CN206121068U - Robot system is retrieved to intelligent ball shape object - Google Patents
Robot system is retrieved to intelligent ball shape object Download PDFInfo
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- CN206121068U CN206121068U CN201620984908.5U CN201620984908U CN206121068U CN 206121068 U CN206121068 U CN 206121068U CN 201620984908 U CN201620984908 U CN 201620984908U CN 206121068 U CN206121068 U CN 206121068U
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- mechanical arm
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Abstract
The utility model discloses a robot system is retrieved to intelligent ball shape object relates to the robot field. This system includes: image acquisition device, central processing unit, recovery unit and telecontrol equipment, central processing unit includes: camera orientation module, robot control module and mechanical arm control module, camera orientation module is signal connection in image acquisition device, robot control module and mechanical arm control module respectively, robot control module signal connection is in the telecontrol equipment, mechanical arm control module signal connection is in recovery unit. This invention has: discernment accuracy, simple structure, the practicality is strong and advantage such as with low costs.
Description
Technical field
This utility model is related to robot field, more particularly to a kind of intelligent spherical object recycling machine people's system.
Background technology
Robot（Robot）It is the installations for performing work automatically.It can both receive mankind commander, can run again
The program of layout in advance, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, for example, produce industry, building industry, or the work of danger.
In recent years, deepening constantly with reform and opening-up, living standards of the people are greatly improved, and more people participate in
To physical training, athletic level there has also been and rise tremendously, improves efficiency in training, match and seems increasingly
It is important.And in training court and in-situ match, if can not need it is manually operated in the case of, just automatically will hit during exercise
A large amount of tablees tennis for going out, tennis and may constitute that the shot of unsafe factor etc. is ball to be got back, undoubtedly can reduce athlete or
The unnecessary work of staff, is greatly enhanced training, the efficiency of match.
Utility model content
In consideration of it, this utility model provides a kind of intelligent spherical object recycling machine people's system, the utility model has：
Identification is accurate, simple structure, practical and low cost and other advantages.
The technical solution adopted in the utility model is as follows：
A kind of intelligent spherical object recycling machine people's system, it is characterised in that the system includes：Image collecting device,
Central processing unit, retracting device and telecontrol equipment；The central processing unit includes：Photographic head locating module, robot control mould
Block and mechanical arm control module；Respectively signal is connected to image collecting device, robot control mould to the photographic head locating module
Block and mechanical arm control module；Robot control module's signal is connected to telecontrol equipment；The mechanical arm control module letter
Number it is connected to retracting device.
The photographic head locating module includes：Image segmentation module, space conversion module, similarity calculation module and judgement
Module；Described image segmentation module distinguishes signal in image collecting device and space conversion module, for original by what is collected
Separate from background sphere in image；The space conversion module signal is connected to similarity calculation module, uses
In the sphere separated image is transformed into into YCBCR color spaces from rgb color space；The similarity calculation module
Signal is connected to judge module, calculates for carrying out ball color Similarity value to the image information of YCBCR color spaces；The judgement
Module, for according to the result of calculation of similarity calculation module, judging the species of spheroid, draws judged result, sends control life
Make to each functional module.
The retracting device includes：Reclaim motor, mechanical arm and casing；Respectively signal is connected to machinery to the recovery motor
Arm control module and mechanical arm, for the control command sended over according to mechanical arm control module, the operation of control machinery arm；
The casing, for the ball object that storage is reclaimed.
The telecontrol equipment includes：Roller and motor；The motor signal is connected to robot control module,
Signal controling stepping motor for being sended over according to robot control module is turned left, the motion turned right and advance.
Described image harvester includes：Photographic head and rotating control assembly；The camera signals are connected to rotation control
Device processed, for obtaining original image information；The rotating control assembly signal is connected to photographic head locating module, for root
The control information sended over according to photographic head locating module controls photographic head and is rotated.
Using above technical scheme, this utility model generates following beneficial effect：
1st, it is accurate to recognize：Robot of the present utility model enters for the identification of spherical object is on the basis of image procossing
The conversion process of spatial domain is gone, while calculating spherical object using the method for ball color Similarity Measure so that calculate
It is more accurate with recognition result.
2nd, simple structure：Robot architecture of the present utility model is simple, easily assembling, and various pieces can be individually produced,
Suitable for industrialized production.
3rd, low cost：Robotic's part-structure of the present utility model is simple, low cost；Considerably reduce robot
Cost.
4th, it is practical：Robot of the present utility model is controlled using image recognition technology, compared with traditional employing
The robot of sensor production, its operational efficiency is higher, more accurate for object identification.
Description of the drawings
Fig. 1 is a kind of flow chart of the system of intelligent spherical object recycling machine people's system in this utility model embodiment.
Specific embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine by any way.
This specification（Including any accessory claim, summary）Disclosed in any feature, unless specifically stated otherwise,
Equivalent by other or with similar purpose alternative features are replaced.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalent or similar characteristics.
A kind of intelligent spherical object recycling machine people's system is provided in this utility model embodiment 1, system construction drawing is such as
Shown in Fig. 1：
A kind of intelligent spherical object recycling machine people's system, it is characterised in that the system includes：Image collecting device,
Central processing unit, retracting device and telecontrol equipment；The central processing unit includes：Photographic head locating module, robot control mould
Block and mechanical arm control module；Respectively signal is connected to image collecting device, robot control mould to the photographic head locating module
Block and mechanical arm control module；Robot control module's signal is connected to telecontrol equipment；The mechanical arm control module letter
Number it is connected to retracting device.
The photographic head locating module includes：Image segmentation module, space conversion module, similarity calculation module and judgement
Module；Described image segmentation module distinguishes signal in image collecting device and space conversion module, for original by what is collected
Separate from background sphere in image；The space conversion module signal is connected to similarity calculation module, uses
In the sphere separated image is transformed into into YCBCR color spaces from rgb color space；The similarity calculation module
Signal is connected to judge module, calculates for carrying out ball color Similarity value to the image information of YCBCR color spaces；The judgement
Module, for according to the result of calculation of similarity calculation module, judging the species of spheroid, draws judged result, sends control life
Make to each functional module.
The retracting device includes：Reclaim motor, mechanical arm and casing；Respectively signal is connected to machinery to the recovery motor
Arm control module and mechanical arm, for the control command sended over according to mechanical arm control module, the operation of control machinery arm；
The casing, for the ball object that storage is reclaimed.
The telecontrol equipment includes：Roller and motor；The motor signal is connected to robot control module,
Signal controling stepping motor for being sended over according to robot control module is turned left, the motion turned right and advance.
Described image harvester includes：Photographic head and rotating control assembly；The camera signals are connected to rotation control
Device processed, for obtaining original image information；The rotating control assembly signal is connected to photographic head locating module, for root
The control information sended over according to photographic head locating module controls photographic head and is rotated.
A kind of method based on intelligent spherical object recycling machine people's system, tool are provided in this utility model embodiment 2
Body step is as follows：
A kind of method based on intelligent spherical object recycling machine people's system, it is characterised in that methods described includes following
Step：
Step 1：Image collecting device observes surrounding by photographic head, and the original image for collecting is sent to into central authorities
Processor, after central processing unit is processed original image, spherical object is found by control robot, when appearance one in the visual field
Or select a maximum adjustment robot location to make spherical object just according near big and far smaller during multiple complete spherical objects
Positioned at robot view field center；
Step 2：Robot control module controls robot motion, robot direction is constantly corrected in motor process, really
Surely make it just to the spherical object to be picked up, finally make robot reach spherical object position；
Step 3：Robot enters ball pattern of picking up, and the mechanical arm of mechanical arm control module control robot picks up round
Body so that spherical object is fallen in casing；
Step 4：Image collecting device continues to scan on other targets and is picked up, and by distant relationships institute on court has been picked up successively
Some spherical objects.Photographic head observation looks for the return of home position mark when detecting without residue spherical object, completes task.
The method that the processor is processed original image is comprised the following steps：
Step 1：Photographic head takes photo, and raw image data information is sent to into photographic head locating module；
Step 2：Photographic head locating module carries out image segmentation to the original image for receiving, will be spherical in original image
Separate from background in the region of object；
Step 3：Photographic head locating module is to the sphere separated image is transformed into from rgb color space
YCBCR color spaces；
Step 4：:Photographic head locating module carries out the calculating of ball color Similarity value to the image information of YCBCR color spaces；
Step 5：:Photographic head locating module judges the species of spheroid according to the result of calculation of similarity calculation module, draws
Judged result, transmitting control commands are to each functional module.
The method that the photographic head locating module carries out the calculating of ball color Similarity value to the image information of YCBCR color spaces
Comprise the following steps：
Step 1：According to spheroid color in the probability density characteristicses of YCBCR color spaces, set up one and do dead ball color model,
Obtaining its probability density function is：
;Wherein C is covariance square
Battle array；
Step 2：Asking for covariance matrix component of each gray value in YCBCR color spaces isWith；
Step 3：According to autumn scenery calculating formula of similarity：;
The ball color Similarity value of single pixel is calculated, and then obtains the biggest ball color Similarity value of entire image.The ball of every bit pixel
Color Similarity value divided by biggest ball color Similarity value, as the gray value of the point, so as to obtain ball color similarity.
A kind of intelligent spherical object recycling machine people's system is provided in this utility model embodiment 3, system construction drawing is such as
Shown in Fig. 1：
A kind of intelligent spherical object recycling machine people's system, it is characterised in that the system includes：Image collecting device,
Central processing unit, retracting device and telecontrol equipment；The central processing unit includes：Photographic head locating module, robot control mould
Block and mechanical arm control module；Respectively signal is connected to image collecting device, robot control mould to the photographic head locating module
Block and mechanical arm control module；Robot control module's signal is connected to telecontrol equipment；The mechanical arm control module letter
Number it is connected to retracting device.
The photographic head locating module includes：Image segmentation module, space conversion module, similarity calculation module and judgement
Module；Described image segmentation module distinguishes signal in image collecting device and space conversion module, for original by what is collected
Separate from background sphere in image；The space conversion module signal is connected to similarity calculation module, uses
In the sphere separated image is transformed into into YCBCR color spaces from rgb color space；The similarity calculation module
Signal is connected to judge module, calculates for carrying out ball color Similarity value to the image information of YCBCR color spaces；The judgement
Module, for according to the result of calculation of similarity calculation module, judging the species of spheroid, draws judged result, sends control life
Make to each functional module.
The retracting device includes：Reclaim motor, mechanical arm and casing；Respectively signal is connected to machinery to the recovery motor
Arm control module and mechanical arm, for the control command sended over according to mechanical arm control module, the operation of control machinery arm；
The casing, for the ball object that storage is reclaimed.
The telecontrol equipment includes：Roller and motor；The motor signal is connected to robot control module,
Signal controling stepping motor for being sended over according to robot control module is turned left, the motion turned right and advance.
Described image harvester includes：Photographic head and rotating control assembly；The camera signals are connected to rotation control
Device processed, for obtaining original image information；The rotating control assembly signal is connected to photographic head locating module, for root
The control information sended over according to photographic head locating module controls photographic head and is rotated.
A kind of method based on intelligent spherical object recycling machine people's system, it is characterised in that methods described includes following
Step：
Step 1：Image collecting device observes surrounding by photographic head, and the original image for collecting is sent to into central authorities
Processor, after central processing unit is processed original image, spherical object is found by control robot, when appearance one in the visual field
Or select a maximum adjustment robot location to make spherical object just according near big and far smaller during multiple complete spherical objects
Positioned at robot view field center；
Step 2：Robot control module controls robot motion, robot direction is constantly corrected in motor process, really
Surely make it just to the spherical object to be picked up, finally make robot reach spherical object position；
Step 3：Robot enters ball pattern of picking up, and the mechanical arm of mechanical arm control module control robot picks up round
Body so that spherical object is fallen in casing；
Step 4：Image collecting device continues to scan on other targets and is picked up, and by distant relationships institute on court has been picked up successively
Some spherical objects.Photographic head observation looks for the return of home position mark when detecting without residue spherical object, completes task.
The method that the processor is processed original image is comprised the following steps：
Step 1：Photographic head takes photo, and raw image data information is sent to into photographic head locating module；
Step 2：Photographic head locating module carries out image segmentation to the original image for receiving, will be spherical in original image
Separate from background in the region of object；
Step 3：Photographic head locating module is to the sphere separated image is transformed into from rgb color space
YCBCR color spaces；
Step 4：:Photographic head locating module carries out the calculating of ball color Similarity value to the image information of YCBCR color spaces；
Step 5：:Photographic head locating module judges the species of spheroid according to the result of calculation of similarity calculation module, draws
Judged result, transmitting control commands are to each functional module.
The method that the photographic head locating module carries out the calculating of ball color Similarity value to the image information of YCBCR color spaces
Comprise the following steps：
Step 1：According to spheroid color in the probability density characteristicses of YCBCR color spaces, set up one and do dead ball color model,
Obtaining its probability density function is：
;Wherein C is covariance matrix；
Step 2：Asking for covariance matrix component of each gray value in YCBCR color spaces isWith；
Step 3：According to autumn scenery calculating formula of similarity：;Calculate
The ball color Similarity value of single pixel, and then obtain the biggest ball color Similarity value of entire image.The ball form and aspect of every bit pixel
Like angle value divided by biggest ball color Similarity value, as the gray value of the point, so as to obtain ball color similarity.
This utility model is not limited to aforesaid specific embodiment.This utility model expands to any in this specification
The new feature of middle disclosure or any new combination, and the arbitrary new method that discloses or the step of process or any new group
Close.
Claims (5)
1. a kind of intelligent spherical object recycling machine people's system, it is characterised in that the system includes：Image collecting device, in
Central processor, retracting device and telecontrol equipment；The central processing unit includes：Photographic head locating module, robot control module
With mechanical arm control module；Respectively signal is connected to image collecting device, robot control module to the photographic head locating module
With mechanical arm control module；Robot control module's signal is connected to telecontrol equipment；The mechanical arm control module signal
It is connected to retracting device.
2. intelligent spherical object recycling machine people's system as claimed in claim 1, it is characterised in that the photographic head positions mould
Block includes：Image segmentation module, space conversion module, similarity calculation module and judge module；Described image segmentation module point
Level signal in image collecting device and space conversion module, for by the sphere in the original image for collecting from background
Separate；The space conversion module signal is connected to similarity calculation module, for the sphere figure that will be separated
As being transformed into YCBCR color spaces from rgb color space；The similarity calculation module signal is connected to judge module, is used for
The calculating of ball color Similarity value is carried out to the image information of YCBCR color spaces；The judge module, for according to Similarity Measure
The result of calculation of module, judges the species of spheroid, draws judged result, and transmitting control commands are to each functional module.
3. intelligent spherical object recycling machine people's system as claimed in claim 2, it is characterised in that the retracting device bag
Include：Reclaim motor, mechanical arm and casing；Respectively signal is connected to mechanical arm control module and mechanical arm to the recovery motor, uses
In the control command sended over according to mechanical arm control module, the operation of control machinery arm；The casing, reclaims for depositing
Ball object.
4. intelligent spherical object recycling machine people's system as claimed in claim 3, it is characterised in that the telecontrol equipment bag
Include：Roller and motor；The motor signal is connected to robot control module, for according to robot control module
The signal controling stepping motor for sending over is turned left, the motion turned right and advance.
5. intelligent spherical object recycling machine people's system as claimed in claim 4, it is characterised in that described image harvester
Including：Photographic head and rotating control assembly；The camera signals are connected to rotating control assembly, for obtaining original image
Information；The rotating control assembly signal is connected to photographic head locating module, for being sended over according to photographic head locating module
Control information control photographic head rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620984908.5U CN206121068U (en) | 2016-08-31 | 2016-08-31 | Robot system is retrieved to intelligent ball shape object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620984908.5U CN206121068U (en) | 2016-08-31 | 2016-08-31 | Robot system is retrieved to intelligent ball shape object |
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| CN206121068U true CN206121068U (en) | 2017-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620984908.5U Expired - Fee Related CN206121068U (en) | 2016-08-31 | 2016-08-31 | Robot system is retrieved to intelligent ball shape object |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106422223A (en) * | 2016-08-31 | 2017-02-22 | 成都市和平科技有限责任公司 | Intelligent robot system for spherical object recycling and method |
| CN108579030A (en) * | 2018-04-09 | 2018-09-28 | 宁波乔克兄弟三维科技有限公司 | A kind of robot of view-based access control model picks up ball method |
-
2016
- 2016-08-31 CN CN201620984908.5U patent/CN206121068U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106422223A (en) * | 2016-08-31 | 2017-02-22 | 成都市和平科技有限责任公司 | Intelligent robot system for spherical object recycling and method |
| CN108579030A (en) * | 2018-04-09 | 2018-09-28 | 宁波乔克兄弟三维科技有限公司 | A kind of robot of view-based access control model picks up ball method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20170426 Termination date: 20180831 |