CN113069740A

CN113069740A - Automatic badminton picking robot based on computer vision judgment

Info

Publication number: CN113069740A
Application number: CN202110509053.6A
Authority: CN
Inventors: 邓晨曦
Original assignee: Hunan Environment Biological Polytechnic
Current assignee: Hunan Environment Biological Polytechnic
Priority date: 2021-05-11
Filing date: 2021-05-11
Publication date: 2021-07-06
Anticipated expiration: 2041-05-11
Also published as: CN114949799A; CN113069740B

Abstract

The invention discloses a badminton automatic picking robot based on computer vision judgment, which comprises a moving trolley, a badminton picking device, a correcting device and a collecting device, wherein a camera used for collecting the position information of a badminton is fixedly connected to the front side of a vehicle body, and a controller and an intelligent obstacle avoidance system are also installed on the vehicle body.

Description

Automatic badminton picking robot based on computer vision judgment

Technical Field

The invention relates to the technical field of ball games, in particular to an automatic badminton picking robot based on computer vision judgment.

Background

In order to save training time and improve training efficiency when carrying out badminton training, many badmintons can be used frequently, especially for badminton training grounds, after training at every turn, a large number of badmintons can be distributed on the training grounds, so that the badmintons can be very loaded down with trivial details when being carried out after training, at present, the badmintons are mainly collected manually, the collecting personnel not only consume time and labor and can damage waist and legs of the collecting personnel when continuously repeating waist bending and picking actions, the existing common badminton picking robot can play a collecting role for the badmintons, but the badmintons which are picked up cannot be judged well or not, so that the good badminton and the bad badminton can be collected into a container in a unified manner, and the badminton picking robot is inconvenient to use, and therefore the badminton picking robot based on computer vision judgment is provided.

Disclosure of Invention

The invention aims to provide an automatic badminton picking robot based on computer vision judgment, and aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a badminton automatic picking robot based on computer vision judgment comprises a moving trolley, a badminton picking device, a correcting device and a collecting device, wherein a camera used for collecting badminton position information is fixedly connected to the front side of the moving trolley, and a controller and an intelligent obstacle avoidance system are further mounted on a trolley body;

the movable trolley comprises a trolley body and a hub capable of driving the trolley body to move in a universal mode, an opening used for enabling the shuttlecocks to enter the trolley body is formed in the lower portion of the front side of the trolley body, and the opening is in a horn shape with a wide front end and a narrow rear end;

the shuttlecock picking device comprises a clamping piece for clamping the head of the shuttlecock, the clamping piece is lifted upwards to a position between two clamping plates through a lifting piece after clamping the head of the shuttlecock, the shuttlecock which lies horizontally is rotated until the head of the shuttlecock faces downwards and the skirting belt faces upwards in the lifting process, and the shuttlecock is pushed to the correcting device to be corrected under the driving of a first electric push rod after the two clamping plates clamp the skirting belt of the shuttlecock;

the correcting device comprises a gasket fixed on the inner wall of the clamping plate, the contour of the inner wall of the gasket is matched with the outer contour of a skirt belt of a standard badminton, the correcting device also comprises a supporting and pressing piece used for supporting and pressing the inner wall of the badminton outwards, and the supporting and pressing piece slides or slides out of the badminton through a lifting piece;

the collecting device is used for stacking and collecting the corrected shuttlecocks.

Preferably, the holder includes the ring piece, be equipped with the gas ring that is used for aerifing back centre gripping badminton head on the inner wall of ring piece, promote the piece including two first stands that the symmetry set up, the inside fixedly connected with of first stand is rotated through first motor and is connected with first screw rod, meshing cover has cup jointed the slider on the first screw rod, rotates between two sliders and is connected with the bracing piece, ring piece fixed connection is at the tip of bracing piece.

Preferably, prop the casting die including propping the seat, prop and cup joint the first gasbag that aerifys the back and prop the pressure to badminton apron inner wall on the outer wall of seat, the lift piece is including two second stands that the symmetry set up, the inside fixedly connected with of second stand is connected with the second screw rod through the second motor rotation, is equipped with the movable plate between two second stands, the both ends meshing of movable plate is connected on the second screw rod, prop a fixed connection on the lower lateral wall of movable plate.

Preferably, the collecting device comprises a collecting box, the inside of the collecting box is connected with a tray through a third motor in a rotating mode, a plurality of stacking barrels used for collecting the badminton are placed on the tray in a circumferential array mode, and the collecting device further comprises a conveying piece used for conveying the corrected badminton to the stacking barrels.

Preferably, the transportation piece is including the slide that the slope set up, the bottom of slide is located correcting unit under, the below of slide is rotated and is connected with the conveyer belt, the conveyer belt passes through fourth motor drive and rotates, evenly distributed has a plurality of driving levers on the conveyer belt, and the driving lever that is located the top runs through the lateral wall of slide and sliding connection realizes stirring the badminton in the inside of slide and slides in the inside of slide, the high-end downwarping of slide and with fold the oral area alignment of a pile section of thick bamboo.

Preferably, the side wall of the slide is fixedly connected with a blowing nozzle used for blowing the badminton skirt to a downward state.

Preferably, the front side of automobile body just is located the equal fixedly connected with in open-ended both sides and is used for the deflector inside the leading-in opening of badminton, the inside fixedly connected with fan of automobile body, the preceding lateral wall of automobile body just is located open-ended upside fixedly connected with and is used for blowing the blowing pipe of badminton apron, the blowing pipe communicates with the air outlet of fan.

Preferably, the side wall of the upper end of the first upright post is fixedly connected with a rack, and two ends of the support rod are movably meshed with the rack.

Preferably, both ends fixedly connected with shelves pole of bracing piece, it has the recess to open on the lateral wall of slider, shelves pole activity joint and recess activity joint.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the badminton picking device, the camera is used for collecting data, the ball condition on the ground is identified, after the badminton is identified, the movable trolley moves towards the identified badminton, and the skirt belt of the badminton is blown through the blowing pipe, so that the head of the badminton enters the opening firstly, the head of the badminton is clamped by the clamping piece, and the badminton is extracted into the vehicle body through the lifting piece, so that the automatic badminton picking operation is realized, manual collection is avoided, and time and labor are saved;

2. according to the invention, the correction device is used for correcting the picked shuttlecocks, so that the deformed shuttlecocks (the skirting strips are changed into oval) are reset to the standard state, when the detection rod presses the peripheral outer wall of the shuttlecock skirting strips, whether the shuttlecocks are damaged or not is judged through the contact relation between the detection rod and the contact points on the rotating rod, and then the good shuttlecocks and the bad shuttlecocks are separately collected when the shuttlecocks are collected by the collecting device according to the judgment data, so that the shuttlecocks are convenient to use.

Drawings

FIG. 1 is a schematic diagram I of the overall structure of the present invention;

FIG. 2 is a schematic diagram II of the overall structure of the present invention;

FIG. 3 is a cross-sectional view I of the overall structure of the present invention;

FIG. 4 is a cross-sectional view II of the overall structure of the present invention;

FIG. 5 is a schematic view of the blower, blowpipe, mouthpiece, air ring, first air bag and second air bag of the present invention;

FIG. 6 is a cross-sectional view of the body, hub and opening of the present invention

FIG. 7 is a cross-sectional view of the clamp and lifter of the present invention;

FIG. 8 is a schematic structural diagram I of the first column, the support rod and the ring block according to the present invention;

FIG. 9 is a schematic structural view II of the first column, the support rod and the ring block of the present invention;

fig. 10 is a cross-sectional view of the deflector, blowpipe and opening of the present invention;

FIG. 11 is a cross-sectional view of the clamp plate, the first electric push rod, the fifth motor and the third screw of the present invention;

FIG. 12 is a schematic view of the alignment device and the splint of the present invention;

FIG. 13 is a schematic view of the structure of the lifter, the clamping plate and the third electric push rod of the present invention;

FIG. 14 is a schematic structural view of the supporting seat, the second electric pushing rod, the sliding sleeve, the connecting rod, the rotating rod and the detecting rod of the present invention;

FIG. 15 is a schematic structural view of the sliding sleeve, the connecting rod, the rotating rod and the detecting rod according to the present invention;

FIG. 16 is a schematic view of the structure of the blowing nozzle, the chute, the conveyor belt and the stacking barrel of the present invention;

fig. 17 is an exploded view of the slide, conveyor and deflector of the present invention.

In the figure: 1. a movable trolley, 101, a trolley body, 102, a hub, 103, an opening, 2, a ball picking device, 201, a clamping piece, 2011, a ring block, 2012, an air ring, 202, a lifting piece, 2021, a first upright post, 2022, a first motor, 2023, a first screw rod, 2024, a sliding block, 2025, a supporting rod, 2026, a rack, 2027, a stop rod, 2028, a groove, 3, a correcting device, 301, a gasket, 302, a supporting piece, 3021, a supporting seat, 3022, a first air bag, 303, a lifting piece, 3031, a second upright post, 3032, a second motor, 3033, a second screw rod, 3034, a moving plate, a collecting device, 401, a collecting box, 1, a box door, 402, a third motor, 403, a tray, 404, a stacking barrel, 405, a conveying piece, 4051, a slideway, 4052, a conveyor belt, 4053, a fourth motor, 4054, a deflector rod, 5, a clamping plate, 501, a first electric push rod, a fifth push rod, 503, a fifth motor, a camera head, 502, 7. the device comprises a fan, 8, a blowpipe, 9, a guide plate, 10, a blowing nozzle, 11, a rotating rod, 12, a connecting rod, 13, a sliding sleeve, 14, a second electric push rod, 15, a detecting rod, 16, a spring, 17, a contact, 18, a second air bag, 19, a third electric push rod, 20, a sixth motor, 21 and a winding wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-17, the present invention provides a technical solution: a badminton automatic picking robot based on computer vision judgment comprises a moving trolley 1, a badminton picking device 2, a correcting device 3 and a collecting device 4, wherein a camera 6 used for collecting badminton position information is fixedly connected to the front side of the moving trolley 1, a controller and an intelligent obstacle avoiding system are further mounted on a trolley body 1, the intelligent obstacle avoiding system is started when the badminton automatic picking robot moves towards a badminton, a distance sensor and a human body sensor (probes of the distance sensor and the human body sensor are arranged on one side of the camera on the outer surface of the moving trolley 1, and are not specifically drawn in a drawing) are further mounted on the side surface of the moving trolley 1 to judge whether obstacles and people exist in the front or not, if the obstacles or people exist, the obstacles or the people go around to prevent the people from being disturbed and being stepped on by the people carelessly, and the controller, the distance sensor and the human body sensor have a publicly used technical scheme at present, the structure and the principle of the device are not the technical characteristics of the invention, so the description is not repeated, for example, the model of the controller can adopt AT89S52, the model of the distance sensor can adopt TCT40-12WTR, the model of the human body sensor can adopt LHI778, the camera 6 collects data, the ball condition on the field is identified through the processing of the controller, the mobile trolley 1 drives the device to move towards the place with the ball, the data collected by the camera 6 is transmitted to the controller, the camera 6 has the publicly used technical scheme AT present, for example, the model of the camera 6 can adopt OV 2640;

the moving trolley 1 comprises a trolley body 101 and a hub 102 (for example, mecanum wheels can be adopted) capable of driving the trolley body 101 to move in a universal manner, an opening 103 for allowing the shuttlecocks to enter the trolley body 101 is formed in the lower portion of the front side of the trolley body 101, and the opening 103 is in a horn shape with a wide front end and a narrow rear end;

the shuttlecock picking device 2 comprises a clamping piece 201 for clamping the head of the shuttlecock, the clamping piece 201 clamps the head of the shuttlecock and then lifts the head of the shuttlecock upwards to a position between two clamping plates 5 through a lifting piece 202, the shuttlecock which lies flat is rotated until the head of the shuttlecock faces downwards and the skirting belt faces upwards in the lifting process, and the shuttlecock is pushed to the correcting device 3 to be corrected under the driving of a first electric push rod 501 after the two clamping plates 5 clamp the skirting belt of the shuttlecock;

as shown in fig. 11, the first electric push rod 501 slides on the side wall of the vehicle body 101 through the fifth motor 502 and the third screw 503, the output shaft of the fifth motor 502 is fixedly connected with one end of the third screw 503, and when the fifth motor 502 is started, the fifth motor 502 drives the third screw 503 to rotate, so that the opening and closing of the two clamp plates 5 can be controlled;

as shown in fig. 4, the correcting device 3 comprises a gasket 301 fixed on the inner wall of the clamping plate 5, the inner wall profile of the gasket 301 is matched with the outer profile of the skirt belt of a standard badminton, the correcting device 3 further comprises a supporting and pressing piece 302 for supporting and pressing the inner wall of the badminton outwards, and the supporting and pressing piece 302 slides or slides out of the badminton through a lifting piece 303;

the collecting device 4 is used for stacking and collecting the corrected shuttlecocks.

In order to better pick up the shuttlecocks scattered on the ground to the inside of the vehicle body 101, specifically, the clamping member 201 comprises a ring block 2011, an air ring 2012 used for clamping the head of the shuttlecocks after being inflated is arranged on the inner wall of the ring block 2011, the lifting member 202 comprises two first upright posts 2021 which are symmetrically arranged, the inside of the first upright post 2021 is fixedly connected with a first screw 2023 through a first motor 2022, the first motor 2022 is fixedly connected to the side wall of the first upright post 2021, the output shaft of the first motor 2022 is connected with one end of the first screw 2023, a sliding block 2024 is sleeved on the first screw 3 in a meshing manner, a supporting rod 2025 is rotatably connected between the two sliding blocks 2024, the ring block 2011 is fixedly connected to the end part of the supporting rod 2025, a rack 2026 is fixedly connected to the side wall of the upper end of the first upright post 2021, two ends of the supporting rod 2025 are movably connected with the rack 2026, therefore, the badminton clamped inside the air ring 2012 can be rotated to the state that the head of the badminton is downward and the skirt belt is upward after the supporting rod 2025 with the ring block 2011 rotates ninety degrees, the two ends of the supporting rod 2025 are fixedly connected with the blocking rods 2027, the side wall of the sliding block 2024 is provided with the groove 2028, the blocking rods 2027 are movably clamped inside the groove 2028 and used for limiting the angle of the ring block 2011, the specific blocking rods 2027 and the groove 2028 can be in an interference fit mode, or the blocking is carried out in a magnetic attraction mode (both the blocking rods 2027 and the groove 2028 adopt ferromagnetic materials), so that the badminton can move together and can be separated without being hindered.

In order to correct the picked shuttlecock, as shown in fig. 12, the pressing member 302 includes a support base 3021, a first air bag 3022 which is inflated to press the inner wall of the skirt of the shuttlecock is sleeved on the outer wall of the support 3021, after the first air bag 3022 is inflated, the outer wall profile of the first air bag 3022 is matched with that of a standard shuttlecock, the lifting member 303 includes two second upright posts 3031 which are symmetrically arranged, a second screw 3033 is rotatably connected to the inside of the second upright post 3031 through a second motor 3032, the second motor 3032 is fixedly connected to the side wall of the second upright post 3031, the output shaft of the second motor 3032 is connected to one end of the second screw 3033, a moving plate 3034 is arranged between the two second upright posts 3031, two ends of the moving plate 3034 are engaged with the second screw 3033, and the support 3021 is fixedly connected to the lower side wall of the moving plate 3034;

when the clamping plate 5 clamps the badminton, the first electric push rod 501 drives the clamping plate 5 to slide, so that the clamping plate 5 clamps the badminton and slides to the position right below the support base 3021, at this time, the second motor 3032 is started, so that after the second motor 3032 drives the second screw 3033 to rotate, the movable plate 3034 slides downwards to slide the support base 3021 into the badminton from the opening of the skirt band, at this time, gas is injected into the first air bag 3022, so that the skirt band of the badminton is squeezed and corrected under the cooperation of the gasket 301, and the effect of correcting the deformed badminton is achieved (the badminton has only inclined feather, and can be used normally after being squeezed).

In order to collect and treat the shuttlecocks, specifically, as shown in fig. 3, the collecting device 4 includes a collecting box 401, a box door 4011 is arranged on the collecting box 401, a tray 403 is rotatably connected to the inside of the collecting box 401 through a third motor 402, the third motor 402 is fixedly connected to the side wall of the collecting box 401, an output shaft of the third motor 402 is meshed with the outer wall of the tray 403 through teeth, a plurality of stacking barrels 404 for collecting the shuttlecocks are placed on the tray 403 in a circumferential array, and the collecting device 4 further includes a transporting member 405 for transporting the corrected shuttlecocks into the stacking barrels 404.

In order to facilitate automatic transportation of shuttlecocks to the inside of piling up a section of thick bamboo 404, specifically speaking, transportation piece 405 is including the slide 4051 that the slope set up, the bottom of slide 4051 is located correcting unit 3 under, the below of slide 4051 is rotated and is connected with conveyer belt 4052, conveyer belt 4052 is rotatory through the drive of fourth motor 4053, and conveyer belt 4052 supports the rotation through the pivot, and fourth motor 4053 fixed connection is on the lateral wall of automobile body 101, and the output shaft of fourth motor 4053 is connected with arbitrary pivot of conveyer belt 4052, evenly distributed has a plurality of driving levers 4054 on the conveyer belt 4052, and driving lever 4054 that is located the top runs through the lateral wall of slide 4051 and sliding connection realizes stirring the inside slip of shuttlecocks at slide 4051 in the inside of slide 4051, the high-end downwarping of slide 4051 and the mouth part alignment with piling up a section of thick bamboo 404.

As shown in fig. 16, specifically, a blowing nozzle 10 for blowing the skirt of the badminton to a downward state is fixedly connected to a side wall of the chute 4051 (the left end of the chute 4051 has a certain depth, and the badminton cannot fall out), when the blowing nozzle 10 is started, the blowing nozzle 10 blows air downward, when the mouth of the skirt of the badminton is upward, the skirt of the badminton is blown downward under the action of the blowing force of the blowing nozzle 10, so that the feather ball can slide upward in the chute 4051 only after the head of the badminton is upward, and the length of the shift lever 4054 is slightly greater than the head of the badminton, and if the head of the badminton is downward, the badminton can fall under the influence of wind force and gravity in the transmission process of the transmission belt 4052.

As shown in fig. 10, in order to make the head of the badminton firstly enter the inside of the opening 103, specifically, a guide plate 9 for guiding the badminton into the opening 103 is fixedly connected to both sides of the front side of the vehicle body 101, a fan 7 is fixedly connected to the inside of the vehicle body 101, a blowing pipe 8 for blowing the badminton skirt is fixedly connected to the front side wall of the vehicle body 101 and the upper side of the opening 103, the blowing pipe 8 is communicated with an air outlet of the fan 7, when the mobile cart 1 moves towards the position of the badminton, the fan 7 is started to make the blowing pipe 8 blow air in the arrow direction (blowing air to the inside and the outside of the vehicle body 101) as shown in fig. 10, so that the badminton is subjected to wind force by the area of the skirt part, the skirt part rolls, the head of the badminton is close to the vehicle body 101, and then the head of the badminton can be firstly enter the inside of the opening 103, when the shuttlecocks completely enter the opening 103 in the forward direction, the air blowing pipe 8 blows air inwards, the shuttlecocks are influenced by wind power, the heads of the shuttlecocks easily enter the inner ring of the air ring 2012, as shown in fig. 1, an air outlet is formed in the upper side wall of the vehicle body 101, and the air blown into the vehicle body 101 is favorably discharged;

in order to facilitate the head of the badminton to enter the inner ring of the air ring 2012, as shown in fig. 7, the vehicle body 101 is rotatably connected with the winding wheel 21, the upper side of the winding wheel 21 is lower than the middle position of the head of the badminton (the badminton lying on the ground), the winding wheel 21 is driven to rotate by the sixth motor 20, the sixth motor 20 is fixedly connected to the side wall of the vehicle body 101, silica gel protrusions are arranged on the surface of the winding wheel 21 to improve friction force, and after the winding wheel 21 rotates, the winding wheel 21 can wind the head of the badminton to enter the inner ring of the air ring 2012.

As shown in fig. 5, a second air bag 18 for supporting an upper port of the badminton is fixedly connected to the outer wall of the supporting seat 3021 and located above the first air bag 3022, a third electric push rod 19 (as shown in fig. 14) for upward pressing the head of the badminton is arranged inside the slide 4051, a plurality of rotating rods 11 are uniformly and rotatably distributed on the peripheral side wall of the supporting seat 3021, a connecting rod 12 is rotatably connected to the side wall of each rotating rod 11, a sliding sleeve 13 is slidably sleeved on the side wall of the supporting seat 3021 through the second electric push rod 14, the upper end of the connecting rod 12 is rotatably connected to the side wall of the sliding sleeve 13, the lower end of the rotating rod 11 is rotatably connected to a detecting rod 15 through a spring 16, and a movably connected contact 17 is arranged between the detecting rod 15 and the side wall of the rotating rod 11 for detecting whether the skirt band is broken;

as shown in fig. 14-15, after the badminton is corrected, the first air bag 3022 exhausts air and the splint 5 releases the badminton and resets, at the same time, the second air bag 18 injects air (injects air through the blower 7), so that the second air bag 18 expands to support the mouth of the skirt band of the badminton, and the third electric push rod 19 always pushes up the head of the badminton, in this state, the second electric push rod 14 is activated, so that the output shaft of the second electric push rod 14 pushes the sliding sleeve 13 to slide downwards, the rotating rod 11 is rotated inwards through the connecting rod 12, so that one end of the detecting rod 15 far away from the rotating rod 11 pushes against the outer wall of the badminton, the sliding sleeve 13 is continuously pushed downwards, so that the connecting rod 12 continues to apply pressure to the rotating rod 11, when the badminton skirt band is intact, due to the resistance of the outer wall of the badminton skirt band, the detecting rod 15 overcomes the elastic force of the spring 16 to rotate downwards on the rotating rod 11, the two contacts 17 are separated (as shown in fig. 15), so that the separation of the two contacts 17 indicates that the skirt of the badminton is not broken, when the skirt of the badminton is broken (or broken or not separated), the connecting rod 12 continues to apply pressure to the rotating rod 11, and when the skirt of the badminton cannot support one end of the detection rod 15 far away from the rotating rod 11, the detection rod 15 cannot rotate on the rotating rod 11, so that the two contacts 17 are always contacted to indicate that the skirt of the badminton is broken, so that the controller judges the quality of the badminton according to the separation of the two contacts 17 and the signals of the constant contact, after the quality of the badminton is judged, the second air bag 18 exhausts and contracts, and meanwhile, the output shaft of the third electric push rod 19 contracts downwards, so that the badminton falls into the slide 4051, and the controller controls the collecting device 4 to perform classified collection according to the quality;

the collecting device 4 carries out classification and collection steps according to the quality of the shuttlecocks:

after the shuttlecocks fall into the slide 4051, the fourth motor 4053 starts the driving conveyor 4052 to start, at this time, the driving belt 4052 drives the shifting rod 4054 to slide in the slide 4051, so that the shifting rod 4054 shifts the shuttlecocks in the slide 4051 to slide upwards along the slide 4051, and meanwhile, the tray 403 is driven to rotate by starting of the third motor 402, so that the stacking barrel 404 filled with good or bad shuttlecocks rotates to the position right below the upper end of the slide 4051, and the shifting rod 4054 shifts the shuttlecocks to slide to the upper end of the slide 4051 and then falls downwards into the corresponding stacking barrel 404, thereby realizing the sorting and collection of the shuttlecocks;

as shown in fig. 5, the blowpipe 8, the air ring 2021, the first air bag 3022, the second air bag 18, and the mouthpiece 10 are all supplied with air by the blower 7.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an automatic robot of picking up of badminton based on computer vision is judged, includes travelling car (1), the front side fixedly connected with of travelling car (1) is used for collecting camera (6) of badminton positional information, still install controller and intelligence on automobile body (1) and keep away barrier system, its characterized in that: the badminton picking device is characterized by further comprising a badminton picking device (2), a correcting device (3) and a collecting device (4), a camera (6) used for collecting badminton position information is fixedly connected to the front side of the movable trolley (1), and a controller and an intelligent obstacle avoiding system are further mounted on the trolley body (1);

the moving trolley (1) comprises a trolley body (101) and a hub (102) capable of driving the trolley body (101) to move in a universal mode, wherein an opening (103) used for enabling the shuttlecocks to enter the trolley body (101) is formed in the lower portion of the front side of the trolley body (101);

the shuttlecock picking device (2) comprises a clamping piece (201) used for clamping the head of the shuttlecock, the clamping piece (201) is lifted upwards to a position between two clamping plates (5) through a lifting piece (202) after clamping the head of the shuttlecock, the shuttlecock which lies horizontally in the lifting process rotates until the head of the shuttlecock faces downwards and the skirting belt faces upwards, and the shuttlecock is pushed to the correcting device (3) to be corrected under the driving of a first electric push rod (501) after the two clamping plates (5) clamp the skirting belt of the shuttlecock;

the correcting device (3) comprises a gasket (301) fixed on the inner wall of the clamping plate (5), the inner wall profile of the gasket (301) is matched with the outer profile of a skirt belt of a standard badminton, the correcting device (3) further comprises a supporting and pressing piece (302) used for supporting and pressing the inner wall of the badminton outwards, and the supporting and pressing piece (302) slides or slides out of the badminton through a lifting piece (303);

the collecting device (4) is used for stacking and collecting the corrected shuttlecocks.

2. The automatic badminton picking robot based on computer vision judgment is characterized in that: the utility model discloses a badminton racket, including holder (201) including ring piece (2011), be equipped with on the inner wall of ring piece (2011) and be used for aerifing gas ring (2012) of back centre gripping badminton head, promote piece (202) including two first stand (2021) that the symmetry set up, the inside fixedly connected with of first stand (2021) rotates through first motor (2022) and is connected with first screw rod (2023), meshing cover has been connected with slider (2024) on first screw rod (2023), rotates between two slider (2024) and is connected with bracing piece (2025), ring piece (2011) fixed connection is at the tip of bracing piece (2025).

3. The automatic badminton picking robot based on computer vision judgment is characterized in that: prop casting die (302) including propping seat (3021), prop first gasbag (3022) of pressing to badminton skirt inner wall after having cup jointed on the outer wall of propping seat (3021) aerify, lift (303) are including two second stand (3031) of symmetry setting, the inside fixedly connected with of second stand (3031) is rotated through second motor (3032) and is connected with second screw rod (3033), is equipped with movable plate (3034) between two second stand (3031), the both ends meshing of movable plate (3034) is connected on second screw rod (3033), prop seat (3021) fixed connection on the lower lateral wall of movable plate (3034).

4. The automatic badminton picking robot based on computer vision judgment is characterized in that: the collecting device (4) comprises a collecting box (401), a tray (403) is rotatably connected to the inside of the collecting box (401) through a third motor (402), a plurality of stacking barrels (404) used for collecting the badminton are placed on the tray (403) in a circumferential array mode, and the collecting device (4) further comprises a conveying piece (405) used for conveying the corrected badminton to the stacking barrels (404).

5. The automatic badminton picking robot based on computer vision judgment is characterized in that: transportation piece (405) is including slide (4051) that the slope set up, the bottom of slide (4051) is located correcting unit (3) under, the below of slide (4051) is rotated and is connected with conveyer belt (4052), conveyer belt (4052) are rotatory through fourth motor (4053) drive, evenly distributed has a plurality of driving levers (4054) on conveyer belt (4052), and driving lever (4054) that are located the top run through the lateral wall of slide (4051) and sliding connection realize stirring the inside slip of badminton at slide (4051) in the inside of slide (4051), the high-end downwarping of slide (4051) and with the oral area alignment of pile section of thick bamboo (404).

6. The automatic badminton picking robot based on computer vision judgment is characterized in that: the side wall of the slide way (4051) is fixedly connected with a blowing nozzle (10) used for blowing the badminton skirting strip to a downward state.

7. The automatic badminton picking robot based on computer vision judgment is characterized in that: the utility model discloses a badminton is characterized in that the equal fixedly connected with in both sides of the front side of automobile body (101) and being located opening (103) is used for deflector (9) inside leading-in opening (103) of badminton, the inside fixedly connected with fan (7) of automobile body (101), the preceding lateral wall of automobile body (101) and the upside fixedly connected with that is located opening (103) are used for blowing pipe (8) of badminton skirt area, blowing pipe (8) communicate with the air outlet of fan (7).

8. The automatic badminton picking robot based on computer vision judgment is characterized in that: the side wall of the upper end of the first upright post (2021) is fixedly connected with a rack (2026), and two ends of the support rod (2025) are movably meshed with the rack (2026).

9. The automatic badminton picking robot based on computer vision judgment is characterized in that: both ends fixedly connected with shelves pole (2027) of bracing piece (2025), it has recess (2028) to open on the lateral wall of slider (2024), shelves pole (2027) activity joint and recess (2028) activity joint.