CN110279996B - Golf ball machine robot control system based on UWB positioning navigation - Google Patents
Golf ball machine robot control system based on UWB positioning navigation Download PDFInfo
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- CN110279996B CN110279996B CN201910573462.5A CN201910573462A CN110279996B CN 110279996 B CN110279996 B CN 110279996B CN 201910573462 A CN201910573462 A CN 201910573462A CN 110279996 B CN110279996 B CN 110279996B
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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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- 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
- A63B2047/022—Autonomous machines which find their own way around the playing surface
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a golf ball machine robot control system based on UWB positioning navigation, which relates to the technical field of robots and solves the problems of low ball picking efficiency, low precision and poor cruising ability of the existing golf ball picking, and the technical scheme main points are as follows: the system comprises a machine end, a wireless communication module, a remote control end and two base stations; the machine end comprises a machine body, a power supply, a UWB positioning navigation module, a main controller, a driving module and a ball picking driving module; the UWB positioning navigation module comprises a navigation unit, a UWB positioning unit and a compass; the remote control end comprises a screen unit, a rocker unit and a key unit, and has two functions of automatically and remotely finishing patrol and pick up the golf, thereby enhancing the patrol and pick-up precision and efficiency of the golf and prolonging the cruising ability of the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a golf robot control system based on UWB positioning navigation.
Background
In recent years, as the living standard of people is gradually improved, more and more people participate in golf, and golf is a sunshine sport which can integrate natural enjoyment and physical exercise, and is civilized in many developed countries, so that the development of golf is in great tendency. But the recycling of golf balls becomes a difficult problem in golf sports due to the large area of the golf course.
At present, for recycling golf balls, manual ball picking, manual driving ball picking vehicles or robot ball picking cables are generally adopted for ball picking. The manual ball picking not only wastes a large amount of manpower and material resources, but also has low ball picking efficiency and poor user experience. The manual driving ball picking vehicle has the advantages that due to the fact that the weight of the ball picking vehicle is increased, the golf course field is easily damaged in the driving process of the manual driving ball picking vehicle, and the later maintenance cost is high. Most of the existing robots collect the golf balls through remote control operation, and no robot capable of automatically patrolling and picking the golf balls exists, and the direction identification, navigation route planning and cruising ability of the robot are technical problems of applying an automatic robot in the golf movement.
Therefore, how to design a golf robot control system based on UWB positioning and navigation is a problem which is urgently needed to be solved at present.
Disclosure of Invention
The invention aims to provide a golf robot control system based on UWB positioning navigation, which has two functions of automatically and remotely finishing patrol and pick up golf, enhances the patrol and pick-up precision and efficiency of golf and prolongs the cruising ability of the robot.
The technical purpose of the invention is realized by the following technical scheme: the golf robot control system based on UWB positioning navigation comprises a machine end, a wireless communication module, a remote control end and two base stations, wherein the machine end and the remote control end are in communication connection through the wireless communication module to realize bidirectional data transmission;
the machine end comprises a machine body, a power supply, a UWB positioning navigation module, a main controller, a driving module and a ball picking driving module; wherein the content of the first and second substances,
the power supply is used for supplying power to the control system;
the UWB positioning navigation module comprises a navigation unit, a UWB positioning unit and a compass; the navigation unit is used for storing or receiving navigation data of the body; the UWB positioning unit is used for measuring the distance between the body and a base station arranged on a golf course and calculating the two-dimensional coordinate of the body; the compass is used for loading the measured indication direction on the two-dimensional coordinate measured by the UWB positioning unit so as to realize the direction identification of the navigation data by the machine body;
the main controller is used for generating corresponding driving commands for driving and driving for picking up balls according to the navigation data;
the driving module is used for driving the machine body to run according to the driving command;
the ball picking driving module is used for driving the machine body to pick and store golf balls in the driving process according to the ball picking driving command and unloading the fully loaded golf balls;
the remote control end comprises a screen unit, a rocker unit and a key unit; wherein the content of the first and second substances,
the screen unit is used for displaying each parameter transmitted by the machine end;
the rocker unit is used for controlling the driving direction of the driving module and controlling the opening and closing of the ball picking driving module;
the key unit is used for switching a manual ball picking mode and an automatic ball picking mode of the robot and system parameter configuration.
By adopting the technical scheme, the UWB positioning technology is combined with the direction-finding function of the compass, so that the direction of the robot driving to the target point is identified more accurately; by utilizing the bidirectional communication between the machine end and the remote control end, the robot has the dual functions of remote control and automatic patrol and pick, the use flexibility of the robot is enhanced, the patrol and pick precision and efficiency of the golf are enhanced, and the manpower and material resources for patrol and pick of the golf are reduced.
The invention is further configured to: and the machine end is provided with an ultrasonic obstacle avoidance module for controlling the machine body to avoid large obstacles.
By adopting the technical scheme, the ultrasonic obstacle avoidance module is utilized, so that obstacles on a running path of the machine body can be conveniently identified, the machine body is controlled to detour according to identification information, and the stability and reliability of the running process of the machine body are enhanced.
The invention is further configured to: the machine end is equipped with the bluetooth module that supplies to fill electric pile discernment back and open charging source and charge to power supply.
Through adopting above-mentioned technical scheme, when the organism returns to fill electric pile and charges, fill electric pile and open charging source behind bluetooth module discernment organism, realize charging power supply, avoid filling electric pile and cause the extravagant condition of power consumption to take place when not charging.
The invention is further configured to: the power supply comprises a charging device, a 24V voltage stabilizing circuit, a 24V battery, a 5V voltage stabilizing circuit and an electricity meter; the charging device, the 24V voltage stabilizing circuit, the 24V battery, the 5V voltage stabilizing circuit and the main controller are electrically connected in sequence; the electricity meter is used for measuring the electric quantity of the 24V battery and transmitting the measured electric quantity to the main controller; the charging device is a photovoltaic panel or a wireless charger.
By adopting the technical scheme, the diversity and the power supply safety of the power supply are enhanced, and the residual electric quantity is monitored in real time.
The invention is further configured to: the driving module comprises a motor driving unit, a left driving motor, a right driving motor, a left encoder and a right encoder; the output end of the main controller, the motor driving unit, the left driving motor, the left encoder and the input end of the main controller are electrically connected in sequence; the output end of the main controller, the motor driving unit, the right driving motor, the right encoder and the input end of the main controller are electrically connected in sequence.
By adopting the technical scheme, the mileage of the machine body can be conveniently recorded, and the running speed of the machine body can be controlled in a closed-loop manner.
The invention is further configured to: the ball picking driving module comprises a ball picking unit, a ball bin, a steering engine and a pressure sensor; the ball picking unit is used for picking golf balls into the ball bin; the steering engine is used for controlling the opening and closing of the port of the ball bin; the pressure sensor is used for detecting the weight in the ball bin.
By adopting the technical scheme, the ball picking amount is obtained after the quality information detected by the pressure sensor is converted, and when the ball picking amount reaches a preset value, the main controller controls the machine body to run to a preset bin position for ball unloading, so that the machine body can continuously work.
The invention is further configured to: the remote control end is provided with a wireless serial port module for the upper computer to be in communication connection with the remote control end.
By adopting the technical scheme, the wireless serial port module is utilized to transmit data to the upper computer so as to realize the monitoring and control of the machine body.
The invention is further configured to: the wireless communication module is a 2.4Gnrf communication module.
By adopting the technical scheme, the stability and reliability of data transmission are enhanced.
The invention is further configured to: the model of the main controller is STM32F103ZET 6.
By adopting the technical scheme, the main controller can complete a series of action commands.
The invention is further configured to: the direction recognition of the machine body is specifically as follows:
setting a connecting line between the two base stations as an X axis in a two-dimensional coordinate; defining C (X, Y) as the coordinate of the machine body, and T (X, Y) as the coordinate of the target point; setting A as the included angle between the coordinate Y axis of the machine body and the due north direction measured by the compass, and setting B as the included angle between the machine body and the due north direction; the azimuth angle AT of the body relative to the target point in the rectangular coordinate system is:
AT＝atant((T_X,C_X),(T_Y,C_Y))×180/π+∠A-∠B；
when a user uses the system for the first time, the machine body is moved to a far point on the X axis, which is far away from the original point, and the direction of the machine body is consistent with the direction of the Y axis of the coordinate; then, the combination key of the remote control end is operated, so that the main controller records the current state.
By adopting the technical scheme, after the distance between the machine body and the two base stations is filtered by the sliding median, the coordinate of the machine body is solved by a trigonometric function at the remote control end, and then the bidirectional communication between the remote control end and the machine body is carried out; then, the indication direction measured by the compass is loaded on the two-dimensional coordinate, and the azimuth angle between the machine body and the target object in the two-dimensional coordinate is calculated, so that the direction identification of the machine body is more accurate; after the body is calibrated for the first time, the calibration data is recorded and stored for subsequent calling, the azimuth angle does not need to be calibrated every time, and the use efficiency of the control system is enhanced.
In conclusion, the invention has the following beneficial effects: the UWB positioning technology is combined with the direction-finding function of the compass, so that the traveling direction of the robot to a target point is identified more accurately; by utilizing the bidirectional communication between the machine end and the remote control end, the robot has the dual functions of remote control and automatic patrol, the use flexibility of the robot is enhanced, the patrol precision and efficiency of golf balls are enhanced, and the manpower and material resources input by the patrol of golf balls are reduced; the obstacle on the machine body running path is identified, and the machine body is controlled to detour according to the identification information, so that the stability and reliability of the machine body in the running process are enhanced; the charging pile opens the charging power supply after the Bluetooth module identifies the body, so that the power supply is charged, and the situation that the charging pile wastes electricity when not charging is avoided; the diversity and the power supply safety of the power supply are enhanced, and the residual power is monitored in real time.
Drawings
FIG. 1 is an architectural diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of operation in an embodiment of the present invention;
fig. 3 is a schematic diagram of two-dimensional coordinate measurement of the machine body in the embodiment of the invention.
In the figure: 1. a remote control end; 11. a screen unit; 12. a rocker unit; 13. a key unit; 14. a wireless serial port module; 2. a wireless communication module; 3. a machine end; 31. a power supply; 311. a charging device; 312. a 24V voltage stabilizing circuit; 313. a 24V battery; 314. a 5V voltage stabilizing circuit; 315. an electricity meter; 32. a UWB positioning navigation module; 321. a navigation unit; 322. a UWB positioning unit; 323. a compass; 33. a main controller; 34. a driving drive module; 341. a motor drive unit; 342. a left encoder; 343. a left drive motor; 344. a right encoder; 345. a right drive motor; 35. a ball picking driving module; 351. a pressure sensor; 352. a steering engine; 36. an ultrasonic obstacle avoidance module; 37. and a Bluetooth module.
Detailed Description
The present invention is described in further detail below with reference to figures 1-3.
Example (b): a golf robot control system based on UWB positioning navigation is shown in figure 1 and comprises a machine end 3, a wireless communication module 2, a remote control end 1 and two base stations, wherein the machine end 3 is in communication connection with the remote control end 1 through the wireless communication module 2 to achieve bidirectional data transmission.
As shown in fig. 1, the machine end 3 includes a machine body, a power supply 31, a UWB positioning navigation module 32, a main controller 33, a driving module 34 and a ball picking driving module 35. The power supply 31 is used for supplying power to the control system. The UWB positioning navigation module 32 comprises a navigation unit 321, a UWB positioning unit 322 and a compass 323. The navigation unit 321 is used to store or receive navigation data of the body. The UWB positioning unit 322 is used to measure the distance between the body and the base stations laid on the golf course and calculate the two-dimensional coordinates of the body. The compass 323 is used for loading the measured indication direction on the two-dimensional coordinates measured by the UWB positioning unit 322 to realize the direction identification of the navigation data by the body. The main controller 33 is used for generating corresponding driving commands for driving and ball picking up according to the navigation data. The driving module 34 is used for driving the machine body to run according to the driving command. The ball picking driving module 35 is used for driving the machine body to pick up and store golf balls and unload the full-load golf balls in the driving process according to the ball picking driving command.
As shown in fig. 1, the remote control terminal 1 includes a screen unit 11, a joystick unit 12, and a key unit 13. The screen unit 11 is used for displaying various parameters transmitted by the machine end 3. The rocker unit 12 is used for controlling the driving direction of the driving module 34 and controlling the opening and closing of the ball picking driving module 35. The key unit 13 is used for switching between a manual ball picking mode and an automatic ball picking mode of the robot and system parameter configuration. In the present embodiment, the system parameter configuration includes, but is not limited to, the operating speed and the working range of the machine body. The UWB positioning technology is combined with the direction-finding function of the compass 323, so that the traveling direction of the robot to the target point is identified more accurately. Utilize two-way communication between machine end 3 and the remote control end 1 for the robot has remote control, patrols automatically and picks up dual function, has strengthened the flexibility that the robot used, has strengthened golf and has patrolled precision and efficiency of picking up, has reduced golf and has patrolled manpower and the material resources of picking up the input.
As shown in fig. 1, the machine end 3 is provided with an ultrasonic obstacle avoidance module 36 for controlling the machine body to avoid large obstacles. The ultrasonic obstacle avoidance module 36 is used for conveniently identifying obstacles on the running path of the machine body and controlling the machine body to detour according to identification information, so that the stability and reliability of the running process of the machine body are enhanced.
As shown in fig. 1, the machine end 3 is provided with a bluetooth module 37 for turning on the charging power supply to charge the power supply 31 after being identified by the charging pile. When the organism returns to fill electric pile and charges, fill electric pile and open charging source behind bluetooth module 37 discernment organism, realize charging power supply 31, avoid filling electric pile and cause the extravagant condition of power consumption to take place when not charging.
As shown in fig. 1 and 2, the power supply 31 includes a charging device 311, a 24V regulator 312, a 24V battery 313, a 5V regulator 314, and a fuel gauge 315. The charging device 311, the 24V regulator circuit 312, the 24V battery 313, the 5V regulator circuit 314 and the main controller 33 are electrically connected in sequence. The electricity meter 315 is used to measure the amount of electricity of the 24V battery 313 and transmit the measured amount of electricity to the main controller 33. The charging device 311 is a photovoltaic panel or a wireless charger, which enhances the diversity and power supply safety of the power supply 31 and monitors the remaining power in real time.
As shown in fig. 1 and 2, the travel driving module 34 includes a motor driving unit 341, a left driving motor 343, a right driving motor 345, a left encoder 342, and a right encoder 344. The output end of the main controller 33, the motor driving unit 341, the left driving motor 343, the left encoder 342, and the input end of the main controller 33 are electrically connected in sequence. The output end of the main controller 33, the motor driving unit 341, the right driving motor 345, the right encoder 344 and the input end of the main controller 33 are electrically connected in sequence, so that the mileage of the body can be conveniently recorded, and the running speed of the body can be controlled in a closed-loop manner.
As shown in fig. 1 and 2, the ball picking drive module 35 includes a ball picking unit, a ball bin, a steering engine 352 and a pressure sensor 351. The ball picking unit is used for picking golf balls into the ball bin; the steering engine 352 is used to control the opening and closing of the ball bin port. The pressure sensor 351 is used to detect the weight in the ball bin. The ball picking amount is obtained after the quality information detected by the pressure sensor 351 is converted, and when the ball picking amount reaches a preset value, the main controller 33 controls the machine body to run to a preset bin position for ball unloading, so that the machine body can continuously work.
As shown in fig. 1, the remote control end 1 is provided with a wireless serial port module 14 for the upper computer to be in communication connection with the remote control end 1. And the wireless serial port module 14 is used for transmitting data to the upper computer so as to realize monitoring and control of the machine body.
In this embodiment, the wireless communication module 2 adopts a 2.4Gnrf communication module, so as to enhance the stability and reliability of data transmission.
In the present embodiment, the model of the main controller 33 is STM32F103ZET6, so that the main controller 33 can complete a series of motion commands.
As shown in fig. 3, the direction recognition of the machine body is specifically:
setting a connecting line between the two base stations as an X axis in a two-dimensional coordinate; defining C (X, Y) as the coordinate of the machine body, and T (X, Y) as the coordinate of the target point; setting A as the included angle between the coordinate Y axis of the machine body and the due north direction measured by the compass 323, and setting B as the included angle between the machine body and the due north direction; the azimuth angle AT of the body relative to the target point in the rectangular coordinate system is:
AT＝atant((T_X,C_X),(T_Y,C_Y))×180/π+∠A-∠B；
when the user uses the system for the first time, the machine body is moved to a far point away from the original point on the X axis, and the direction of the machine body is consistent with the direction of the Y axis of the coordinate. Then, the combination key of the remote control terminal 1 is operated to make the main controller 33 record the current state.
The remote control end 1 calculates the coordinates of the machine body through a trigonometric function after filtering the obtained distance between the machine body and the two base stations through a sliding median, and then carries out bidirectional communication between the remote control and the machine body. And then, loading the indication direction measured by the compass 323 on a two-dimensional coordinate, and calculating to obtain an azimuth angle between the body and the target object in the two-dimensional coordinate, so that the direction identification of the body is more accurate. After the body is calibrated for the first time, the calibration data is recorded and stored for subsequent calling, the azimuth angle does not need to be calibrated every time, and the use efficiency of the control system is enhanced.
The working principle is as follows: the UWB positioning technology is combined with the direction-finding function of the compass 323, so that the traveling direction of the robot to the target point is identified more accurately. Utilize two-way communication between machine end 3 and the remote control end 1 for the robot has remote control, patrols automatically and picks up dual function, has strengthened the flexibility that the robot used, has strengthened golf and has patrolled precision and efficiency of picking up, has reduced golf and has patrolled manpower and the material resources of picking up the input.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. Golf ball machine robot control system based on UWB location navigation, characterized by: the system comprises a machine end (3), a wireless communication module (2), a remote control end (1) and two base stations, wherein the machine end (3) is in communication connection with the remote control end (1) through the wireless communication module (2) to realize bidirectional data transmission;
the machine end (3) comprises a machine body, a power supply (31), a UWB positioning navigation module (32), a main controller (33), a driving module (34) and a ball picking driving module (35); wherein the content of the first and second substances,
the power supply (31) is used for supplying power to the control system;
the UWB positioning navigation module (32) comprises a navigation unit (321), a UWB positioning unit (322) and a compass (323); the navigation unit (321) is used for storing or receiving navigation data of the body; the UWB positioning unit (322) is used for measuring the distance between the machine body and a base station arranged on a golf course and calculating the two-dimensional coordinate of the machine body; the compass (323) is used for loading the measured indication direction on the two-dimensional coordinates measured by the UWB positioning unit (322) so as to realize the direction identification of the navigation data by the body;
the main controller (33) is used for generating corresponding driving commands for driving and driving for picking up balls according to the navigation data;
the driving module (34) is used for driving the machine body to run according to the driving command;
the ball picking driving module (35) is used for driving the machine body to pick and store golf balls in the driving process according to the ball picking driving command and unloading the fully loaded golf balls;
the remote control end (1) comprises a screen unit (11), a rocker unit (12) and a key unit (13); wherein the content of the first and second substances,
the screen unit (11) is used for displaying various parameters transmitted by the machine end (3);
the rocker unit (12) is used for controlling the running direction of the running driving module (34) and controlling the opening and closing of the ball picking driving module (35);
and the key unit (13) is used for switching a manual ball picking mode and an automatic ball picking mode of the robot and system parameter configuration.
2. The golf ball machine robot control system based on UWB positioning and navigation according to claim 1, wherein: and the machine end (3) is provided with an ultrasonic obstacle avoidance module (36) for controlling the machine body to avoid large obstacles.
3. The golf ball machine robot control system based on UWB positioning and navigation according to claim 1, wherein: the machine end (3) is provided with a Bluetooth module (37) for charging the power supply (31) by opening the charging power supply after the charging pile is identified.
4. The golf ball machine robot control system based on UWB positioning and navigation of claim 3 wherein: the power supply (31) comprises a charging device (311), a 24V voltage stabilizing circuit (312), a 24V battery (313), a 5V voltage stabilizing circuit (314) and an electricity meter (315); the charging device (311), the 24V voltage stabilizing circuit (312), the 24V battery (313), the 5V voltage stabilizing circuit (314) and the main controller (33) are electrically connected in sequence; the electricity meter (315) is used for measuring the electricity quantity of the 24V battery (313) and transmitting the measured electricity quantity to the main controller (33); the charging device (311) is a photovoltaic panel or a wireless charger.
5. The golf ball machine robot control system based on UWB positioning and navigation according to claim 1, wherein: the driving module (34) comprises a motor driving unit (341), a left driving motor (343), a right driving motor (345), a left encoder (342) and a right encoder (344); the output end of the main controller (33), the motor driving unit (341), the left driving motor (343), the left encoder (342) and the input end of the main controller (33) are electrically connected in sequence; the output end of the main controller (33), the motor driving unit (341), the right driving motor (345), the right encoder (344) and the input end of the main controller (33) are electrically connected in sequence.
6. The golf ball machine robot control system based on UWB positioning and navigation according to claim 1, wherein: the ball picking driving module (35) comprises a ball picking unit, a ball bin, a steering engine (352) and a pressure sensor (351); the ball picking unit is used for picking golf balls into the ball bin; the steering engine (352) is used for controlling the opening and closing of the ball bin port; the pressure sensor (351) is used for detecting the weight in the ball bin.
7. The golf ball machine robot control system based on UWB positioning and navigation according to claim 1, wherein: the remote control end (1) is provided with a wireless serial port module (14) for the communication connection between the upper computer and the remote control end (1).
8. The golf ball machine robot control system based on UWB positioning and navigation according to claim 1, wherein: the wireless communication module (2) is a 2.4Gnrf communication module.
9. The golf ball machine robot control system based on UWB positioning and navigation according to claim 1, wherein: the model of the main controller (33) is STM32F103ZET 6.
10. The UWB positioning navigation based golf robot control system according to any one of claims 1 to 9, wherein: the direction recognition of the machine body is specifically as follows:
setting a connecting line between the two base stations as an X axis in a two-dimensional coordinate; defining C (X, Y) as the coordinate of the machine body, and T (X, Y) as the coordinate of the target point; setting A as the included angle between the coordinate Y axis of the machine body and the due north direction measured by a compass (323) and setting B as the included angle between the machine body and the due north direction; the azimuth angle AT of the body relative to the target point in the rectangular coordinate system is:
AT＝atant((T_X,C_X),(T_Y,C_Y))×180/π+∠A-∠B；
when a user uses the system for the first time, the machine body is moved to a far point on the X axis, which is far away from the original point, and the direction of the machine body is consistent with the direction of the Y axis of the coordinate; then, the combination key of the remote control terminal (1) is operated, so that the main controller (33) records the current state.
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| CN111071062B (en) * | 2019-12-30 | 2021-08-20 | 厦门兴联智控科技有限公司 | Motor vehicle control system |
| 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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| KR20090112338A (en) * | 2008-04-24 | 2009-10-28 | (주) 리버스 | Golf ball pickup robot |
| CN101579857B (en) * | 2008-12-12 | 2012-08-08 | 北京理工大学 | Automatic ball-picking robot |
| CN203191821U (en) * | 2013-04-29 | 2013-09-11 | 兰州理工大学 | Control system of dual-mode intelligent ball-picking robot |
| CN105833484A (en) * | 2016-06-13 | 2016-08-10 | 天津工业大学 | Wireless charging intelligent tennis ball picking trolley and control method thereof |
| CN108983772A (en) * | 2018-07-05 | 2018-12-11 | 天津中德应用技术大学 | Intelligent transfer robot control system and control method based on UWB positioning |
| CN108786041B (en) * | 2018-07-12 | 2020-12-22 | 贵州理工学院 | Intelligent ball picking control method and intelligent ball picking robot |
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