CN203324817U - Intelligent ball-picking up robot system - Google Patents
Intelligent ball-picking up robot system Download PDFInfo
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- CN203324817U CN203324817U CN2013204168892U CN201320416889U CN203324817U CN 203324817 U CN203324817 U CN 203324817U CN 2013204168892 U CN2013204168892 U CN 2013204168892U CN 201320416889 U CN201320416889 U CN 201320416889U CN 203324817 U CN203324817 U CN 203324817U
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Abstract
An intelligent ball-picking up robot system is provided. The system is composed of an intelligent ball-picking up robot based on visual identity and multi-sensor data fusion, a wireless communication network and an upper computer data display interface. The intelligent ball-picking up robot is composed of an image acquisition system, an obstacle avoidance system, a power system, a ball-picking up counting system and an information processing system. Ball-picking up and counting performances are allowed to be optimized through multisystem coordination control. An image processing technique is utilized in the intelligent ball-picking up robot, so that a visual ball-identifying function is achieved.
Description
Technical field
The utility model relate to the venues such as tennis, table tennis for picking up the robot of ball.
Background technology
The ball work of picking up of table tennis, tennis venue is a heavy manual labor, and manually picking up ball wastes time and energy, and efficiency is not high.In recent years, people constantly attempt replacing manually being engaged in this work with intelligent robot.At present, (application number: the characteristics of CN201310155091.1) utilizing two kinds of mode of operations to mutually combine have solved the problem that picks table tennis, tennis to have proposed the bi-mode intelligent ball picking robot control system of patented claim.But its ball picking-up efficiency is lower, intelligent poor, and do not possess the function of picked spheroid number information being carried out to local demonstration and long-range demonstration.Therefore, research and develop a kind of intelligent ball collecting robot system based on visual identity and Fusion improve ball picking-up efficiency, promote intelligent, realize that it is very necessary picking up ball count.
Summary of the invention
The purpose of this utility model is to provide a kind of intelligent ball collecting robot system.
The utility model is the intelligent ball collecting robot system, intelligent ball collecting robot 1, wireless communication networks 2, host computer data display interface 3, consists of, intelligent ball collecting robot 1 based on visual identity and Fusion by image capturing system, obstacle avoidance system, power system, pick up the ball count system, information handling system forms, the image capturing system of intelligent ball collecting robot 1 comprises camera 1-42, the 8th steering wheel 1-27, steering wheel line shaft 1-43, steering wheel back shaft 1-44, and wherein: the 8th steering wheel 1-27 controls camera 1-42 respectively in 0 degree, 45 degree, three station acquisition image informations of 90 degree, obstacle avoidance system comprises the first infrared sensor 1-8, the second infrared sensor 1-21, the 3rd infrared sensor 1-22, quatre outer sensor 1-9, the 5th infrared sensor 1-11, the 6th infrared sensor 1-18, the 7th infrared sensor 1-20, the 5th steering wheel 1-10, the 6th steering wheel 1-17, the 7th steering wheel 1-19, wherein: the sensor that the first infrared sensor 1-8, the second infrared sensor 1-21, the 3rd infrared sensor 1-22, quatre outer sensor 1-9 are 4 fixed positions, the 5th steering wheel 1-10 controls the 5th infrared sensor 1-11, the 6th steering wheel 1-17 and controls the 6th infrared sensor 1-18, the 7th steering wheel 1-19 and control the 7th infrared sensor 1-20 and form 3 groups of can angled swing, sensors that detect the place ahead, left and right-hand barrier, power system comprises the first steering wheel 1-25, the second steering wheel 1-30, the 3rd steering wheel 1-29, the 4th steering wheel 1-26, the first omni-directional wheel 1-15, the second omni-directional wheel 1-23, the 3rd omni-directional wheel 1-24, the 4th omni-directional wheel 1-16, and wherein: the first steering wheel 1-25 controls the first omni-directional wheel 1-15, the second steering wheel 1-30 and controls the second omni-directional wheel 1-23, the 3rd steering wheel 1-29 and control the 3rd omni-directional wheel 1-24, the 4th steering wheel 1-26 and control the 4th omni-directional wheel 1-16 and form 4 groups of propulsion system, the angle of the plane of symmetry of the first omni-directional wheel 1-15, the second omni-directional wheel 1-23, the 3rd omni-directional wheel 1-24, the 4th omni-directional wheel 1-16 and intelligent ball collecting robot 1 is 60 degree, pick up the ball count system comprise first keep that plate 1-39, second keeps plate 1-40, picks up ball impeller 1-13, the 9th steering wheel 1-28, kick back 1-12, resistance ball plate 1-4, infrared counting sensor 1-5, storage ball box 1-7, wherein: first keeps plate 1-39 and second keeps plate 1-40 assurance spheroid 1-14 and enters smoothly and pick up ball mechanism, the 9th steering wheel 1-28, pick up ball impeller 1-13, kick back 1-12 form pick up the ball count system pick up ball mechanism, the 9th steering wheel 1-28 controls and picks up ball impeller 1-13 spheroid 1-14 is picked up, infrared counting sensor 1-5, resistance ball plate 1-4 form the counting mechanism of picking up the ball count system, information handling system comprises action control center 1-1, the counting 1-2 of control center, action control center 1-1 is comprised of the first power module 1-54, a MCU1-48, RS232 1-59, the 3rd MCU 1-49, NOR FLASH 16M 1-55, NADN FLASH 128M 1-56, SDRAM 16M 1-57, the counting 1-2 of control center is comprised of second source module 1-51, the 2nd MCU1-50, action control center 1-1 processes from the first infrared sensor 1-8, the second infrared sensor 1-21, the 3rd infrared sensor 1-22, quatre outer sensor 1-9, the 5th infrared sensor 1-11, the 6th infrared sensor 1-18, the image information that the obstacle information that the 7th infrared sensor 1-20 detects and camera 1-42 collect, and control the first steering wheel 1-25, the second steering wheel 1-30, the 3rd steering wheel 1-29, the 4th steering wheel 1-26, the 5th steering wheel 1-10, the 6th steering wheel 1-17, the 7th steering wheel 1-19, the 8th steering wheel 1-27, the 9th steering wheel 1-28 coordination, keep away barrier and intelligent ball collecting, the counting 1-2 of control center processes the spheroid quantity information gathered from infrared counting sensor 1-5, real time data is shown to liquid crystal display 1-6, and through wireless communication networks 3 by the real time data synchronous driving to host computer display interface 2, monitor in real time spheroid quantity.
Usefulness of the present utility model is: adaptable, the intelligent degree in the intelligent ball collecting robot place based on visual identity and Fusion is high.The application image treatment technology, increase substantially ball picking-up efficiency.Adopt multi-sensor fusion technology to make to keep away the realization of barrier, tally function simpler, saved hardware resource, improved the execution efficiency of code.
The accompanying drawing explanation
Fig. 1 is system architecture diagram, and Fig. 2 is the robot overall perspective, and Fig. 3 is the robot vertical view cutaway drawing, Fig. 4 is the robot front elevation, Fig. 5 is the robot left view, and Fig. 6 is the robot right view, and Fig. 7 is the robot rear view, Fig. 8 is image capture module and associated apparatus structural drawing, Fig. 9 is the omni-directional wheel front elevation, and Figure 10 is the omni-directional wheel side view, and Figure 11 is the technical control center structural drawing, Figure 12 is action control centre junction composition, and Figure 13 is the propulsion system structural drawing.
Reference numeral and corresponding name are called: intelligent ball collecting robot 1, upper Microcomputer Data display interface 2, wireless communication networks 3, action control center 1-1, the counting 1-2 of control center, camera module 1-3, resistance ball plate 1-4, infrared counting sensor 1-5, liquid crystal display 1-6, storage ball box 1-7, the first infrared sensor 1-8, quatre outer sensor 1-9, the 5th steering wheel 1-10, the 5th infrared sensor 1-11, kick back 1-12, pick up ball impeller 1-13, spheroid 1-14, the first omni-directional wheel 1-15, the 4th omni-directional wheel 1-16, the 6th steering wheel 1-17, the 6th infrared sensor 1-18, the 7th steering wheel 1-19, the 7th infrared sensor 1-20, the second infrared sensor 1-21, the 3rd infrared sensor 1-22, the second omni-directional wheel 1-23, the 3rd omni-directional wheel 1-24, the first steering wheel 1-25, the 4th steering wheel 1-26, the 8th steering wheel 1-27, the 9th steering wheel 1-28, the 3rd steering wheel 1-29, the second steering wheel 1-30, the first hinge 1-31, the second hinge 1-32, the 3rd hinge 1-33, the 4th hinge 1-34, pentahapto leaf 1-35, six directions leaf 1-36, offside door switch 1-37, offside door switch 1-38, first keeps plate 1-39, second keeps plate 1-40, rear door switch handle 1-41, camera 1-42, steering wheel line shaft 1-43, steering wheel back shaft 1-44, offside door 1-45, offside door 1-46, back door 1-47, the one MCU 1-48, the 3rd MCU 1-49, the 2nd MUC 1-50, second source module 1-51, the first wireless communication module 1-52, the second wireless communication module 1-53, the first power module 1-54, NOR FLASH 16M 1-55, NADN FLASH 128M 1-56, DRAM 16M 1-57, USB 1-58, RS232 1-59.
Embodiment
As shown in Figure 1, intelligent ball collecting robot system of the present utility model is comprised of intelligent ball collecting robot 1, wireless communication networks 2, host computer data display interface 3.
As shown in Figure 2 and Figure 3, the intelligent ball collecting robot system by intelligent ball collecting robot, image capturing system, obstacle avoidance system, power system, pick up the ball count system, information handling system forms.
As shown in Fig. 2, Fig. 8, Figure 12, the image capturing system of intelligent ball collecting robot 1 comprises camera 1-42, the 8th steering wheel 1-27, steering wheel line shaft 1-43, steering wheel back shaft 1-44, be characterized in: action control center 1-1 controls the 8th steering wheel 1-27, and the 8th steering wheel 1-27 controls camera 1-42 respectively in 0 degree, 45 degree, three station acquisition image informations of 90 degree.
As Fig. 2, Fig. 3, Fig. 9, Figure 10, shown in Figure 13, the power system of intelligent ball collecting robot 1 is that the first steering wheel 1-25 controls the first omni-directional wheel 1-15, the second steering wheel 1-30 controls the second omni-directional wheel 1-23, the 3rd steering wheel 1-29 controls the 3rd omni-directional wheel 1-24, the 4th steering wheel 1-26 controls 4 groups of propulsion system that the 4th omni-directional wheel 1-16 forms, the first omni-directional wheel 1-15, the second omni-directional wheel 1-23, the 3rd omni-directional wheel 1-24, the angle of the 4th omni-directional wheel 1-16 and intelligent ball collecting robot 1 plane of symmetry is 60 degree, and the action of 4 groups of propulsion system is controlled by action control center 1-1.
As Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, shown in Figure 12, the obstacle avoidance system of intelligent ball collecting robot 1 comprises the first infrared sensor 1-8, the second infrared sensor 1-21, the 3rd infrared sensor 1-22, the sensor of 4 fixed positions that quatre outer sensor 1-9 forms, the 5th infrared sensor 1-11 that the 5th steering wheel 1-10 controls, the 6th infrared sensor 1-18 that the 6th steering wheel 1-17 controls, the 7th infrared sensor 1-20 that the 7th steering wheel 1-19 controls form 3 groups can angled swing sensor, the information that action control center 1-1 gathers by processing these sensors, control 4 groups of propulsion system and reach the purpose of keeping away barrier.
As shown in Figure 2, Figure 3, Figure 4, the ball count system of picking up of intelligent ball collecting robot 1, first keeps plate 1-39 and second keeps plate 1-40 and guarantees that spheroid 1-14 enters smoothly and pick up ball mechanism; The 9th steering wheel 1-28, pick up ball impeller 1-13, kick back 1-12 form pick up the ball count system pick up ball mechanism; The 9th steering wheel 1-28 control is picked up ball impeller 1-13 spheroid 1-14 is picked up; Infrared counting sensor 1-5, resistance ball plate 1-4 form the counting mechanism of picking up the ball count system; Resistance ball plate 1-4 plays the effect that prevents from affecting because of rocking of spheroid 1-14 infrared counting sensor 1-5 counting effect.
As shown in Fig. 2, Figure 11, Figure 12, the information handling system of intelligent ball collecting robot 1 comprises action control center 1-1, the counting 1-2 of control center, action control center 1-1 is comprised of the first power module 1-54, a MCU1-48, RS232 1-59, the 3rd MCU1-49, NOR FLASH 16M 1-55, NADN FLASH 128M 1-56, SDRAM 16M 1-57, the counting 1-2 of control center is comprised of second source module 1-51, the 2nd MCU1-50, action control center 1-1 processes from the first infrared sensor 1-8, the second infrared sensor 1-21, the 3rd infrared sensor 1-22, quatre outer sensor 1-9, the 5th infrared sensor 1-11, the 6th infrared sensor 1-18, the image information that the obstacle information that the 7th infrared sensor 1-20 detects and camera 1-42 collect, and control the first steering wheel 1-25, the second steering wheel 1-30, the 3rd steering wheel 1-29, the 4th steering wheel 1-26, the 5th steering wheel 1-10, the 6th steering wheel 1-17, the 7th steering wheel 1-19, the 8th steering wheel 1-27, the 9th steering wheel 1-28 coordination, reach the purpose of keeping away barrier and intelligent ball collecting, the counting 1-2 of control center processes the spheroid quantity information gathered from infrared counting sensor 1-5, real time data is shown to liquid crystal display 1-6, and through wireless communication networks 3 by the real time data synchronous driving to host computer display interface 2, reach the purpose of real-time monitoring spheroid quantity.
As shown in Fig. 5, Fig. 6, Fig. 7, the offside door 1-45 of intelligent ball collecting robot 1 is fixed by the first hinge 1-31, the second hinge 1-32, and offside door switch 1-37 controls the situation of closing of offside door 1-45; The offside door 1-46 of intelligent ball collecting robot 1 is fixed by the 3rd hinge 1-33, the 4th hinge 1-34, and offside door switch 1-38 controls the situation of closing of offside door 1-46; The back door 1-47 of intelligent ball collecting robot 1 is fixed by pentahapto leaf 1-35, six directions leaf 1-36, and rear door switch handle 1-41 controls the situation of closing of back door 1-47.The coordination of offside door 1-45, offside door 1-46, back door 1-47 is used, and makes the operator get ball convenient with maintenance.
The ball process of specifically picking up of the present utility model is: after intelligent ball collecting robot 1 start, information handling system is according to pre-set programs, at first obstacle avoidance system is activated, wherein 4 sensors that fixedly infrared sensor and 3 groups can angled swings move simultaneously, barrier around scanning in 270 degree scopes (except afterbody 90 degree scopes), preferentially keep away barrier; Secondly image capturing system is activated, and the 8th steering wheel 1-27 controls camera 1-42 respectively in 0 degree, 45 degree, three angle acquisition image informations of 90 degree, and camera 1-42 is sent to action control center 1-1 by the image information collected through USB1-58 and processes; Last power system is activated, what 4 groups of propulsion system sent according to action control center 1-1 picks up the ball signal towards definite target travel, pick up the ball count system is activated simultaneously, picking up ball mechanism picks up spheroid, infrared counting sensor 1-5 in counting mechanism is sent to the counting 1-2 of control center by the spheroid quantity information collected, and after the counting 1-2 of control center processes, real time data is shown to liquid crystal display 1-6 and host computer display interface 2.
Pick up the course of action footpath: after intelligent ball collecting robot 1 completes above-mentioned process, because 4 groups of propulsion system have the advantage that omnidirectional rotates, intelligent ball collecting robot 1 moves in the direction of the clock twice, and each rotational angle is 30 degree, after turning to 30 degree to finish, carry out the above-mentioned ball process of picking up at every turn; Intelligent ball collecting robot 1 segment distance that travels forward, carry out the above-mentioned ball process of picking up afterwards, and after completing, intelligent ball collecting robot 1 is by counterclockwise rotating twice, and each rotational angle is 30 degree, after turning to 30 degree to finish, carries out the above-mentioned ball process of picking up at every turn.
Claims (3)
1. intelligent ball collecting robot system, it is characterized in that: this system is comprised of the intelligent ball collecting robot based on visual identity and Fusion (1), wireless communication networks (2), host computer data display interface (3), intelligent ball collecting robot based on visual identity and Fusion (1) by image capturing system, obstacle avoidance system, power system, pick up the ball count system, information handling system forms, the image capturing system of intelligent ball collecting robot (1) comprises camera (1-42), the 8th steering wheel (1-27), steering wheel line shaft (1-43), steering wheel back shaft (1-44), and wherein: the 8th steering wheel (1-27) is controlled camera (1-42) respectively in 0 degree, 45 degree, three station acquisition image informations of 90 degree, obstacle avoidance system comprises the first infrared sensor (1-8), the second infrared sensor (1-21), the 3rd infrared sensor (1-22), quatre outer sensor (1-9), the 5th infrared sensor (1-11), the 6th infrared sensor (1-18), the 7th infrared sensor (1-20), the 5th steering wheel (1-10), the 6th steering wheel (1-17), the 7th steering wheel (1-19), wherein: the first infrared sensor (1-8), the second infrared sensor (1-21), the 3rd infrared sensor (1-22), the sensor that quatre outer sensor (1-9) is 4 fixed positions, the 5th steering wheel (1-10) is controlled the 5th infrared sensor (1-11), the 6th steering wheel (1-17) and is controlled the 6th infrared sensor (1-18), the 7th steering wheel (1-19) and control the 7th infrared sensor (1-20) and form 3 groups of can angled swing, sensors that detect the place ahead, left and right-hand barrier, power system comprises the first steering wheel (1-25), the second steering wheel (1-30), the 3rd steering wheel (1-29), the 4th steering wheel (1-26), the first omni-directional wheel (1-15), the second omni-directional wheel (1-23), the 3rd omni-directional wheel (1-24), the 4th omni-directional wheel (1-16), and wherein: the first steering wheel (1-25) is controlled the first omni-directional wheel (1-15), the second steering wheel (1-30) and controlled that the second omni-directional wheel (1-23), the 3rd steering wheel (1-29) are controlled the 3rd omni-directional wheel (1-24), the 4th steering wheel (1-26) is controlled the 4th omni-directional wheel (1-16) and formed 4 groups of propulsion system, the first omni-directional wheel (1-15), the second omni-directional wheel (1-23), the 3rd omni-directional wheel (1-24), the 4th omni-directional wheel (1-16) are 60 degree with the angle of the plane of symmetry of intelligent ball collecting robot (1), pick up the ball count system comprise first keep that plate (1-39), second is kept plate (1-40), picked up ball impeller (1-13), the 9th steering wheel (1-28), kick back (1-12), resistance ball plate (1-4), infrared counting sensor (1-5), storage ball box (1-7), wherein: first keeps plate (1-39) and second keeps plate (1-40) assurance spheroid (1-14) and enters smoothly and pick up ball mechanism, the 9th steering wheel (1-28), pick up ball impeller (1-13), kick back (1-12) form pick up the ball count system pick up ball mechanism, the 9th steering wheel (1-28) is controlled and is picked up ball impeller (1-13) spheroid (1-14) is picked up, infrared counting sensor (1-5), resistance ball plate (1-4) form the counting mechanism of picking up the ball count system, information handling system comprises action control center (1-1), counting control center (1-2), action control center (1-1) is by the first power module (1-54), a MCU(1-48), RS232(1-59), the 3rd MCU(1-49), NOR FLASH 16M(1-55), NADN FLASH 128M(1-56), SDRAM 16M(1-57) form, counting control center (1-2) is by second source module (1-51), the 2nd MCU(1-50) form, process from the first infrared sensor (1-8) at action control center (1-1), the second infrared sensor (1-21), the 3rd infrared sensor (1-22), quatre outer sensor (1-9), the 5th infrared sensor (1-11), the 6th infrared sensor (1-18), the image information that the obstacle information that the 7th infrared sensor (1-20) detects and camera (1-42) collect, and control the first steering wheel (1-25), the second steering wheel (1-30), the 3rd steering wheel (1-29), the 4th steering wheel (1-26), the 5th steering wheel (1-10), the 6th steering wheel (1-17), the 7th steering wheel (1-19), the 8th steering wheel (1-27), the 9th steering wheel (1-28) coordination, keep away barrier and intelligent ball collecting, counting control center (1-2) processes the spheroid quantity information gathered from infrared counting sensor (1-5), real time data is shown to liquid crystal display (1-6), and through wireless communication networks (3) by the real time data synchronous driving to host computer display interface (2), monitor in real time spheroid quantity.
2. intelligent ball collecting robot system according to claim 1, it is characterized in that: the offside door (1-45) of intelligent ball collecting robot (1) is fixing by the first hinge (1-31), the second hinge (1-32), and offside door switch (1-37) controls cutting out of offside door (1-45); The offside door (1-46) of intelligent ball collecting robot (1) is fixing by the 3rd hinge (1-33), the 4th hinge (1-34), and offside door switch (1-38) controls cutting out of offside door (1-46); The back door (1-47) of intelligent ball collecting robot (1) is fixing by pentahapto leaf (1-35), six directions leaf (1-36), and rear door switch handle (1-41) is controlled closing of back door (1-47); The coordination of offside door (1-45), offside door (1-46), back door (1-47) is used.
3. intelligent ball collecting robot system according to claim 1, the MCU(1-48 at the action control center (1-1) it is characterized in that) adopt PXA270 microprocessor, the 3rd MCU(1-49) adopt AVR Mega128 microprocessor; The 2nd MCU(1-50 of counting control center (1-2)) adopt the AT89S52 microprocessor.
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| CN2013204168892U CN203324817U (en) | 2013-07-15 | 2013-07-15 | Intelligent ball-picking up robot system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345252A (en) * | 2013-07-15 | 2013-10-09 | 兰州理工大学 | Intelligent ball-picking robot system and ball-picking method thereof |
| CN104898662A (en) * | 2014-11-27 | 2015-09-09 | 王俊芝 | Method for realizing intelligent obstacle crossing |
| CN107961510A (en) * | 2017-12-18 | 2018-04-27 | 武汉星客智行科技有限公司 | Intelligent tennis ball collecting robot people and tennis collection method |
-
2013
- 2013-07-15 CN CN2013204168892U patent/CN203324817U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345252A (en) * | 2013-07-15 | 2013-10-09 | 兰州理工大学 | Intelligent ball-picking robot system and ball-picking method thereof |
| CN104898662A (en) * | 2014-11-27 | 2015-09-09 | 王俊芝 | Method for realizing intelligent obstacle crossing |
| CN104898662B (en) * | 2014-11-27 | 2017-04-26 | 宁波市智能制造产业研究院 | Service robot for realizing intelligent obstacle crossing |
| CN107961510A (en) * | 2017-12-18 | 2018-04-27 | 武汉星客智行科技有限公司 | Intelligent tennis ball collecting robot people and tennis collection method |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131204 Termination date: 20140715 |
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| EXPY | Termination of patent right or utility model |