CN112076449A

CN112076449A - Robot is picked up to stadium baseball

Info

Publication number: CN112076449A
Application number: CN202011068737.9A
Authority: CN
Inventors: 丁涛; 黄晓巍
Original assignee: Zhejiang Liangda Intelligent Technology Co ltd
Current assignee: Hangzhou Cunlan Technology Co ltd
Priority date: 2020-10-09
Filing date: 2020-10-09
Publication date: 2020-12-15

Abstract

The invention discloses a ball court baseball picking robot, and relates to the technical field of robots. The ball picking robot mainly comprises a walking mechanism, a ball picking mechanism, a ball unloading mechanism and a visual holder. The walking mechanisms respectively drive the corresponding Mecanum wheels 13 to control the ball picking robot to move in all directions through the worm gear and worm speed reducing motors 10. The ball picking mechanism drives the speed reduction motor 5 to rotate through the rotation of the ball picking basket to drive the ball picking basket 3 to rotate downwards, and baseball enters the ball picking basket 3 by utilizing the deformation of the spring 2. And finally, the ball unloading mechanism acts through the ball unloading electric cylinder 7 to jack up the ball storage box 8, so that the tennis balls are unloaded into the ball frame of the tennis court. The vision cradle head acquires, processes and analyzes images through the camera 12 to obtain baseball information. The invention has the functions of automatically picking up, storing and discharging the balls, and has the advantages of simple structure, flexible steering, large ball storage capacity, high ball picking efficiency and wide application range.

Description

Robot is picked up to stadium baseball

Technical Field

The invention relates to the technical field of robots, in particular to a sports equipment robot capable of automatically picking, storing and unloading balls.

Background

In recent years, as the national economy of China continues to develop rapidly, people pay more and more attention to their health to start physical exercise, and baseball has entered into people's lives as a new sport. In the process of sports, a large amount of physical power is consumed when athletes run around to pick balls, and ball picking robots, which are a large variety of service robots, are gradually hot in the field of robot research.

Through the analysis of the current research situation at home and abroad, the current research results aiming at the ball object picking robot are few, most of equipment in the market is still in a man-machine combination stage, ball object recovery is realized through the cooperation of people and machines, most of equipment is not strong in serviceability, general in working performance and expensive in cost, the investment of technical resources is increased, and the burden of human resources is increased.

The current picking robot mainly comprises a hand-push type ball picking machine, a remote control ball picking machine and an automatic control ball picking vehicle. If the hand-push type ball picking machine mainly depends on a person pushing a vehicle to pick balls, more manpower resources need to be consumed. The remote control ball picking machine only needs to be controlled remotely, but cannot accurately pick up ball objects and still consumes human resources. The automatic control ball picking vehicle can only pick a single ball usually, and has no functions of ball unloading and obstacle avoidance, so that the working efficiency is not high.

In order to meet the requirements of the ball picking robot for adapting to different working requirements and fully exert the advantage of functional diversity of the ball picking robot, the invention provides the baseball picking robot which simultaneously has the functions of automatically picking balls, storing the balls and unloading the balls.

Disclosure of Invention

In order to achieve the purpose, the invention adopts the technical scheme that:

a robot for picking up baseball in a ball court mainly comprises a walking mechanism, a ball picking mechanism, a ball unloading mechanism and a visual tripod head.

Preferably, the traveling mechanism comprises a worm gear reduction motor 10 and a mecanum wheel 13. The four mecanum wheels 13 are respectively driven by the four worm and gear reduction motors 10 and are positioned at four corners below the robot, so that the robot can finish the actions of advancing, retreating, left-right transverse movement and zero-radius rotation, and the all-directional movement is realized.

Preferably, the robot support 6 is positioned above the traveling mechanism worm gear reduction motor 10.

Preferably, the ball picking mechanism comprises a ball collecting baffle plate 1, a spring 2, a ball picking basket 3, a ball picking basket rotating shaft 4 and a ball picking basket rotation driving speed reducing motor 5. The ball picking basket rotating shaft 4 is driven by a ball picking basket rotation driving speed reducing motor 5, and the ball picking basket 3 is forced to rotate through the rotation of the rotating shaft.

Preferably, the ball picking mechanism picks the ball basket 3, the bottom of which is composed of a plurality of springs, and the gap between two adjacent springs is slightly smaller than the diameter of the baseball, so that the baseball can be picked and loaded conveniently.

Preferably, the front end of the ball picking mechanism is a ball collecting breast board 1, so that collected baseball can be prevented from slipping out.

Preferably, the ball unloading mechanism comprises an electric ball unloading cylinder 7 and a ball storage box 8. The ball storage box is in a trapezoid shape with a wide upper part and a narrow lower part, the ball unloading electric cylinder 7 is positioned below the ball storage box 8, the ball storage box is provided with an internal sliding bearing guide rail and a screw rod which can be extended, and the inclination angle of the ball storage box 8 is controlled by the expansion and contraction of the screw rod.

Preferably, the ball picking basket rotary driving speed reduction motor 5 controls the ball picking basket 3 to rotate downwards, and when the ball picking basket 3 rotates to the lowest height which is lower than the radius height of the baseball, the scattered baseball 14 is pressed and deformed into the ball picking basket 3 by the spring 2 of the ball picking mechanism.

Preferably, the baseball 15 in the picked-up state cannot fall out of the ball collecting basket after the spring 2 is restored.

Preferably, when the ball-picking basket rotates to drive the speed reduction motor 5 to control the ball-picking basket 3 to rotate upwards, the baseball 17 moving from the ball-picking basket to the ball storage box is subjected to gravity and enters the ball storage box 8.

Preferably, the vision holder comprises a vision holder steering engine 9, a vision holder bracket 11 and a vision holder camera 12. The vision cloud platform support 11 is located above the ball storage box 8 and is fixedly connected with the vision cloud platform camera 12, and the rotation of the camera is controlled through the vision cloud platform steering engine 9.

Preferably, the vision pan-tilt camera 12 acquires baseball position information through image acquisition, processing and analysis.

After adopting above-mentioned scheme, this ball robot that picks up's beneficial effect does: simple structure, high practical value, low price and reliable performance. The Mecanum wheel technology is used for realizing all-directional movement ball picking, and the steering is flexible; the ball picking, storing and discharging are integrated, so that the ball picking efficiency is improved; a plurality of tennis balls can be collected at one time, and the ball storage capacity is high; the device does not depend on equipment except a robot, and is convenient to operate.

Drawings

Fig. 1, fig. 2 and fig. 3 are schematic structural views of a ball picking robot in ball picking, ball collecting and ball discharging states, respectively.

In the figure: the device comprises a ball collecting breast board 1, a spring 2, a ball picking basket 3, a ball picking basket rotating shaft 4, a ball picking basket rotation driving speed reducing motor 5, a robot support 6, a ball unloading electric cylinder 7, a ball storage box 8, a vision tripod head steering engine 9, a worm gear speed reducing motor 10, a vision tripod head support 11, a vision tripod head camera 12, a Mecanum wheel 13, baseball scattered on the ground 14, picked-up baseball 15, baseball collected in the ball storage box 16 and baseball moving from the ball picking basket to the ball storage box 17.

Detailed Description

In order to make the objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments.

As shown in fig. 1 to 3, a robot for picking baseball in a ball court is provided, which realizes automatic picking, storing and unloading of baseball according to the following steps:

step 1: the ball picking robot in the standby state acquires, processes and analyzes images through the vision pan-tilt camera 12 to obtain baseball position information. The worm gear and worm speed reducing motor 10 respectively drives the corresponding Mecanum wheels 13 to control the ball-picking robot to move.

Step 2: the ball picking basket rotating shaft 4 is driven to rotate downwards by the ball picking basket rotating driving speed reducing motor 5, so that the ball picking basket 3 is driven to rotate downwards, the baseballs 14 scattered on the ground are stressed, and the baseballs enter the ball picking basket 3 through the deformation of the spring 2 of the ball picking mechanism to be stored without falling out, and the ball picking operation is completed.

And step 3: in the ball collecting state, the ball picking basket rotationally drives the speed reduction motor 5 to control the ball picking basket 3 to rotate upwards, and the baseball 15 in the picking state rolls into the ball unloading mechanism along a channel formed by connecting the tail part of the ball picking basket 3 and the inclined surface of the head part of the ball storage box 8 under the action of gravity, so that the ball storage operation is completed.

And 4, step 4: when the quantity of the baseball in the ball unloading mechanism reaches the unloading requirement, the ball picking robot returns to the ball frame position of the court to start the ball unloading operation. The ball discharging electric cylinder 7 acts to jack up the ball storage box 8, wherein the baseball 16 that has been collected in the ball storage box is discharged to the court frame along the slope of the tail of the ball storage box, i.e., the ball discharging operation is completed.

In the technical scheme, the Mecanum wheel technology is used for realizing all-directional ball picking, and the steering is flexible; the ball picking, storing and discharging are integrated, so that the ball picking efficiency is improved; a plurality of tennis balls can be collected at one time, and the ball storage capacity is high; the operation is convenient without depending on equipment except a robot; the application field is more, and application scope is wide.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts of the present invention are equivalent to or changed within the technical scope of the present invention.

Claims

1. The utility model provides a robot is picked up to stadium baseball which characterized in that: the device comprises a traveling mechanism, a ball picking mechanism, a ball unloading mechanism and a visual holder.

2. The robot for picking up baseball in ballpark as recited in claim 1, wherein: the walking structure is composed of a worm gear and worm speed reducing motor 10 and Mecanum wheels 13, the four Mecanum wheels are respectively positioned at four corners of the lower portion of the robot, the four worm gear and worm speed reducing motors correspond to the Mecanum wheels one by one, the Mecanum wheels are driven to rotate through the motors, and the robot can move in all directions through different combination relations of the four Mecanum wheels.

3. The robot for picking up baseball in ballpark as recited in claim 1, wherein: the ball picking mechanism consists of a ball collecting breast board 1, a spring 2, a ball picking basket 3, a ball picking basket rotating shaft 4 and a ball picking basket rotation driving speed reducing motor 5. The ball picking basket rotating shaft 4 is driven by a motor, and the ball picking basket 3 is forced to rotate through the rotation of the rotating shaft. The lowest height of the ball-collecting basket 3 is lower than the radius height of the baseball when the ball-collecting basket rotates, the bottom of the ball-collecting basket is composed of a plurality of springs, and the gap between every two adjacent springs is slightly smaller than the diameter of the baseball.

4. The robot for picking up baseball in ballpark as recited in claim 1, wherein: the ball unloading mechanism consists of an electric ball unloading cylinder 7 and a ball storage box 8. The ball storage box is in a trapezoid shape with a wide upper part and a narrow lower part, the ball unloading electric cylinder 7 is positioned below the ball storage box 8, the ball storage box is provided with an internal sliding bearing guide rail and a screw rod which can be extended, and the inclination angle of the ball storage box 8 is controlled by the expansion and contraction of the screw rod.

5. The robot for picking up baseball in ballpark as recited in claim 1, wherein: the tail part of the ball picking basket 3 is matched with the head part of the ball storage box 8.

6. The robot for picking up baseball in ballpark as recited in claim 1, wherein: the vision cloud platform comprises a vision cloud platform steering wheel 9, a vision cloud platform support 11 and a vision cloud platform camera 12. The vision cloud platform support 11 is located above the ball storage box 8, is fixedly connected with the vision cloud platform camera 12, and controls the rotation of the camera through the vision cloud platform steering engine 9.