CN116392787A

CN116392787A - Large ball automatic collection robot based on binocular vision

Info

Publication number: CN116392787A
Application number: CN202310404170.5A
Authority: CN
Inventors: 伍锡如; 刘昊鹏; 刘金霞; 罗文辉; 柳标
Original assignee: Guilin University of Electronic Technology
Current assignee: Guilin University of Electronic Technology
Priority date: 2023-04-17
Filing date: 2023-04-17
Publication date: 2023-07-07

Abstract

The invention relates to the field of robots, in particular to a binocular vision-based large-scale ball automatic collection robot, which comprises a shell, a movement mechanism, a recognition mechanism, an obstacle avoidance mechanism, a grabbing mechanism, a storage mechanism, a control mechanism and a power supply mechanism, wherein the movement mechanism comprises four wheels; the identification mechanism is composed of a camera; the grabbing mechanism is a mechanical arm; the control mechanism is a display screen; the power supply mechanism is a rechargeable lithium battery. The robot moves in the field through the motion mechanism, catches the spheroid that drops on the ground through recognition mechanism, prevents to touch the barrier through avoiding barrier mechanism, snatchs the spheroid that drops on the ground through snatching the mechanism, loads the ball through storage mechanism, instructs the robot to select working mode with the display screen through controlling the mechanism, helps the robot to provide power through power supply mechanism, thereby helps the sportsman of professional training to do more efficient training on the court without consuming time and picking up the spheroid that falls around.

Description

Large ball automatic collection robot based on binocular vision

Technical Field

The invention belongs to the field of robots, and particularly relates to a binocular vision-based automatic large ball collection robot.

Background

Basketball player's action of training basketball on basketball court is comparatively general to and volleyball player also can carry out many times on volleyball court and receive and send out the ball training, because training time is valuable can not waste time to pick up the ball that scatters everywhere, and the person of standing still must not have the special staff to help and pick up the ball, and the sportsman needs a large amount of exercises again, often a point position need carry out the training of hundreds of times, for sportsman's training smoothness and training efficiency, the urgent needs are solved and are scattered the problem everywhere on the court.

Disclosure of Invention

The invention provides a binocular vision-based large ball automatic collection robot, which aims to solve the problems: the device comprises a shell, a motion mechanism, a recognition mechanism, an obstacle avoidance mechanism, a grabbing mechanism, a storage mechanism, a control mechanism and a power supply mechanism; the motion mechanism comprises four driving wheels; the recognition mechanism consists of binocular cameras, wherein the binocular cameras are in four groups and are distributed around the shell; the obstacle avoidance mechanism is composed of laser radars arranged around the shell; the grabbing mechanism comprises a first mechanical arm and a second mechanical arm, the first mechanical arm and the second mechanical arm are paired, the second mechanical arm and the first mechanical arm are sequentially hinged, the second mechanical arm is provided with a circular arc-shaped clamp which is convenient for clamping balls, and the contact surface of the clamp and the ball body is covered with rubber so as to increase friction between the clamp and the ball body and prevent the ball body from falling off after clamping; the storage mechanism consists of a detachable ball storage basket with the length and the width of 80cm and the height of 50cm, and ten balls with the seventh size can be approximately filled in the detachable ball storage basket, and a sponge cushion is padded at the bottom of the detachable ball storage basket, so that impact force of the balls on the bottom of the shell when the balls are put in the detachable ball storage basket is buffered; the control mechanism consists of a display screen, and the display screen is provided with a plurality of functions for a user to select, for example, the user needs to perform mobile shooting training, and the robot can follow Bluetooth equipment on the user to perform follow movement; the power supply mechanism is composed of a lithium battery and a charging device. The robot can move in the court through the motion mechanism, discerns the spheroid that drops on the ground in to the court through recognition mechanism, accomplishes the location of robot and the map of setting up of court through avoiding barrier mechanism to the court, snatchs the spheroid that will drop on the ground through snatch the mechanism, loads the spheroid through storage mechanism, instructs the robot with the display screen through controlling the mechanism, helps the robot to provide power through power supply mechanism, thereby helps the sportsman of professional training to do more high-efficient training on the court without consuming time and picking up the spheroid that falls around.

Preferably, the driving wheel comprises four wheels which are symmetrically designed in pairs, the four wheels are driven by a motor, the four wheels are all positioned at the lower end of the shell, and the wheels are positioned on the same rolling plane.

Preferably, a shell is fixed on the chassis, and the motor rotating shaft penetrates through the ground disc to be connected with the shell.

Preferably, a visual recognition camera is arranged around the shell.

Preferably, a laser radar is arranged around the shell.

Preferably, a touch display screen is arranged on the shell.

Preferably, the shell is provided with two mechanical arms.

The invention has the following beneficial effects: the robot can move on a court through a movement mechanism, a camera of a recognition mechanism captures a ball falling on the court, the robot advances to the front of the ball through the movement mechanism, the ball on the ground is grabbed and placed to a storage mechanism through a grabbing mechanism, the ball is stored through the storage mechanism, and the robot can be controlled to perform more functions through a control mechanism. Thereby helping athletes to train in a large and efficient manner.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the whole front structure of a large-scale ball automatic collection robot based on binocular vision in the embodiment of the invention;

FIG. 2 is a schematic diagram of the overall structure of a large-scale ball automatic collection robot based on binocular vision in an embodiment of the invention;

FIG. 3 is a schematic view of a storage mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic view of a part of a grabbing mechanism according to an embodiment of the present invention;

the reference numerals of the various parts in the drawings illustrate: 1-a housing; 2-a camera; 3-laser radar; 4-wheels; 5-a motor; 6-touching the display screen; 7-a storage basket; 8-a handle; 9-a manipulator base; 10-a mechanical big arm; 11-manipulator rotation joints; 12-a mechanical arm; 13-a mechanical wrist; 14-mechanical palm.

Detailed description of the preferred embodiments

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The technical means used in the examples are conventional means well known to those skilled in the art unless otherwise indicated.

In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

As shown in FIG. 1, the intelligent ball picking robot based on the visual basketball court comprises a shell 1, a camera 2, a laser radar 3, wheels 4, a motor 5, a touch display screen 6, a storage basket 7, a handle 8, a manipulator base 9, a mechanical large arm 10, a manipulator rotating joint 11, a mechanical small arm 12, a mechanical wrist 13 and a mechanical palm 14. A plurality of mounting parts are arranged in the shell 1 and used for mounting the various mechanisms; the identification mechanism comprises a camera 2; the obstacle avoidance structure comprises a laser radar 3; the motion mechanism comprises four wheels 4 and four corresponding motors 5; the operating mechanism comprises a touch display screen 6; the storage mechanism comprises a storage basket 7 and a handle 8; the grabbing mechanism comprises a manipulator base 9, a manipulator big arm 10, a manipulator rotating joint 11, a manipulator small arm 12, a manipulator wrist 13 and a manipulator palm 14.

As the preferable scheme, the action wheel includes two wheel 4 that set up of symmetry, four wheel 4 are connected to casing 1, four wheel 4 passes through motor drive, four wheel 4 all set up casing 1 lower extreme is located same rolling plane, drive four wheel 4 respectively through independent motor 5, like this four wheel 4 can all accomplish the steering function, make four wheel 4 driven robot its mobility better, accomplish steering through the slip between four wheel 4 rotations and the ground, specific motion control can directly adopt prior art, here adopts four wheel drive's technical purpose to let intelligent ball picking robot can more nimble free motion in basketball court, four wheel 4 all are the universal wheel, provide the supporting role, and can provide power.

As the preferable scheme, the camera 2 shoots the court ground, and the camera 2 is arranged around the shell 1, so that 360-degree all-directional distance measurement and 4000 times/second speed measurement can be realized, and the position of the ball body can be captured more quickly.

As a preferable solution, the laser radar 3 adopts a high-performance SLAM navigation technology, so that an indoor environment map can be accurately constructed, and then a path towards a target is planned by using navigation.

As a preferred scheme, FIG. 3 is a schematic structural diagram of the storage mechanism, which comprises a storage basket 7 and two handles 8, wherein the storage basket 7 is a detachable basketball storage basket with the length and width of 80cm and the height of 50cm, and can be filled with ten No. seven basketball, and a sponge cushion is padded at the bottom of the detachable basketball storage basket 7, so that impact force on the bottom of the shell when the basketball is put in is buffered. Two handles 8 are arranged on the upper part of the storage basket 7, so that the storage basket 7 can be conveniently taken out.

As a preferable solution, the housing 1 is provided with a touch display screen 6, and the movement mode of the robot can be controlled by the touch display screen 6, and the controlled signal source can be sent by a bluetooth device carried by a user, so that the function to be executed by the robot can be selected.

As a preferred scheme, fig. 4 is a schematic structural diagram of the grabbing mechanism, and the grabbing mechanism is composed of a manipulator base 9, a manipulator arm 10, a manipulator rotating joint 11, a manipulator arm 12, a manipulator wrist 13 and a manipulator palm 14. The manipulator base 9 is arranged on the shell 1, the manipulator 10 is arranged on the manipulator base 9 so as to rotate, the manipulator rotary joint 11 is used for connecting the manipulator 12 with the manipulator 10, the arc-shaped manipulator palm 14 is arranged on the manipulator wrist 13, the manipulator is a pair, and the joint grabbing sphere stability of the manipulator is better.

As a preferable scheme, a power supply is arranged in the robot shell 1, various mechanisms are powered by the power supply, and a 5200mAh lithium battery is used for at least four hours of cruising.

Based on this, can set up the motion mechanism into controllable form, say the motor of motion mechanism passes through control signal control, this control signal adopts among the prior art to control the motion mechanism, and the source of this signal can be sent by the APP that the user carried the cell-phone, the purpose is for letting the user select by oneself to the function that wants the robot to accomplish, this technique is prior art, concretely speaking, send control information through cell-phone APP, this control information passes through wireless communication's mode and transmits to the receiver that sets up on the robot, set up a central processing unit on the robot, central processing unit controls the motor according to control information can, this is unnecessary here.

As a preferred solution, the robot has good collision resistance to avoid mechanical errors caused by collisions with basketball.

The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications, alterations, and substitutions made by those skilled in the art to the technical solution of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. A binocular vision-based large ball automatic collection robot is characterized in that,

the device comprises a shell, a motion mechanism, a recognition mechanism, an obstacle avoidance mechanism, a grabbing mechanism, a storage mechanism, a control mechanism and a power supply mechanism; the motion mechanism comprises four driving wheels; the recognition mechanism consists of binocular cameras, wherein the binocular cameras are in four groups and are distributed around the shell; the obstacle avoidance structure is formed by a laser radar; the grabbing mechanism comprises a pair of mechanical arms; the storage mechanism consists of a detachable ball storage basket with the length and the width of 80cm and the height of 50cm, and ten balls with the seventh size can be approximately filled in the detachable ball storage basket, and a sponge cushion is padded at the bottom of the detachable ball storage basket, so that impact force of the balls on the bottom of the shell when the balls are put in the detachable ball storage basket is buffered; the control mechanism consists of a display screen, and the display screen is provided with a plurality of functions for a user to select; the power supply mechanism is composed of a lithium battery and a charging device. The robot can move in the court through the motion mechanism, carries out coordinate positioning in to the court through identifying mechanism, and the location drops the spheroid on the ground, snatchs the spheroid that drops on the ground through snatch the mechanism, loads the ball through storage mechanism, instructs the robot to carry out different functions through controlling the mechanism with the display screen, helps the robot to provide power through power supply mechanism.

2. The binocular vision-based automatic collection robot for large balls according to claim 1, wherein: the driving wheel comprises four wheels which are symmetrically designed in pairs, the four wheels are driven by a motor, a motor rotating shaft penetrates through the ground disc and is connected with the shell, the four wheels are located at the lower end of the shell, and the wheels are located on the same rolling plane.

3. The binocular vision-based automatic collection robot for large balls according to claim 2, wherein: visual recognition cameras are arranged around the shell; the laser radar is arranged around the shell to finish the positioning and obstacle avoidance of the robot; the shell is provided with a touch display screen, the function which the robot wants to execute can be selected through the touch display screen, for example, scattered balls around in a court are picked up, or the robot moves along with a player, so that the player can train at different points on the court; two mechanical arms are arranged on the shell, and each mechanical arm consists of a mechanical arm base, a mechanical big arm, a mechanical arm rotating joint, a mechanical small arm, a mechanical wrist and a mechanical palm.