CN103264395A - Double-mode intelligent ball-picking robot control system - Google Patents
Double-mode intelligent ball-picking robot control system Download PDFInfo
- Publication number
- CN103264395A CN103264395A CN2013101550911A CN201310155091A CN103264395A CN 103264395 A CN103264395 A CN 103264395A CN 2013101550911 A CN2013101550911 A CN 2013101550911A CN 201310155091 A CN201310155091 A CN 201310155091A CN 103264395 A CN103264395 A CN 103264395A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- ball
- mcu
- flush bonding
- bonding processor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
A double-mode intelligent ball-picking robot control system comprises a double-mode intelligent ball-picking robot (1), a first wireless communication network (2), a second wireless communication network (3), an Android intelligent mobile phone (4), a notebook computer (5) and a wireless handle (6). The double-mold intelligent ball-picking robot (1) comprises an information acquisition system, an information processing system, a remote control system, an executing mechanism and a ball-picking device; court image data acquired by a USB (universal serial bus) camera (1-19) can be transmitted to the Android intelligent mobile phone (4) and the notebook computer (6) via the first wireless communication network (2) and can be displayed on the Android intelligent mobile phone (4) and the notebook computer (6), so that the purpose of monitoring a court in real time can be achieved; and movement of the double-mode intelligent ball-picking robot (1) can be controlled by the wireless handle (6) via the second wireless communication network (3). The double-mode intelligent ball-picking robot control system has the advantage that the double-mode intelligent ball-picking robot control system can work in an automatic ball-picking mode and a remote-control ball-picking mode.
Description
Technical field
The present invention relates to the double mode control intelligent ball collecting robot system for table tennis, tennis venue.
Background technology
The ball work of picking up of large-scale table tennis, tennis venue is a heavy manual labor, and manually picking up ball wastes time and energy, and efficient is not high.In recent years, people constantly attempt replacing manually being engaged in this work with intelligent robot.At present, in some developed countries, begun to adopt the service type robot to pick up ball work at the ball game venue, but at actual demand, the convenience of its intelligent degree and use have much room for improvement.Develop rapidly the intellectuality, automation, the miniaturization that make ball picking robot of embedded system technology become possibility, adopt the embedded system technology combining wireless communication technology to finish the control of ball picking robot, to improve the convenience of ball picking robot control undoubtedly greatly, and the reduction cost of labor, be very necessary so develop a kind of intelligent ball collecting robot of full-embedded type framework.
At present, some occur and can realize picking up the technical scheme of ball, for example the patent No. be mention in the patent documentation of CN200810183233.4 and CN200820042478.0 a kind of in the court the overhead camera of installing, utilize host computer to carry out the scheme that global image is handled, this type of control of works mode is only applicable to large-scale tennis court, and whole control mode is comparatively complicated, cost is higher, tailored version is more intense, and robot can't work smoothly behind the replacing place, and the utonomous working ability is relatively poor; The patent No. is to mention a kind of camera that utilizes robot self to install in the patent documentation of CN201210068093.2 to identify spheroid, independently pick the scheme of spheroid, though solved the drawback that the global image processing scheme exists, but it only possesses a ultrasonic detector that is positioned at robot the place ahead, its autonomous classification surrounding environment and to keep away the barrier ability relatively poor.
Summary of the invention
The purpose of this invention is to provide a kind of double mode control intelligent ball collecting robot system.
The present invention is bi-mode intelligent ball picking robot control system, and this system is made up of bi-mode intelligent ball picking robot 1, first wireless communication networks 2, second wireless communication networks 3, Android smart mobile phone 4, notebook computer 5, wireless controller 6; Bi-mode intelligent ball picking robot 1 is made up of information acquisition system, information processing system, remote control system, executing agency, ball picking up device; Android smart mobile phone 4 and notebook computer 6 can and show the court view data that USB camera 1-19 collects by 2 transmission of first wireless communication networks, reach real-time monitoring; Wireless controller 6 is controlled the motion of bi-mode intelligent ball picking robot 1 by second wireless communication networks 3.
Native system has two kinds of mode of operations:
(1) automatically picking up balls pattern: by the first antenna sensor 1-1 around the bi-mode intelligent robot 1, the first near infrared sensor 1-2, the second antenna sensor 1-3, the 3rd antenna sensor 1-6, the second near infrared sensor 1-7, the 3rd near infrared sensor 1-9, the 4th antenna sensor 1-10 responds to barrier, the data that collect are sent to flush bonding processor the 2nd MCU1-16 to be handled, flush bonding processor the 2nd MCU 1-16 controls the first steering wheel 1-11, the second steering wheel 1-12, the 3rd steering wheel 1-21, the 4th steering wheel 1-22 action realizes keeping away barrier, flush bonding processor the one MCU 1-15 controls the 5th steering wheel 1-14 and continues to rotate, the 5th steering wheel 1-14 control is picked up ball impeller 1-8 and is rotated, will by way of table tennis or tennis through picking up;
(2) the ball pattern is picked up in remote control: by the USB camera 1-19 floor picture of bi-mode intelligent robot 1 front portion, send to Android smart mobile phone 4 and notebook computer 5 after by first wireless communication networks 2 photo site that collects being handled by flush bonding processor the 4th MCU 1-18, wireless controller 6 is by second wireless communication networks 3 control first steering wheel 1-11 after flush bonding processor the 3rd MCU 1-17 handles, the second steering wheel 1-12, the 3rd steering wheel 1-21, the 4th steering wheel 1-22 action, realize manually keeping away barrier, flush bonding processor the one MCU 1-15 controls the 5th steering wheel 1-14 and continues to rotate, the 5th steering wheel 1-14 control is picked up ball impeller 1-8 and is rotated, will by way of table tennis or tennis pick up.
Usefulness of the present invention is:
Unique double mode control design makes ROBOT CONTROL more flexible, and the adaptive capacity in different places is enhanced intelligent degree height.Under the automatically picking up balls pattern, the application of multisensor parallel technology makes the realization that keeps away barrier and autonomous locomotive function simpler, has saved hardware resource, has improved the execution efficient of code.Pick up under the ball pattern in remote control, the use of radio sensing network has not only realized the remote control to robot, and the real-time Transmission of live view has realized the Long-distance Control of ball picking robot simultaneously, and man-machine interaction is more smooth and easy.The wheeled design of picking up spherical structure of pivoting leaf has the ball of picking up efficient height, and frame for movement is simple, the adaptable characteristics in place.
Description of drawings
Fig. 1 is topological structure schematic diagram of the present invention, Fig. 2 is the hardware structure diagram of bi-mode intelligent ball picking robot, Fig. 3 is the hardware structure diagram of flush bonding processor the one MCU and correlation module, Fig. 4 is the hardware structure diagram of flush bonding processor the 2nd MCU and correlation module, Fig. 5 is the hardware structure diagram of flush bonding processor the 3rd MCU and correlation module, Fig. 6 is the hardware structure diagram of flush bonding processor the 4th MCU and correlation module, Fig. 7 is the structure principle chart of picking up the ball impeller, Fig. 8 is that the rotary ball impeller of picking up is picked up ball process schematic diagram, and Fig. 9 is the structured flowchart of bi-mode intelligent ball picking robot.
Reference numeral and corresponding name are called: bi-mode intelligent ball picking robot 1, wireless communication networks 2, wireless communication networks 3, Android smart mobile phone 4, notebook computer 5, wireless controller 6, the first antenna sensor 1-1, the first near infrared sensor 1-2, the second antenna sensor 1-3, sensing data communication bus 1-4, steering wheel control bus 1-5, antenna sensor 1-6, the second near infrared sensor 1-7, pick up ball impeller 1-8, the 3rd near infrared sensor 1-9, the 4th antenna sensor 1-10, the first steering wheel 1-11, the second steering wheel 1-12, steering wheel control bus 1-13, the 5th steering wheel 1-14, flush bonding processor the one MCU 1-15, flush bonding processor the 2nd MCU 1-16, flush bonding processor the 3rd MCU 1-17, flush bonding processor the 4th MCU 1-18, USB camera 1-19, steering wheel control bus 1-20, the 3rd steering wheel 1-21, the 4th steering wheel 1-22, power module 1-23, the one 512K FLASH 1-24, the one 32K RAM 1-25, the 2nd 512K FLASH 1-26, the 2nd 32K RAM 1-27, the 3rd 512K FLASH 1-28, the 3rd 32K RAM 1-29, wireless module 1-30, TFT color liquid crystal 1-31, CS8900A network interface card 1-32, USB Host1 1-33, USB wireless network card 1-34, USB Host2 1-35,64MB NAND FLASH 1-36,2MB NOR FLASH 1-37,64MB SDRAM 1-38, impeller shaft 1-39, the first blade 1-40, the second blade 1-41, first impeller is assisted plate 1-42, and second impeller is assisted plate 1-43, storage ball box 1-44, kick back 1-45, the first tire 1-46, the second tire 1-47, third round tire 1-48, fourth round tire 1-49.
The specific embodiment
As shown in Figure 1,The present invention is bi-mode intelligent ball picking robot control system, and this system is made up of bi-mode intelligent ball picking robot 1, first wireless communication networks 2, second wireless communication networks 3, Android smart mobile phone 4, notebook computer 5, wireless controller 6; Bi-mode intelligent ball picking robot 1 is made up of information acquisition system, information processing system, remote control system, executing agency, ball picking up device; Android smart mobile phone 4 and notebook computer 6 can and show the court view data that USB camera 1-19 collects by 2 transmission of first wireless communication networks, reach real-time monitoring; Wireless controller 6 is controlled the motion of bi-mode intelligent ball picking robot 1 by second wireless communication networks 3.
Bi-mode intelligent ball picking robot 1 of the present invention is made up of information acquisition system, information processing system, executing agency, ball picking up device, can pick up under two kinds of mode of operations of ball pattern in automatically picking up balls pattern, remote control and work.
As shown in Figure 2, information acquisition system comprises the first antenna sensor 1-1, the first near infrared sensor 1-2, the second antenna sensor 1-3, the 3rd antenna sensor 1-6, the second near infrared sensor 1-7, the 3rd near infrared sensor 1-9, the 4th antenna sensor 1-10, USB camera 1-19, wherein: under the automatically picking up balls pattern, the first antenna sensor 1-1, the first near infrared sensor 1-2, the second antenna sensor 1-3, the 3rd antenna sensor 1-6, the second near infrared sensor 1-7, the 3rd near infrared sensor 1-9, the 4th antenna sensor 1-10 is used for responding to barrier and range finding, realizes keeping away barrier and autonomous mobile function.
Pick up under the ball pattern in remote control, the USB camera 1-19 of robot front portion is used for the floor picture and is transferred to Android smart mobile phone 4 and notebook computer 5 by first wireless communication networks 2, and the auxiliary operation personnel control the robot motion.
As Fig. 3, Fig. 4, Fig. 5, shown in Figure 6, information processing system comprises flush bonding processor the one MCU1-15, flush bonding processor the 2nd MCU1-16, flush bonding processor the 3rd MCU1-17, flush bonding processor the 4th MCU 1-18 and wireless communication module 1-30, wherein, under the automatically picking up balls pattern, the first antenna sensor 1-1 around the bi-mode intelligent ball picking robot 1, the first near infrared sensor 1-2, the second antenna sensor 1-3, the 3rd antenna sensor 1-6, the second near infrared sensor 1-7, the 3rd near infrared sensor 1-9, the 4th antenna sensor 1-10 sends to flush bonding processor the 2nd MCU 1-16 with the data that collect, flush bonding processor the 2nd MCU 1-16 controls the first steering wheel 1-11, the second steering wheel 1-12, the 3rd steering wheel 1-21, the 4th steering wheel 1-22 rotates to reach the purpose of avoiding obstacles, flush bonding processor the one MCU 1-15 controls the 5th steering wheel 1-14 and continues to rotate, and the 5th steering wheel 1-14 control is picked up ball impeller 1-8 and rotated the spheroid of picking up the ball approach; Pick up under the ball pattern in remote control, USB camera 1-19 sends to Android smart mobile phone 4 and notebook computer 5 through first wireless communication networks 2 by the USB wireless network card 1-34 that flush bonding processor the 4th MCU1-18 controls with the image scene that collects, control personnel's employing wireless handle 6 and control the first steering wheel 1-11 through second wireless communication networks 3 by wireless module 1-30, the second steering wheel 1-12, the 3rd steering wheel 1-21, the rotation of the 4th steering wheel 1-22, flush bonding processor the one MCU1-15 control steering wheel the 5th 1-14 continues to rotate, and the 5th steering wheel 1-14 control is picked up ball impeller 1-8 rotation and reached the purpose that picks spheroid.
As shown in Figure 2, executing agency comprises the first steering wheel 1-11, the second steering wheel 1-12, the 3rd steering wheel 1-21, the 4th steering wheel 1-22, wireless controller 6, wherein, under the automatically picking up balls pattern, the first antenna sensor 1-1 around the robot, the first near infrared sensor 1-2, the second antenna sensor 1-3, the 3rd antenna sensor 1-6, the second near infrared sensor 1-7, the 3rd near infrared sensor 1-9, the 4th antenna sensor 1-10 sends to flush bonding processor the 2nd MCU 1-16 with the data that collect, flush bonding processor the 2nd MCU1-16 controls the first steering wheel 1-11, the second steering wheel 1-12, the 3rd steering wheel 1-21, the 4th steering wheel 1-22 action, flush bonding processor the one MCU 1-15 controls the 5th steering wheel 1-14 and continues to rotate, and the 5th steering wheel 1-14 control is picked up ball impeller 1-8 and rotated; Pick up under the ball pattern in remote control, flush bonding processor the one MCU1-15 controls the 5th steering wheel 1-14 and continues to rotate, the 5th steering wheel 1-14 control is picked up ball impeller 1-8 and is rotated, and the personnel that control are by wireless controller 6 the control first steering wheel 1-11, the second steering wheel 1-12, the 3rd steering wheel 1-21, the 4th steering wheel 1-22 action.
As Fig. 7, shown in Figure 8, ball picking up device comprises picks up ball impeller 1-8, storage ball box 1-44, wherein pick up ball impeller 1-8 and be made up of impeller shaft 1-39, the first blade 1-40, the second blade 1-41, the auxilliary plate 1-42 of first impeller, the auxilliary plate 1-43 of second impeller, the 5th steering wheel 1-14 links to each other with impeller shaft 1-39; Storage ball box 1-44 is 5 three-dimensional boxes, and kick back 1-45 is connected with storage ball box 1-44.
The ball process of specifically picking up of the present invention is: the concrete condition that the personnel of controlling look the court selects automatically picking up balls pattern or remote control to pick up a kind of in the ball pattern, under the automatically picking up balls pattern: the first antenna sensor 1-1 around the bi-mode intelligent ball picking robot 1, the first near infrared sensor 1-2, the second antenna sensor 1-3, the 3rd antenna sensor 1-6, the second near infrared sensor 1-7, the 3rd near infrared sensor 1-9, the 4th antenna sensor 1-10 sends to flush bonding processor the 2nd MCU 1-16 with the data that collect, flush bonding processor the 2nd MCU1-16 controls the first steering wheel 1-11, the second steering wheel 1-12, the 3rd steering wheel 1-21, the 4th steering wheel 1-22 rotates the purpose that reaches avoiding obstacles, flush bonding processor the one MCU 1-15 controls the 5th steering wheel 1-14 and continues to rotate, the 5th steering wheel 1-14 control is picked up ball impeller 1-8 and is rotated, and robot utilizes in traveling process to be picked up ball impeller 1-8 and the spheroid on the course is picked up and deposited in store up among the ball box 1-44; Pick up under the ball pattern in remote control, USB camera 1-19 sends to Android smart mobile phone 4 and notebook computer 5 with the image scene that collects by the USB wireless network card 1-34 that flush bonding processor the 4th MCU1-18 controls, the personnel that control are by the image scene through 2 transmission of first wireless communication networks, control the first steering wheel 1-11 by wireless controller 6 through second wireless communication networks 3, the second steering wheel 1-12, the 3rd steering wheel 1-2, the 4th steering wheel 1-22 is to the regional movement that has ball to exist, flush bonding processor the one MCU1-15 controls the 5th steering wheel 1-14 and continues to rotate, the 5th steering wheel 1-14 control is picked up ball impeller 1-8 and is rotated, and the personnel of controlling control robot and pick up ball impeller 1-8 in the process of spheroid motion and spheroid can be picked up and deposited among the storage ball box 1-44.
In sum, the bi-mode intelligent ball picking robot can be picked up in automatically picking up balls pattern and remote control and pick table tennis, tennis isosphere under the ball pattern, the characteristics that the dual-mode of operation pattern mutually combines can make ball picking robot adapt to various types of courts environment, realize the purpose that ball is efficiently picked up by robot.
Claims (6)
1. bi-mode intelligent ball picking robot control system is characterized in that this system is made up of bi-mode intelligent ball picking robot (1), first wireless communication networks (2), second wireless communication networks (3), Android smart mobile phone (4), notebook computer (5), wireless controller (6); Bi-mode intelligent ball picking robot (1) is made up of information acquisition system, information processing system, remote control system, executing agency, ball picking up device; Android smart mobile phone (4) and notebook computer (6) can and show the court view data that USB camera (1-19) collects by first wireless communication networks (2) transmission, reach real-time monitoring; Wireless controller (6) is controlled the motion of bi-mode intelligent ball picking robot (1) by second wireless communication networks (3); Native system has two kinds of mode of operations:
(1) automatically picking up balls pattern: by bi-mode intelligent robot (1) the first antenna sensor (1-1) on every side, first near infrared sensor (1-2), the second antenna sensor (1-3), the 3rd antenna sensor (1-6), second near infrared sensor (1-7), the 3rd near infrared sensor (1-9), the 4th antenna sensor (1-10) induction barrier, the data that collect are sent to flush bonding processor the 2nd MCU (1-16) to be handled, flush bonding processor the 2nd MCU(1-16) control first steering wheel (1-11), second steering wheel (1-12), the 3rd steering wheel (1-21), the 4th steering wheel (1-22) action realizes keeping away barrier, flush bonding processor the one MCU(1-15) control the 5th steering wheel (1-14) continues to rotate, the 5th steering wheel (1-14) control is picked up ball impeller (1-8) and is rotated, will by way of table tennis or tennis through picking up;
(2) the ball pattern is picked up in remote control: by anterior USB camera (1-19) the floor picture of bi-mode intelligent robot (1), by first wireless communication networks (2) with the photo site that collects by flush bonding processor the 4th MCU(1-18) send to Android smart mobile phone (4) and notebook computer (5) after handling, wireless controller (6) by second wireless communication networks (3) through flush bonding processor the 3rd MCU(1-17) handle the back and control first steering wheel (1-11), second steering wheel (1-12), the 3rd steering wheel (1-21), the 4th steering wheel (1-22) action, realize manually keeping away barrier, flush bonding processor the one MCU (1-15) control the 5th steering wheel (1-14) continues to rotate, the 5th steering wheel (1-14) control is picked up ball impeller (1-8) and is rotated, will by way of table tennis or tennis pick up.
2. bi-mode intelligent ball picking robot according to claim 1 (1) information acquisition system, it is characterized in that: information acquisition system comprises the first antenna sensor (1-1), first near infrared sensor (1-2), the second antenna sensor (1-3), the 3rd antenna sensor (1-6), second near infrared sensor (1-7), the 3rd near infrared sensor (1-9), the 4th antenna sensor (1-10), USB camera (1-19), wherein: under the automatically picking up balls pattern, the first antenna sensor (1-1), first near infrared sensor (1-2), the second antenna sensor (1-3), the 3rd antenna sensor (1-6), second near infrared sensor (1-7), the 3rd near infrared sensor (1-9), the 4th antenna sensor (1-10) is used for responding to barrier, realizes barrier avoiding function; Pick up under the ball pattern in remote control, USB camera (1-19) be used for the floor picture and by first wireless communication networks (2) with the photo site that collects by flush bonding processor the 4th MCU(1-18) send to Android smart mobile phone (4) and notebook computer (5) after the processing, for controlling the convenient control of personnel robot motion, realize the man-machine communication.
3. bi-mode intelligent ball picking robot according to claim 1 (1) information processing system, it is characterized in that: information processing system comprises flush bonding processor the one MCU(1-15), flush bonding processor the 2nd MCU(1-16), flush bonding processor the 3rd MCU(1-17) adopts the LPC2138 microprocessor, flush bonding processor the 4th MCU(1-18) adopts the S3C2440 microprocessor, communication module in first wireless communication networks (2) adopts USB wireless network card (1-34), and the wireless communication module (1-30) that uses in second wireless communication networks (3) adopts the infrared-ray communication module, the GPRS network module, ZigBee wireless communication networks module or wireless digital broadcasting station.
4. bi-mode intelligent ball picking robot according to claim 1 (1) remote control system, it is characterized in that: remote control system comprises USB camera (1-19), wireless communication networks (3), flush bonding processor the 4th MCU(1-18), Android smart mobile phone (4), notebook computer (5), wireless controller (6), wireless module (1-30), flush bonding processor the 3rd MCU(1-17), wherein: pick up under the ball pattern in remote control, USB camera (1-19) with the image scene that collects by flush bonding processor the 4th MCU(1-18) handle and send to Android smart mobile phone (4) and notebook computer (5) by first wireless communication networks (2), wireless controller (6) by second wireless communication networks (3) through flush bonding processor the 3rd MCU(1-17) control robot motion after handling.
5. bi-mode intelligent ball picking robot according to claim 1 (1) executing agency, it is characterized in that: executing agency comprises picks up ball impeller (1-8), first steering wheel (1-11), second steering wheel (1-12), the 3rd steering wheel (1-21), the 4th steering wheel (1-22), the 5th steering wheel (1-14), wherein: under the automatically picking up balls pattern, the first antenna sensor (1-1) around the robot, first near infrared sensor (1-2), the second antenna sensor (1-3), the 3rd antenna sensor (1-6), second near infrared sensor (1-7), the 3rd near infrared sensor (1-9), the 4th antenna sensor (1-10) sends to flush bonding processor the 2nd MCU (1-16) with the data that collect, flush bonding processor the 2nd MCU(1-16) control first steering wheel (1-11), second steering wheel (1-12), the 3rd steering wheel (1-21), the 4th steering wheel (1-22) action, flush bonding processor the one MCU(1-15) control the 5th steering wheel (1-14) continues to rotate, and the 5th steering wheel (1-14) control is picked up ball impeller (1-8) and rotated; Pick up under the ball pattern in remote control, flush bonding processor the one MCU (1-15) control the 5th steering wheel (1-14) continues to rotate, the 5th steering wheel (1-14) control is picked up ball impeller (1-8) and is rotated, and the personnel that control control first steering wheel (1-11), second steering wheel (1-12), the 3rd steering wheel (1-21), the 4th steering wheel (1-22) action by remote control system.
6. bi-mode intelligent ball picking robot according to claim 1 (1) ball picking up device is characterized in that: ball picking up device comprises the 5th steering wheel (1-14), picks up ball impeller (1-8), kick back (1-45), storage ball box (1-44); This ball picking up device utilizes the 5th steering wheel (1-14) control to pick up the lasting rotation of ball impeller (1-8), and then reaches picking purpose, and storage ball box (1-44) is the simple solid box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101550911A CN103264395A (en) | 2013-04-29 | 2013-04-29 | Double-mode intelligent ball-picking robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101550911A CN103264395A (en) | 2013-04-29 | 2013-04-29 | Double-mode intelligent ball-picking robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103264395A true CN103264395A (en) | 2013-08-28 |
Family
ID=49008081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013101550911A Pending CN103264395A (en) | 2013-04-29 | 2013-04-29 | Double-mode intelligent ball-picking robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103264395A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105963936A (en) * | 2016-07-05 | 2016-09-28 | 东南大学 | Tennis ball pick-up machine and control system thereof |
| CN107137890A (en) * | 2016-09-27 | 2017-09-08 | 五邑大学 | A kind of intelligent tennis ball pickup robot based on image recognition |
| CN108714297A (en) * | 2018-05-25 | 2018-10-30 | 昆明理工大学 | A kind of table tennis balls collecting machine people of automatic obstacle avoiding |
| CN110682303A (en) * | 2019-10-15 | 2020-01-14 | 江苏艾什顿科技有限公司 | Intelligent robot training device, control system and method |
| CN112684739A (en) * | 2020-12-15 | 2021-04-20 | 深圳市童心网络有限公司 | Building block robot control system and control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201107651Y (en) * | 2007-11-23 | 2008-08-27 | 北京工业大学 | Intelligent home service housekeeper system |
| CN101579857A (en) * | 2008-12-12 | 2009-11-18 | 北京理工大学 | Automatic ball-picking robot |
| CN201799072U (en) * | 2010-08-10 | 2011-04-20 | 刘峰 | Automatic ping-pong ball picking device |
| CN102340894A (en) * | 2011-08-26 | 2012-02-01 | 东北大学 | Wireless-sensor-network-based remote control rescue robot system and control method |
| CN102614641A (en) * | 2012-03-15 | 2012-08-01 | 上海电力学院 | Intelligent integrated tennis ball picking robot |
| CN203191821U (en) * | 2013-04-29 | 2013-09-11 | 兰州理工大学 | Control system of dual-mode intelligent ball-picking robot |
-
2013
- 2013-04-29 CN CN2013101550911A patent/CN103264395A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201107651Y (en) * | 2007-11-23 | 2008-08-27 | 北京工业大学 | Intelligent home service housekeeper system |
| CN101579857A (en) * | 2008-12-12 | 2009-11-18 | 北京理工大学 | Automatic ball-picking robot |
| CN201799072U (en) * | 2010-08-10 | 2011-04-20 | 刘峰 | Automatic ping-pong ball picking device |
| CN102340894A (en) * | 2011-08-26 | 2012-02-01 | 东北大学 | Wireless-sensor-network-based remote control rescue robot system and control method |
| CN102614641A (en) * | 2012-03-15 | 2012-08-01 | 上海电力学院 | Intelligent integrated tennis ball picking robot |
| CN203191821U (en) * | 2013-04-29 | 2013-09-11 | 兰州理工大学 | Control system of dual-mode intelligent ball-picking robot |
Non-Patent Citations (2)
| Title |
|---|
| 徐晓亮: "《家用伙伴机器人控制***的研制》", 1 June 2011 * |
| 王研: "《基于Boe_Bot平台的移动机器人故障软件***的设计与开发》", 31 October 2010 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105963936A (en) * | 2016-07-05 | 2016-09-28 | 东南大学 | Tennis ball pick-up machine and control system thereof |
| CN107137890A (en) * | 2016-09-27 | 2017-09-08 | 五邑大学 | A kind of intelligent tennis ball pickup robot based on image recognition |
| CN108714297A (en) * | 2018-05-25 | 2018-10-30 | 昆明理工大学 | A kind of table tennis balls collecting machine people of automatic obstacle avoiding |
| CN110682303A (en) * | 2019-10-15 | 2020-01-14 | 江苏艾什顿科技有限公司 | Intelligent robot training device, control system and method |
| CN112684739A (en) * | 2020-12-15 | 2021-04-20 | 深圳市童心网络有限公司 | Building block robot control system and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203191821U (en) | Control system of dual-mode intelligent ball-picking robot | |
| CN103264395A (en) | Double-mode intelligent ball-picking robot control system | |
| CN105427661B (en) | Large parking lot parking stall measure system and its working method based on solar energy unmanned aerial vehicle group | |
| CN101709954B (en) | Overhead wire icing on-line monitoring device based on machine vision | |
| CN105856186A (en) | Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof | |
| CN103345252A (en) | Intelligent ball-picking robot system and ball-picking method thereof | |
| CN104345355A (en) | Device, method and system for collecting and processing weather data and images | |
| CN101707734A (en) | Adaptive acquiring and sending device for mobile time-space positioning video-audio data | |
| CN104175308A (en) | Self-service robot | |
| Xin et al. | Design and implementation of debris search and rescue robot system based on internet of things | |
| CN203191819U (en) | Home service robot | |
| CN107444805A (en) | A kind of management system for urban dustbin cleaning | |
| CN106956264A (en) | A kind of long-distance remote control system of electric inspection process robot | |
| CN107995279A (en) | A kind of intelligent robot and remote control thereof of remote control cleaning | |
| CN104615133A (en) | Remote control method and system for cleaning robot | |
| CN107807538A (en) | The virtual projection switching system and method for work of a kind of smart home | |
| CN203324817U (en) | Intelligent ball-picking up robot system | |
| CN203779486U (en) | Intelligent multifunctional home robot | |
| CN204209679U (en) | Autonomous service robot | |
| CN107550400A (en) | A kind of sweeping robot | |
| CN208590248U (en) | A kind of multifunctional intellectual sampler | |
| CN207541443U (en) | A kind of intelligent garbage collects control system | |
| CN107336932A (en) | A kind of automatic switch environment-protection garbage can based on infrared induction | |
| CN202967259U (en) | Automatic garbage cleaning system | |
| CN205142353U (en) | Solar energy surveillance camera head with wireless function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130828 |