CN207309951U - A kind of intelligent ball collecting robot - Google Patents
A kind of intelligent ball collecting robot Download PDFInfo
- Publication number
- CN207309951U CN207309951U CN201720782078.2U CN201720782078U CN207309951U CN 207309951 U CN207309951 U CN 207309951U CN 201720782078 U CN201720782078 U CN 201720782078U CN 207309951 U CN207309951 U CN 207309951U
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- arm
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- ball collecting
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Abstract
The utility model discloses a kind of intelligent ball collecting robot, including image processing system, multi-sensor information data handling system and control system, image processing system includes holder, camera module, FPGA module, multi-sensor information data handling system includes wireless communication module, GPS location module, nine axis attitude detecting sensor modules, ultrasonic distance measuring module and coder module, and control system includes front-wheel steer steering engine, rear wheel drive circuit, motor and free arm mechanism.Compared with prior art, a kind of intelligent ball collecting robot of the utility model, carry out image recognition at high speed using FPGA module and track, and the Collaborative Control of microcontroller so that intelligent ball collecting robot has the intelligence of height, using optimization path, so that ball picking-up efficiency greatly improves, being used cooperatively for FPGA module and microcontroller, improves the execution efficiency of code, greatly shortens the working unit cycle.
Description
Technical field
The utility model is related to a kind of intelligent ball collecting robot, it is particularly a kind of applied to the venue such as football be used for pick up ball
Intelligent robot, belong to intelligent machine.
Background technology
Since football venue is larger, so that it is a burdensome and cumbersome manual labor manually to pick up ball work, people
Continuously attempt to be replaced manually with intelligent robot to be engaged in this work.At present, it has been suggested that the novel intelligent of patent application picks up ball
Robot（Application number：CN201620198714.2）Using the method for PLC controller combination image acquisition and processing device, solve and pick up
The problem of taking tennis.But do not have obvious effect for the larger football of volume.Therefore, research and development are a kind of large-scale for football etc.
Ball and large stadium intelligent ball collecting robot is to improve ball picking-up efficiency, intelligent lifting is very necessary.
Utility model content
The utility model technical issues that need to address are in view of the above shortcomings of the prior art, and to provide a kind of for foot
Court etc. is large-scale ball and ball intelligent ball collecting robot of large stadium, solves the problems, such as manually to pick up ball time-consuming and laborious.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of intelligent ball collecting robot, including the robot chassis with microcontroller, are provided with one group on robot chassis
Front-wheel and one group of trailing wheel, have image processing system, multi-sensor information data handling system and control on robot chassis
System, described image processing system include holder, camera module, FPGA module, and camera module is located on holder, FPGA moulds
Block connection camera module and microcontroller, the multi-sensor information data handling system include wireless communication module, GPS
Position module, nine axis attitude detecting sensor modules, ultrasonic distance measuring module and coder module, ultrasonic distance measuring module are located at
Robot chassis front end, coder module are divided into the left back turns encoder being arranged at left rear wheel and the right side being arranged at off hind wheel
Turns encoder afterwards, the control system include front-wheel steer steering engine, rear wheel drive circuit, motor and free arm mechanism, freely
Arm mechanism is located at robot chassis front end, and left rear wheel direct current generator, off hind wheel encoder are provided with by the left back turns encoder
Side is provided with off hind wheel direct current generator, and the rear end on the robot chassis is additionally provided with power module.
As further preferred solution, it is right that the free arm mechanism includes first free degree of mechanical arm right arm, mechanical arm
Upper arm, second free degree of mechanical arm right arm, mechanical arm right forearm, first free degree of mechanical arm left arm, mechanical arm left upper arm, machinery
Second free degree of arm left arm, mechanical arm left forearm, first free degree of mechanical arm right arm and first free degree of mechanical arm left arm
Robot chassis front end position is arranged on, mechanical arm right upper arm one end, which longitudinally rotates, is connected to first free degree of mechanical arm right arm
On, mechanical arm left upper arm one end, which longitudinally rotates, to be connected in first free degree of mechanical arm left arm, second free degree of mechanical arm right arm
The other end of mechanical arm right upper arm is located at, second free degree of mechanical arm left arm is located at the other end of mechanical arm left upper arm, mechanical arm
Right forearm one end lateral rotation is connected in second free degree of mechanical arm right arm, and mechanical arm left forearm one end lateral rotation is connected to
In second free degree of mechanical arm left arm.
As further preferred solution, there is mainboard on the robot chassis, the FPGA module, GPS sensor,
Nine axis attitude detecting sensor modules, wireless communication module, microcontroller, motor-drive circuit are integrated on mainboard.
As further preferred solution, liquid crystal display is additionally provided with the mainboard.
As further preferred solution, the left back turns encoder, left rear wheel direct current generator, off hind wheel encoder, the right side
Trailing wheel direct current generator is arranged at below chassis.
Beneficial effect
Compared with prior art, a kind of intelligent ball collecting robot of the utility model, using FPGA module at high speed into
Row image recognition simultaneously tracks, and the Collaborative Control of microcontroller so that intelligent ball collecting robot has the intelligence of height, uses
Optimization path so that ball picking-up efficiency greatly improves, and FPGA module and microcontroller are used cooperatively, and improve code performs effect
Rate, greatly shortens the working unit cycle.
Brief description of the drawings
Fig. 1 is the global design top view of the utility model；
Fig. 2 is the side view of the utility model；
Fig. 3 is the work flow diagram of the utility model；
Wherein, 101- mechanical arms right forearm, 102- mechanical arm left forearms, 201- mechanical arms second free degree of right arm, 202-
Second free degree of mechanical arm left arm, 301- mechanical arm right upper arms, 302- mechanical arm left upper arms, 4- ultrasonic wave modules, 5- cameras
Module, 6- cradle head of two degrees of freedom, 701- mechanical arms first free degree of right arm, 702- mechanical arms first free degree of left arm, 9- front-wheels
Steering-engine, 10- robots chassis, 11- mainboards, 12- liquid crystal displays, 13- wireless communication modules, 14- microcontrollers, 15-GPS
Sensor, 16-FPGA modules, nine axis attitude detecting sensor modules of 17-, 18- motor-drive circuits, 2001- off hind wheel direct currents
Motor, 2002- left rear wheel direct current generators, 2101- off hind wheel encoders, the left back turns encoders of 2102-, 22- power modules.
Embodiment
Describe the optimal technical scheme of the utility model in detail below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of intelligent ball collecting robot of the utility model, including the machine with microcontroller 14
People chassis 10, is provided with one group of front-wheel and one group of trailing wheel on robot chassis 10, has image procossing system on robot chassis 10
System, multi-sensor information data handling system and control system；
Described image processing system includes holder 6, camera module 5, FPGA module 16, and camera module 5 is located at holder 6
On, 16 connection camera module 5 of FPGA module and microcontroller 14, the holder 6 of intelligent ball collecting robot have two freedom
Degree direction is rotating, which be made of the stepper motor of a horizontal direction and a vertical direction installation, passes through frame
The camera module 5 being located on holder 6 carries out the real-time collection of image, is input to FPGA module 16 and carries out data processing, then will
Obtained information is handled to be transferred in microcontroller 14；
The multi-sensor information data handling system includes wireless communication module 13, GPS location module 15, nine axis postures
Detection sensor module 17, ultrasonic distance measuring module 4 and coder module, ultrasonic distance measuring module 4 are located at robot chassis 10
Front end, coder module is divided into the left back turns encoder 2102 being arranged at left rear wheel and the off hind wheel being arranged at off hind wheel is compiled
Code device 2101, by the processing data of the data of modules, 6 crank degree of holder and FPGA module 16 in microcontroller 14 into
The data of modules are transferred to host computer by row integrated treatment by wireless communication module 13 in real time, and by current number
Shown according on liquid crystal display 12；
The control system includes front-wheel steer steering engine 9, rear wheel drive circuit 18, motor 20 and free arm mechanism, from
10 front end of robot chassis is located at by arm mechanism, left rear wheel direct current generator 2002 is provided with by the left back turns encoder 2102,
Off hind wheel direct current generator 2001 is provided with by off hind wheel encoder 2101, the rear end on the robot chassis 10 is additionally provided with power supply
Module 22, front-wheel steer steering engine 9 carry out the course changing control to front-wheel, 14 output pwm signal of microcontroller to rear wheel drive circuit 18,
Measure 20 rotating speed of direct current generator in real time using coder module, realize the rotational speed regulation control to trailing wheel direct current generator 20；In order to
The front and rear gravity balance of whole robot is kept, power module 22 is installed on to the rear side of intelligent ball collecting robot；In order to increase
The height of robot chassis 10, for steering engine 9 on robot chassis 10, steering engine 9 connects the axis of front-wheel also under robot chassis 10
Side；Direct current generator 20 is installed on the lower section of robot chassis 10, and encoder 21 is also installed on 10 lower section direct current generator of robot chassis
20 sides.
The free arm mechanism includes first free degree of mechanical arm right arm 701, mechanical arm right upper arm 301, mechanical arm right arm
Second free degree 201, mechanical arm right forearm 101, first free degree of mechanical arm left arm 702, mechanical arm left upper arm 302, mechanical arm
Second free degree of left arm 202, mechanical arm left forearm 102, first free degree of mechanical arm right arm 701 and mechanical arm left arm first
The free degree 702 is arranged on 10 front position of robot chassis, and 301 one end of mechanical arm right upper arm, which longitudinally rotates, is connected to the mechanical arm right side
In first free degree of arm 701,302 one end of mechanical arm left upper arm, which longitudinally rotates, to be connected in first free degree of mechanical arm left arm 702,
Second free degree of mechanical arm right arm 201 is located at the other end of mechanical arm right upper arm 301, and second free degree of mechanical arm left arm 202 is set
In the other end of mechanical arm left upper arm 302,101 one end lateral rotation of mechanical arm right forearm is connected to mechanical arm right arm second freely
On degree 201,102 one end lateral rotation of mechanical arm left forearm is connected in second free degree of mechanical arm left arm 202, mechanical arm right arm
Second free degree, 201 control machinery arm right forearm 101 swings, left second free degree of joint, 202 control machine of mechanical arm
Tool arm left forearm 102 swings, and first free degree of mechanical arm right arm, 701 control machinery arm right upper arm 301 carries out up and down
Swing, first free degree of mechanical arm left arm, 702 control machinery arm left upper arm 302 swings up and down.
In order to effectively utilize space, there is mainboard 11 on the robot chassis 10, the FPGA module 16, GPS are passed
Sensor 15, nine axis attitude detecting sensor modules 17, wireless communication module 13, microcontroller 14, motor-drive circuit 18 are integrated in
On mainboard 11.
Liquid crystal display 12 is additionally provided with the mainboard 11.
The left back turns encoder 2102, left rear wheel direct current generator 2002, off hind wheel encoder 2101, off hind wheel direct current
Machine 2001 is arranged at the lower section of chassis 10.
Workflow is as follows：
Power on, enable ultrasonic distance measuring module 4, detected whether barrier；
Image processing system is opened, microcontroller 14 controls two freedom degree rotatings of holder 6, while camera 5 carries out figure
As collection, view data is transmitted in FPGA module 16 and carries out data processing, when recognizing football, by the data after processing
It is transferred in microcontroller 14,6 two freedom degree rotatings of holder is controlled by microcontroller 14, the center for the football for making to detect is kept
In the center of image, 6 two freedom degree rotating angles of holder are shown in liquid crystal display 12, and pass through wireless communication module
13 are transferred in host computer；
According to the corner of the laterally free degree of holder 6, the travel direction of robot is adjusted；According to the longitudinal direction of holder 6 freely
The corner of degree, calculates football apart from robot approximate distance.According to the approximate distance calculated, control the traveling of robot fast
Degree, when close to target, by 4 detecting distance of ultrasonic wave module, keeps suitable distance, mechanical arm mechanism is opened, first by machinery
Arm left forearm 102 and mechanical arm right forearm 101 close up crawl football relatively, recycle mechanical arm left upper arm 302 and mechanical arm right
Football is lifted in activity to upper arm 301 upwards；
The coordinate that is collected according to current GPS module 15 and need to return to the gps coordinate in place, calculate traveling side
To with distance, under the auxiliary of the magnetic sensor of nine axis attitude detecting sensor modules 17, return designated position.
Claims (5)
- A kind of 1. intelligent ball collecting robot, it is characterised in that:Including the robot chassis (10) with microcontroller (14), robot One group of front-wheel and one group of trailing wheel are installed on chassis (10), there is image processing system, multisensor on robot chassis (10) Information data handling system and control system, described image processing system include holder (6), camera module (5), FPGA moulds Block (16), camera module (5) are located on holder (6), FPGA module (16) connection camera module (5) and microcontroller (14), the multi-sensor information data handling system includes wireless communication module (13), GPS location module (15), nine axis appearances State detection sensor module (17), ultrasonic distance measuring module (4) and coder module, ultrasonic distance measuring module (4) are located at machine People chassis (10) front end, coder module are divided into the left back turns encoder (2102) being arranged at left rear wheel and are arranged on off hind wheel The off hind wheel encoder (2101) at place, the control system include front-wheel steer steering engine (9), rear wheel drive circuit (18), motor (20) and free arm mechanism, free arm mechanism are located at robot chassis (10) front end, and the left back turns encoder (2102) is other Left rear wheel direct current generator (2002) is provided with, off hind wheel direct current generator (2001), institute are provided with by off hind wheel encoder (2101) The rear end for stating robot chassis (10) is additionally provided with power module (22).
- A kind of 2. intelligent ball collecting robot according to claim 1, it is characterised in that:The free arm mechanism includes machinery Before first free degree of arm right arm (701), mechanical arm right upper arm (301), second free degree of mechanical arm right arm (201), the mechanical arm right side Arm (101), first free degree of mechanical arm left arm (702), mechanical arm left upper arm (302), second free degree of mechanical arm left arm (202), mechanical arm left forearm (102), first free degree of mechanical arm right arm (701) and first free degree of mechanical arm left arm (702) robot chassis (10) front position is arranged on, mechanical arm right upper arm (301) one end, which longitudinally rotates, is connected to the mechanical arm right side In first free degree of arm (701), mechanical arm left upper arm (302) one end, which longitudinally rotates, is connected to first free degree of mechanical arm left arm (702) on, second free degree of mechanical arm right arm (201) is located at the other end of mechanical arm right upper arm (301), mechanical arm left arm second The free degree (202) is located at the other end of mechanical arm left upper arm (302), and mechanical arm right forearm (101) one end lateral rotation is connected to In second free degree of mechanical arm right arm (201), mechanical arm left forearm (102) one end lateral rotation is connected to mechanical arm left arm second In the free degree (202).
- A kind of 3. intelligent ball collecting robot according to claim 2, it is characterised in that:Have on the robot chassis (10) There are mainboard (11), the FPGA module (16), GPS location module (15), nine axis attitude detecting sensor modules (17), channel radio Letter module (13), microcontroller (14), motor-drive circuit (18) are integrated on mainboard (11).
- A kind of 4. intelligent ball collecting robot according to claim 3, it is characterised in that:It is additionally provided with the mainboard (11) Liquid crystal display (12).
- A kind of 5. intelligent ball collecting robot according to claim 1, it is characterised in that:The left back turns encoder (2102), left rear wheel direct current generator (2002), off hind wheel encoder (2101), off hind wheel direct current generator (2001) are arranged at bottom Below disk (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720782078.2U CN207309951U (en) | 2017-06-30 | 2017-06-30 | A kind of intelligent ball collecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720782078.2U CN207309951U (en) | 2017-06-30 | 2017-06-30 | A kind of intelligent ball collecting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207309951U true CN207309951U (en) | 2018-05-04 |
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ID=62433467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720782078.2U Expired - Fee Related CN207309951U (en) | 2017-06-30 | 2017-06-30 | A kind of intelligent ball collecting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207309951U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109011433A (en) * | 2018-09-07 | 2018-12-18 | 昆明理工大学 | A kind of ball recovery vehicle of multifunctional intellectual |
| CN109183973A (en) * | 2018-10-30 | 2019-01-11 | 江南大学 | The intelligent broken leaf cruise vehicle of dredging sewer |
| CN109521776A (en) * | 2018-12-31 | 2019-03-26 | 天合光能股份有限公司 | A kind of intelligent robot chassis control system |
| CN109847292A (en) * | 2019-01-18 | 2019-06-07 | 昆明理工大学 | A kind of tennis Shou Qiu robot with visual identity function |
| CN110011083A (en) * | 2019-04-02 | 2019-07-12 | 国网安徽省电力有限公司检修分公司 | A kind of Portable short-circuit earthing or grounding means that can be automatically controled |
| CN110253588A (en) * | 2019-08-05 | 2019-09-20 | 江苏科技大学 | A kind of New Type of Robot Arm dynamic grasping system |
| CN111055281A (en) * | 2019-12-19 | 2020-04-24 | 杭州电子科技大学 | ROS-based autonomous mobile grabbing system and method |
-
2017
- 2017-06-30 CN CN201720782078.2U patent/CN207309951U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109011433A (en) * | 2018-09-07 | 2018-12-18 | 昆明理工大学 | A kind of ball recovery vehicle of multifunctional intellectual |
| CN109011433B (en) * | 2018-09-07 | 2023-12-26 | 昆明理工大学 | Multi-functional intelligent ball recovery car |
| CN109183973A (en) * | 2018-10-30 | 2019-01-11 | 江南大学 | The intelligent broken leaf cruise vehicle of dredging sewer |
| CN109521776A (en) * | 2018-12-31 | 2019-03-26 | 天合光能股份有限公司 | A kind of intelligent robot chassis control system |
| CN109847292A (en) * | 2019-01-18 | 2019-06-07 | 昆明理工大学 | A kind of tennis Shou Qiu robot with visual identity function |
| CN110011083A (en) * | 2019-04-02 | 2019-07-12 | 国网安徽省电力有限公司检修分公司 | A kind of Portable short-circuit earthing or grounding means that can be automatically controled |
| CN110253588A (en) * | 2019-08-05 | 2019-09-20 | 江苏科技大学 | A kind of New Type of Robot Arm dynamic grasping system |
| CN111055281A (en) * | 2019-12-19 | 2020-04-24 | 杭州电子科技大学 | ROS-based autonomous mobile grabbing system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200930 Address after: No.114, Pancheng new street, Jiangbei new district, Nanjing, Jiangsu Province, 211500 Patentee after: Nanjing Xinda technology transfer Co., Ltd Address before: 210044, No. 219, Ning six road, Nanjing, Jiangsu, Nanjing Patentee before: NANJING University OF INFORMATION SCIENCE & TECHNOLOGY |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210601 Address after: 210044 No. 219 Ning six road, Jiangbei new district, Nanjing, Jiangsu Patentee after: NANJING University OF INFORMATION SCIENCE & TECHNOLOGY Address before: 211500 No.114, Pancheng new street, Jiangbei new district, Nanjing, Jiangsu Province Patentee before: Nanjing Xinda technology transfer Co., Ltd |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180504 Termination date: 20210630 |