.5A 2019-06-28 2019-06-28 Golf ball machine robot control system based on UWB positioning navigation Expired - Fee Related CN110279996B (en)

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CN112090043A (en) * 2020-09-12 2020-12-18 广东寻夏科技有限公司 Golf ball recovery system and method based on unmanned aerial vehicle
CN112090043B (en) * 2020-09-12 2021-09-14 广东寻夏科技有限公司 Golf ball recovery method based on unmanned aerial vehicle
CN112947194A (en) * 2021-02-20 2021-06-11 大连理工大学 Real-time operation control system of tennis robot embedded based on FreeRTOS

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