CN101579857B - Automatic ball-picking robot - Google Patents
Automatic ball-picking robot Download PDFInfo
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- CN101579857B CN101579857B CN2008101832334A CN200810183233A CN101579857B CN 101579857 B CN101579857 B CN 101579857B CN 2008101832334 A CN2008101832334 A CN 2008101832334A CN 200810183233 A CN200810183233 A CN 200810183233A CN 101579857 B CN101579857 B CN 101579857B
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Abstract
The invention relates to an automatic robot capable of picking balls for people, which comprises a movable basic carrier, a charging device and a control system. The movable basic carrier finishes operations of moving, ball-picking and ball-reversing under the control of the control system; the charging device charges the movable basic carrier; and the control system acquires and processes image information on a whole field and controls the movable basic carrier through wireless communication. The automatic ball-picking robot has two operating modes of single-machine running and multi-machine cooperation, can achieve the functions of automatic ball finding, automatic ball picking, automatic ball reversing, automatic charging and the like, and has high ball-picking efficiency and high intelligent degree.
Description
Technical field
The present invention relates to a kind of autonomous robot, the particularly a kind of autonomous robot that can help people to pick up ball.
Background technology
Along with the development of society, the focus that people pay close attention to singly is not clothing, food, lodging and transportion--basic necessities of life, more hopes a kind of healthy, happier more life.Participate in sports and be undoubtedly excellent selection; But the motion enthusiasm of a lot of trival matters affect people's in the motion; For example in the service exercise of tennis or table tennis, can make a large amount of balls become scattered about ground, not stop to bend over to pick up ball on the ground thing that makes one nervous beyond doubt; And, when playing ball, constantly pick up ground ball and more how will to face difficulty, even cause danger for the disabled athlete.
At present some occur and can realize picking up the design of ball function; For example the patent No. is a kind of intelligent ball collecting scheme that proposes in the patent documentation of CN200710190398.X; Promptly mechanical arm is installed, under the guiding of headstock camera, is found ball and utilize mechanical arm that ball is picked up to be put in the cage at headstock.The patent No. is a kind of method of utilizing air pump with ball inspiration ball box that proposes in the patent documentation of CN200710041084.3.The patent No. is to propose in the patent documentation of CN200610118792.8 a kind ofly to adorn a rotating cylinder at the device front end; Be inserted with flap on the rotating cylinder; Copy ball plate and location-plate on the flap, rotating cylinder utilized when rotating copies the ball plate and location-plate is clamped ball, then ball is delivered in the collection container.Several in addition related patent U.S. Patent No. are that elastic construction is made in the bottom surface of a container, and when the people firmly pushes above ball, ball can be compressed into container through container bottoms, realize picking up the ball function.
But said method still has some defectives: it is low one, to pick up ball efficient, for example utilizes mechanical arm to pick up the method for ball, once can only pick up a ball; How utilize barrel configuration to pick up the method for ball, be a difficult problem with ball chuck copying between ball plate and the location-plate.Two, intelligent low; Have only CN200710190398.X to propose a kind of manually-operated intelligent ball collecting method that need not in the method that has proposed, other method all needs the people to participate in person picking up the ball process, but the method that CN200710190398.X proposes is at headstock camera to be installed to carry out the identification of ball and the guiding of dolly; Camera can only be kept watch on the interior among a small circle image information in dolly the place ahead like this; Field range is narrow, can only be the strategy of a kind of " which is gone to, which is found ", can't pick up the overall situation planning in course of action footpath; Realized the automatic ball-picking operation though do like this, intelligent not high.Three, with the method for air pump suction ball air pump need be installed, the ball picking up device complex structure, and when inhaling ball, also can dust on the ground, foreign material be sucked the ball box, though realized picking up the ball function, also bring some troubles.
Summary of the invention
For overcome prior art pick up ball efficient low with intelligent low defective, but the present invention propose a kind of autonomous classification and collect ground ball, then ball is poured onto the robot of appointed place.There are two kinds of mode of operations of unit operation and multimachine cooperation in this robot, can accomplish the ground ball of autonomous searching, independently collect ground ball, transport and be poured onto task such as appointed place from chief commander's ball, and have the function of autonomous charging.
Technical scheme of the present invention is: automatic ball-picking robot comprises mobile underlying carrier, charging device and control system; Wherein move underlying carrier and under the control of control system, seek, discern, collect ground ball, the ball of collecting is transported and be poured onto the appointed place, and when electric weight is not enough, under the control of control system, dock and charge with charging device; The control system acquisition is also handled the image information in whole place, and moves underlying carrier through wireless telecommunications control and look for ball, pick up ball, fall ball and charging operations;
Mobile underlying carrier comprises picks up ball mechanism, the mechanism of falling the ball and mobile platform; Wherein, pick up ball mechanism and comprise that picking up ball brushes, picks up ball mechanism housing, picks up the ball inlet, picks up the ball outlet, picks up the ball driving shaft and pick up ball motor; And pick up ball mechanism housing and comprise housing sidewall, case top lid and pick up the ball baffle plate,, push pick up ball to the ball baffle plate, and the ball brush rotates and rising gradually along with picking up, and realizes picking up the ball function through the rotation that the ball brush is picked up in the control of control system; Pick up ball mechanism housing sidewall for semicircle, housing sidewall is vertically installed, and makes semicircular straight flange vertical ground; Case top lid is an arc surface, and case top lid is installed to sidewall camber line limit, lower edge from the housing sidewall peak; Picking up the ball baffle plate is arc surface, picks up the ball baffle plate and installs to sidewall camber line limit, upper edge from the housing sidewall minimum point, and the upper edge of picking up the ball baffle plate is than picking up the low Δ H in the ball mechanism housing sidewall center of circle, and Δ H value need be adjusted according to the volume of ball; Pick up ball mechanism case top lid and pick up between the ball baffle plate and export for picking up the ball inlet and picking up ball; Pick up the ball driving shaft and be installed in two and pick up between the ball mechanism housing sidewall, pick up the center of circle that the mounting points of ball driving shaft on housing sidewall is positioned at housing sidewall, pick up the ball driving shaft and drive, can rotate around the sidewall center of circle by picking up ball motor; Pick up ball brush and be installed in and pick up on the ball driving shaft, the length that the ball brush is picked up in adjustment make pick up the ball brush just in time contact pick up the ball baffle inner surface; Pick up ball motor and be equipped with reduction box and encoder, the mode through forward flange is installed in picks up on the ball mechanism housing sidewall;
The mechanism of falling the ball pours out ball under the control of control system in the appointed place; The mechanism of falling the ball comprises ball basket, the driving shaft of falling the ball, the blade of falling the ball and the ball motor that falls, and wherein the ball basket comprises ball basket ball hole, ball basket ball mouth and ball basket bottom surface; Ball basket bottom surface is downward-sloping to ball mouth from ball basket ball hole, becomes the α angle with ground, and the α angle value need be adjusted according to the volume of ball; The driving shaft of falling the ball is installed in ball basket ball mouth upper end, and between two ball basket sidewalls, the driving shaft of falling the ball can the mounting points on sidewall be rotated by the driving of falling the ball motor; The blade of falling the ball is installed on the driving shaft of falling the ball, and the area approximation of the blade of falling the ball equals ball basket ball mouth cross section, and the initial position of the blade of falling the ball is position perpendicular to the ground, thereby the outlet of ball basket is blocked; The ball motor that falls is equipped with reduction box and encoder, is installed on the ball basket sidewall through forward flange; Mobile platform comprises the mobile platform main frame, driving wheel, driven pulley, drive motors, control system box and charging plug, and wherein the mobile platform main frame is that each mechanism of system provides installation to support; Driving wheel is installed in the mobile platform main frame front end left and right sides, by drive motor drives; Driven pulley is installed in the left and right sides, mobile platform main frame rear end, but optional turning only plays a supportive role; Drive motors is equipped with reduction box and encoder, is installed on the mobile platform main frame through forward flange; The control system box is installed in ball basket top, and controlling circuit system for part provides installation to support, and the The whole control system box is equivalent to the loam cake of ball basket, can the The whole control system box be started the internal state of inspection ball basket during debugging; Charging plug is installed in the control system box and is on the panel that moves underlying carrier afterbody one side;
Mobile platform provides to install and supports for picking up ball mechanism, the mechanism of falling the ball, and mobile down in the control of control system;
Charging device comprises charging device main panel, charging device sidewall, charging device inlet and charging socket, and charging device is installed in the next door in place; The charging device main panel is vertically installed, and width is wideer than mobile underlying carrier, and the wide amplitude that goes out is confirmed according to the precision of image recognition; The charging device sidewall is a broken line shape, is installed in the right ends of charging device main panel; Charging device inlet ecto-entad diminishes gradually, and the place is decreased to the main panel width in charging device sidewall broken line flex point, inwardly no longer changes since then; Charging socket divides positive and negative polarities, is installed on the charging device main panel, and setting height(from bottom) is consistent with the height of charging plug, and the sectional area of charging socket is greater than the cross section of charging plug, to make things convenient for both butt joints;
The control system comprises main processor modules, sub-processor module and self-shield module; The main processor modules collection is also handled the image information in whole place, and carry out communication through wireless telecommunications and sub-processor module; The sub-processor module is installed in and moves on the underlying carrier, gathers and handle the image information of subrange, carries out wireless telecommunications with main processor modules and controls moving underlying carrier;
Main processor modules comprises primary processor, overall vision sensor and wireless communication module first; Overall situation vision sensor is installed in the top, place, gathers the image information in whole place; Primary processor is installed in the next door in place, accepts and handle the image information output of overall vision sensor; The wireless communication module first is installed in the next door, place, and primary processor carries out wireless telecommunications through the wireless communication module first;
The sub-processor module is installed in and moves on the underlying carrier, and the sub-processor module comprises sub-processor, local visual sensor, wireless communication module second, human-computer interaction module, power management module and motor driver; Human-computer interaction module comprises display screen, display driver, button and keystroke interface circuit, and the local visual sensor is installed in to be picked up on the ball mechanism case top lid, gathers the image information that moves in the subrange of underlying carrier the place ahead; Sub-processor is installed in the control system box, and sub-processor receives and handle the image output from the local visual sensor; Wireless communication module second is installed in control system box upper top cover, and sub-processor carries out communication through wireless communication module second and primary processor; Display screen is installed in the upper top cover of control system box; Display driver is installed in the control system box, and sub-processor is through display driver control display screen; Button is installed in control system box upper top cover, and button links to each other with sub-processor through the keystroke interface circuit, and sub-processor is gathered keying input information; Power management module is installed in the control system box, and power management module links to each other with sub-processor, and charging plug links to each other with battery through power management module, and power management module detects voltage between the charging plug constantly; Motor driver is installed in the control system box, motor driver and drive motors, picks up ball motor and falls ball motor and link to each other, and sub-processor is controlled the rotation of motor through motor driver;
The self-shield module comprises current-limiting protection circuit and urgent button, and current-limiting protection circuit is installed in the control system box, and current-limiting protection circuit is connected in the powered battery loop, detects current value; Urgent button is installed in control system box upper top cover, is connected in the powered battery loop, can control the break-make of current supply circuit;
Control system control moves that underlying carrier is looked for ball, picked up ball, the method for ball and charging operations of falling comprises:
1) control system control is moved the underlying carrier completion and independently looked for the step of ball ball task to be: overall vision sensor is gathered the image information in the whole field range; Primary processor moves the position of underlying carrier, the position of ball and the position of barrier according to global image information preliminary judgement, and the course of action footpath is picked up in planning then; The local visual sensor is gathered the image information that moves in the subrange of underlying carrier the place ahead simultaneously; Sub-processor is to result the replenishing as global image information processing result of local image information; When both results matched, sub-processor was carried out the control command that primary processor sends; When both results misfit; Sub-processor sends the major punishment signal through wireless communication module second to primary processor, and primary processor handles and send once more control command again to global image information, if still can not coincide; Then send the major punishment signal once more; Still can not coincide behind the triplicate, then think noise, abandon processing this point;
2) step that underlying carrier completion automatic ball-picking task is moved in control system control is: when sub-processor is received the control command that primary processor sends; And when consistent with control command, move underlying carrier and directly go along the course of action of picking up of primary processor planning by sub-processor control to the result of local image information for sub-processor; Pick up when global image information shows that distance starts distance less than picking up ball between ball mechanism and the object ball, and topography's information is when also finding object ball, sub-processor control is moved underlying carrier and is moved on; And control picks up ball motor and rotates, and picks up the ball brush and rotates counterclockwise, and the ball that the ball inlet is picked up in arrival is pushed into picks up the ball baffle plate; That rotates picks up the ball brush and picks up the formation of ball baffle plate with joint efforts; The ball of picking up the ball brush and picking up between the ball baffle plate is constantly risen, and ball reaches when picking up the ball outlet, picks up the low Δ H in the global shell sidewall center of circle owing to pick up ball baffle plate upper edge ratio; This moment pick up ball brush, so ball rolls out under the self gravitation effect and picks up ball mechanism; In global image information, move underlying carrier coverage goal ball position fully, and the ball in topography's information disappears also, primary processor thinks that this time picking up the ball task accomplishes, and will pick up the ball number and add one, begins next object ball carried out to pick up the ball exercise work;
3) control system control is moved underlying carrier and is accomplished the step of the autonomous task of falling the ball and be: when the primary processor record pick up the ball number near the capacity of ball basket the time, primary processor starts the independently program of falling the ball; Primary processor confirms to move underlying carrier position, position, the place of falling the ball and barrier position according to overall visual pattern information, and the planning footpath of falling the course of action makes mobile underlying carrier can arrive the place of falling the ball with the fastest mode then; The primary processor guiding is moved underlying carrier and is arrived the place ahead, the place of falling the ball; The direction of motion of underlying carrier is moved in adjustment, make to move the underlying carrier afterbody and aim at the place of falling the ball, then sub-processor control ball motor rotate counterclockwise; The blade of falling the ball upwards rotates the β angle from initial position; Because the ball motor that falls is furnished with encoder, therefore can control the slewing area of the blade of falling the ball through the feedback of encoder, the β angle value need be confirmed according to the volume of ball; Because ball basket bottom surface tilts, the blade rotation of falling the ball is to a high position, and the ball in the ball basket just falls into down ball from ball basket ball mouth; Behind the no ball, the sub-processor control blade of falling the ball is swung down to initial position, blocks ball basket ball mouth, accomplishes the task of falling the ball in the ball basket;
4) step that the mobile underlying carrier of control system control is accomplished autonomous charging task is: power management module detects battery electric quantity constantly; In case find just to send the electric weight shortage signal when battery electric quantity is lower than a certain threshold value of specified electric quantity, have sufficient electric weight to move to charging device from the job site so that move underlying carrier to sub-processor; After primary processor is received the electric weight shortage signal that sub-processor sends; At first confirm to move the position of underlying carrier, the position and the barrier position of charging device according to global image information, planning charging driving path makes mobile underlying carrier arrive charging device with the fastest speed; That judges robot then picks up the ball job schedule; When mobile underlying carrier distance objective ball pick up ball start apart from the time, directly suspend the present ball work of picking up, drive towards charging device then; If move underlying carrier distance objective ball smaller or equal to pick up ball start apart from the time, move underlying carrier and accomplish earlier and this time pick up ball exercise and do, and then drive towards charging device; Move and at first adjust the direction of motion after underlying carrier arrives charging device, make and move underlying carrier afterbody aligning charging device inlet, reversing gets into charging device then; When charging plug and charging socket are stable dock after, power management module detects and has voltage between the charging plug, just sends to sub-processor and successfully docks signal; Sub-processor control is moved underlying carrier and is stopped to retreat, and power management module control battery breaks off the current supply circuit that moves underlying carrier, and line between charging plug and the battery plus-negative plate is connected; Beginning is charging automatically; Treat that battery is full of, power management module breaks off line between charging plug and the battery plus-negative plate again, then battery is connected the current supply circuit that moves underlying carrier; Mobile underlying carrier rolls charging device away from, accomplishes autonomous charging task.
The method that underlying carrier carries out man-machine interaction is moved in control system control: the real-time display device people of the sub-processor control display screen state of working; People when the robot operation irregularity, check the detail parameters of robot through this mode, so that the system failure is diagnosed through the detailed operation parameter of button inquiry robot.
The control system realizes that the method for self-protection function is: the current value of current-limiting protection circuit real-time detecting system current supply circuit, and when overcurrent condition occurring, current-limiting protection circuit cuts off current supply circuit, with the safety of protection system circuit; Can promptly stop the operation of robot through urgent button.
The automatic ball-picking robot that the present invention proposes has unit operation and two kinds of mode of operations of multimachine cooperation.When the place is less; The automatic ball-picking robot selectively operating is in the unit operation pattern; This moment, automatic ball-picking robot comprised single mobile underlying carrier, single charging device and control system, and said control system comprises single main processor modules, single sub-processor module and single self-shield module; When the place is big; The automatic ball-picking robot selectively operating is in the multimachine collaboration mode; Said automatic ball-picking robot comprises a plurality of mobile underlying carriers, a plurality of charging device and control system, and described control system comprises single main processor modules, a plurality of sub-processor module and a plurality of self-shield module.
Pick up ball mechanism and the mechanism of falling the ball of the automatic ball-picking robot that the present invention proposes only are directed against the ball of a certain volume and design, but are applicable to the ball of different volumes, and it is ball to be specially adapted to tennis, table tennis etc.The operation principle of picking up ball mechanism is similar to the waterwheel in ancient times, utilizes the rotation of picking up the ball brush, pushes pick up ball to the ball baffle plate, and the ball brush rotates and rising gradually along with picking up, and realizes picking up the ball function.As long as meet this principle, can realize picking up ball exercise and do, and be not limited to the shape of picking up ball mechanism, the mounting means of describing in this example.
The movement control mode of the automatic ball-picking robot that the present invention proposes adopts Differential Control, and the rotating speed of two driving wheels of control just can be realized moving the advance and retreat of underlying carrier and turning to the control mode simple and flexible with turning to.The automatic ball-picking robot that the present invention proposes can also adopt other control mode to realize motion control, for example drives with direct current generator, by the control mode of steering wheel control direction.
The invention allows for automatic ball-picking robot and accomplish the method for automatic ball-picking, comprise the step of the step of independently looking for ball, automatic ball-picking, independently fall the step of ball, the step of autonomous charging and the step of man-machine interaction.
The beneficial effect of the automatic ball-picking robot that the present invention proposes is that weight is little, capacity is big; Motion is dexterous light; Have compact and reasonable mechanical structure, characteristics such as practicality, stability, energy saving, economy and versatility are good can replace the artificial ball work of picking up of accomplishing; It is high to pick up ball efficient, intelligent height.
Concrete scheme of the present invention and advantage will partly further be set forth in the specific embodiment.
Description of drawings
Fig. 1 is the work figure (side-looking) of automatic ball-picking robot of the present invention.
Fig. 2 is the work figure (overlooking) of automatic ball-picking robot of the present invention.
Fig. 3 moves underlying carrier sketch map (side-looking) for automatic ball-picking robot of the present invention.
Fig. 4 moves underlying carrier sketch map (overlooking) for automatic ball-picking robot of the present invention.
Fig. 5 picks up ball structural scheme of mechanism (side-looking) for automatic ball-picking robot of the present invention.
Fig. 6 picks up ball structural scheme of mechanism (facing) for automatic ball-picking robot of the present invention.
Fig. 7 is the automatic ball-picking robot sketch map of falling the spherical structure of the present invention (facing).
Fig. 8 is the automatic ball-picking robot sketch map of falling the spherical structure of the present invention (side-looking).
Fig. 9 is an automatic ball-picking robot charging plug sketch map of the present invention.
Figure 10 is an automatic ball-picking robot charging device sketch map of the present invention (facing).
Figure 11 is an automatic ball-picking robot charging device sketch map of the present invention (overlooking).
Figure 12 is automatic ball-picking robot control system schematic of the present invention.
Each label is represented among the figure:
1, overall vision sensor 2, wireless communication module first 3, charging device
4, the place of falling the ball 5, local visual sensor 6, driving wheel
7, driven pulley 8, ball basket 9, control system box
10, charging plug 11, wireless communication module second 12, the ball motor that falls
13, pick up ball motor 14, human-computer interaction module 15, urgent button
16, pick up ball mechanism housing sidewall 17, pick up ball mechanism case top lid 18, pick up the ball baffle plate
19, pick up ball inlet 20, pick up ball outlet 21, pick up the ball brush
22, pick up ball driving shaft 23, ball basket sidewall 24, the blade of falling the ball
25, the driving shaft of falling the ball 26, ball basket ball hole 27, ball basket bottom surface
28, ball basket ball mouth 29, charging device main panel 30, charging device sidewall
31, charging device inlet 32, charging socket
The specific embodiment
Automatic ball-picking robot work figure such as Fig. 1, shown in Figure 2 that the present invention proposes, the job site of automatic ball-picking robot shown in the figure is the tennis court, but the running environment of the automatic ball-picking robot that the present invention proposes is not limited to the tennis court.As shown in Figure 1, ball work is being picked up by robot, and overall vision sensor 1 is erected at the top, place, and primary processor and wireless communication module first 2 are positioned over the next door in place.As shown in Figure 2, charging device 3, the place of falling the ball 4 of the automatic ball-picking robot that the present invention proposes all is placed on the next door, place.Four robots shown in Fig. 2 move underlying carrier A, B, C, D and work in the multimachine collaboration mode, move underlying carrier A and are in B and pick up the ball duty, and what the line between ball and the ball represented to move underlying carrier picks up course of action directly; Moving underlying carrier C charges; Move the underlying carrier D work of falling the ball exercise.Automatic ball-picking robot has unit operation and two kinds of mode of operations of multimachine cooperation, and automatic ball-picking robot shown in Figure 1 works in the multimachine collaboration mode, is suitable for the bigger condition in place; When the place was less, the automatic ball-picking robot selectively operating was in the unit operation pattern.
The automatic ball-picking robot that the present invention proposes comprises mobile underlying carrier, charging device 3 and control system, like Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11 and shown in Figure 12.Mobile underlying carrier of the present invention like Fig. 3, shown in Figure 4, comprises and picks up ball mechanism, the mechanism of falling the ball and mobile platform.The described ball mechanism of picking up like Fig. 5, shown in Figure 6, comprises and picks up ball mechanism housing, picks up ball inlet 19, picks up ball outlet 20, picks up ball driving shaft 22, picks up ball brush 21 and pick up ball motor 13.The described ball mechanism housing of picking up comprises housing sidewall 16, case top lid 17 and picks up ball baffle plate 18.Pick up ball mechanism housing sidewall 16 for semicircle, housing sidewall 16 is vertically installed, and makes semicircular straight flange vertical ground; Case top lid 17 is an arc surface, and case top lid 17 is installed to sidewall camber line limit, lower edge from housing sidewall 16 peaks; Pick up ball baffle plate 18 and be arc surface, pick up ball baffle plate 18 and install to sidewall camber line limit, upper edge from housing sidewall 16 minimum points, the upper edge of picking up ball baffle plate 18 is than picking up the low Δ H in ball mechanism housing sidewall 16 centers of circle, and Δ H value need be adjusted according to the volume of ball; Pick up ball mechanism case top lid 17 and pick up between the ball baffle plate 18 and export 20 for picking up ball inlet 19 and picking up ball; Pick up ball driving shaft 22 and be installed in two and pick up between the ball mechanism housing sidewall 16, pick up the center of circle that the mounting points of ball driving shaft 22 on housing sidewall 16 is positioned at housing sidewall, pick up ball driving shaft 22 and drive, can rotate around the sidewall center of circle by picking up ball motor 13; Pick up ball brush 21 and be installed in and pick up on the ball driving shaft 22, the length that ball brush 21 is picked up in adjustment make pick up ball brush 21 just in time contact pick up ball baffle plate 18 inner surfaces; Pick up ball motor 13 and be equipped with reduction box and encoder, the mode through forward flange is installed in picks up on the ball mechanism housing sidewall 16.The described mechanism of falling the ball like Fig. 7, shown in Figure 8, comprises ball basket 8, the driving shaft of falling the ball 25, the blade of falling the ball 24 and the ball motor 12 that falls.Described ball basket 8 comprises ball basket ball hole 26, ball basket ball mouth 28 and ball basket bottom surface 27.It is characterized in that ball basket bottom surface 27 is downward-sloping from ball basket ball hole 26 to ball basket ball mouth 28, become the α angle with ground, the α angle value need be adjusted according to the volume of ball; The driving shaft of falling the ball 25 is installed in ball basket ball mouth 28 upper ends, and between two ball basket sidewalls 23, the driving shaft of falling the ball 25 can the mounting points on sidewall rotate by falling ball motor 12 drivings; The blade of falling the ball 24 is installed on the driving shaft of falling the ball 25, and the area approximation of the blade of falling the ball 24 equals ball basket ball mouth 28 cross sections, and the initial position of the blade of falling the ball 24 is position perpendicular to the ground, thereby ball basket outlet 28 is blocked; The ball motor 12 that falls is equipped with reduction box and encoder, is installed on the ball basket sidewall 23 through forward flange.Said mobile platform comprises the mobile platform main frame, driving wheel 6, driven pulley 7, drive motors, control system box 9 and charging plug 10.It is characterized in that the mobile platform main frame is that each mechanism of system provides installation to support; Driving wheel 6 is installed in the mobile platform main frame front end left and right sides, by drive motor drives; Driven pulley 7 is installed in the left and right sides, mobile platform main frame rear end, but optional turning only plays a supportive role; Drive motors is equipped with reduction box and encoder, is installed on the mobile platform main frame through forward flange; Control system box 9 is installed in ball basket 8 tops, and controlling circuit system for part provides installation to support, and the The whole control system box is equivalent to the loam cake of ball basket 8, can The whole control system box 9 be started the internal state of inspection ball basket 8 during debugging; Charging plug 10 is installed in control system box 9 and is on the panel that moves underlying carrier afterbody one side.
Charging device 3 of the present invention like Figure 10, shown in Figure 11, comprises charging device main panel 29, charging device sidewall 30, charging device inlet 31 and charging socket 32, and charging device is installed in the next door in place.It is characterized in that charging device main panel 29 vertically installs, it is wide that width moves underlying carrier than mobile underlying carrier, and the wide amplitude that goes out is mainly confirmed according to the precision of image recognition; Charging device sidewall 30 is a broken line shape, is installed in the right ends of charging device main panel 29; Charging device 31 ecto-entads that enter the mouth diminish gradually, and 30 broken line flex point places are decreased to the main panel width at the charging device sidewall, inwardly no longer change since then; 32 fens positive and negative polarities of charging socket are installed on the charging device main panel 29, and setting height(from bottom) is consistent with the height of charging plug 10, and the sectional area of charging socket 32 is greater than the cross section of charging plug 10, to make things convenient for both butt joints.
Control of the present invention system, shown in figure 12, comprise main processor modules, sub-processor module and self-shield module.Described main processor modules comprises primary processor, overall vision sensor 1 and wireless communication module first 2.It is characterized in that overall vision sensor 1 is installed in the top, place, gathers the image information in whole place; Primary processor is installed in the next door in place, accepts and handle the image information output of overall vision sensor 1; Wireless communication module first 2 is installed in the next door, place, and primary processor carries out wireless telecommunications through wireless communication module first 2.Said sub-processor module is installed in and moves on the underlying carrier, and the sub-processor module comprises sub-processor, local visual sensor 5, wireless communication module second 11, human-computer interaction module 14, power management module and motor driver.Said human-computer interaction module 14 comprises display screen, display driver, button and keystroke interface circuit.It is characterized in that local visual sensor 5 is installed in picks up on the ball mechanism case top lid 17, gathers the image information that moves in the subrange of underlying carrier the place ahead; Sub-processor is installed in the control system box 9, and sub-processor receives and handle the image output from local visual sensor 5; Wireless communication module second 11 is installed in control system box 9 upper top covers, and sub-processor carries out communication through wireless communication module second 11 and primary processor; Display screen is installed in the upper top cover of control system box 9; Display driver is installed in the control system box 9, and sub-processor is through display driver control display screen; Button is installed in control system box 9 upper top covers, and button links to each other with sub-processor through the keystroke interface circuit, and sub-processor is gathered keying input information; Power management module is installed in the control system box 9, and power management module links to each other with sub-processor, and charging plug 10 links to each other with battery through power management module, and power management module detects voltage between the charging plug constantly; Motor driver is installed in the control system box 9, motor driver and drive motors, picks up ball motor 13 and falls ball motor 12 and link to each other, and sub-processor is controlled the rotation of motor through motor driver.Said self-shield module comprises current-limiting protection circuit and urgent button 15, it is characterized in that current-limiting protection circuit is installed in the control system box 9, and current-limiting protection circuit is connected in the powered battery loop, detects current value; Urgent button 15 is installed in control system box 9 upper top covers, is connected in the powered battery loop, can control the break-make of current supply circuit.
The movement control mode of the automatic ball-picking robot that the present invention proposes adopts Differential Control; The rotating speed of two driving wheels 6 of control just can be realized moving the advance and retreat of underlying carrier and turning to turning to; For example, control two driving wheels 6 and just change, can realize moving underlying carrier and advance with identical speed; Control two driving wheels 6 with identical speed counter-rotating, can realize moving underlying carrier and retreat; Control left side driving wheel 6 rotating speeds move underlying carrier and realize turning right greater than right side driving wheel 6; Control right side driving wheel 6 rotating speeds move underlying carrier and realize greater than left side driving wheel 6.
The automatic ball-picking robot that the present invention proposes is accomplished and is independently looked for the process of ball task to be: the image information that overall vision sensor 1 is gathered in the whole field range; But primary processor moves the position of underlying carrier, the position of ball and the position of barrier according to global image information preliminary judgement, and the course of action footpath is picked up in planning then.In order to improve the discrimination of robot to ball; Reduce the interference of similar shape or color object; Local visual sensor 5 is gathered the image information that moves in the subrange of underlying carrier the place ahead simultaneously; As the replenishing of global image information processing result, when both results match, sub-processor will be carried out the control command that primary processor sends to sub-processor to the result of local image information; When both results misfit; Sub-processor will send the major punishment signal to primary processor through wireless communication module second 11, and primary processor handles and send once more control command again to global image information, if still can not coincide; Then send the major punishment signal once more; Still can not coincide behind the triplicate, then think noise, abandon processing this point.
The process that the automatic ball-picking robot that the present invention proposes is accomplished the automatic ball-picking task is: when sub-processor is received the control command that primary processor sends; And when consistent with control command, move underlying carrier and directly go along the course of action of picking up of primary processor planning by sub-processor control to the result of local image information for sub-processor.When showing, global image information picks up between ball mechanism and the object ball apart from starting distance less than picking up ball; And when topography's information was also found object ball, sub-processor control was moved underlying carrier and is continued to advance by the direction of arrow among Fig. 5, and control is picked up ball motor 13 and rotated; The ball brush 21 of picking up that rotates rotates counterclockwise; The ball that ball inlet 19 is picked up in arrival is pushed into picks up ball baffle plate 18, and the ball brush 21 of picking up of rotation forms and makes a concerted effort with picking up ball baffle plate 18, and the ball of picking up ball brush 21 and picking up between the ball baffle plate 18 is constantly risen; Ball reaches to be picked up ball and exports at 20 o'clock; Pick up the low Δ H in global shell sidewall 16 centers of circle owing to pick up ball baffle plate 18 upper edges ratio, the ball brush 21 of picking up this moment tilts, so ball rolls out under the self gravitation effect and picks up ball mechanism.In global image information, move underlying carrier coverage goal ball position fully, and the ball in topography's information disappears also, primary processor thinks that this time picking up the ball task accomplishes, and will pick up the ball number and add one, begins next object ball picked up the ball exercise work.
The process that the automatic ball-picking robot that the present invention proposes is accomplished the autonomous task of falling the ball is: when the primary processor record pick up the ball number near the capacity of ball basket 8 time, primary processor starts the independently program of falling the ball.Primary processor confirms to move underlying carrier position, 4 positions, the place of falling the ball and barrier position according to overall visual pattern information, and the planning footpath of falling the course of action makes mobile underlying carrier can arrive the place of falling the ball 4 with the fastest mode then.The mobile underlying carrier of primary processor guiding arrives 4 the place aheads, the place of falling the ball, and the direction of motion of underlying carrier is moved in adjustment, makes to move the underlying carrier afterbody aligning place of falling the ball 4; Sub-processor control is fallen ball motor 12 and is rotated counterclockwise then; As shown in Figure 8, the blade of falling the ball 24 upwards rotates the β angle from initial position, because ball motor 12 is furnished with encoder; Therefore can control the slewing area of the blade of falling the ball 24 through the feedback of encoder, the β angle value need be confirmed according to the volume of ball.Because ball basket bottom surface 27 tilts, after the blade of falling the ball 24 turned to a high position, the ball in the ball basket 8 just fell into down ball 4 from ball basket ball mouth 28.Behind the no ball, the sub-processor control blade of falling the ball 24 is swung down to initial position, blocks ball basket ball mouth 28, accomplishes the task of falling the ball in the ball basket 8.
The process that the automatic ball-picking robot that the present invention proposes is accomplished autonomous charging operations is: power management module detects battery electric quantity constantly; In case find just to send the electric weight shortage signal when battery electric quantity is lower than a certain threshold value of specified electric quantity to sub-processor; Sending the electric weight shortage signal, is to have sufficient electric weight to move to charging device 3 from the job site in order to move underlying carrier.After primary processor is received the electric weight shortage signal that sub-processor sends; At first confirm to move the position of underlying carrier, the position and the barrier position of charging device 3 according to global image information; Planning charging driving path makes mobile underlying carrier arrive charging device 3 with the fastest speed.That judges robot then picks up the ball job schedule, when mobile underlying carrier distance objective ball pick up ball start apart from the time, directly suspend the present ball work of picking up, drive towards charging device 3 then; If move underlying carrier distance objective ball smaller or equal to pick up ball start apart from the time, move underlying carrier and accomplish earlier and this time pick up ball exercise and do, and then drive towards charging device 3.Move and at first adjust the direction of motion after underlying carrier arrives charging device 3; Make and move the underlying carrier afterbody and aim at charging device inlet 31, reversing gets into charging device 3 then, when charging plug 10 and charging socket 32 stablize dock after; Power management module detects between the charging plug 10 and has voltage; Just send to sub-processor and successfully dock signal, sub-processor control is moved underlying carrier and is stopped to retreat, and power management module control battery breaks off the current supply circuit that moves underlying carrier; And with line connection between charging plug 10 and the battery plus-negative plate, beginning is charging automatically.Treat that battery is full of, power management module breaks off line between charging plug 10 and the battery plus-negative plate again, then battery is connected the current supply circuit that moves underlying carrier, and mobile underlying carrier rolls charging device 3 away from, accomplishes autonomous charging task.
The human-computer interaction function of the automatic ball-picking robot that the present invention proposes is: the real-time display device people of sub-processor control display screen work state, information such as match score, race advance notice and weather forecast; People can when the robot operation irregularity, can check the communication data of robot through this mode through the detailed operation parameter of button inquiry robot, and detail parameters such as control command are so that diagnose the system failure.
The self-protection function of the automatic ball-picking robot that the present invention proposes is: the current value of current-limiting protection circuit real-time detecting system current supply circuit, and when overcurrent condition occurring, current-limiting protection circuit will cut off current supply circuit, with the safety of protection system circuit; Can promptly stop to move the operation of underlying carrier through urgent button 15; For example; Move in the underlying carrier running, possibly bump, or underlying carrier high speed disordered motion occurs moving because of program error with barrier or people; This moment, the people can stop to move the operation of underlying carrier through urgent button 15, ensured the safety of people and thing.
The invention is not restricted to this instance, every mentality of designing of utilizing the design, the design of doing some simple change all should fall within protection scope of the present invention.
Claims (2)
1. an automatic ball-picking robot is characterized in that: comprise mobile underlying carrier, charging device (3) and control system; Wherein move underlying carrier and under the control of control system, seek, discern, collect ground ball, the ball of collecting is transported and be poured onto the appointed place, and when electric weight is not enough, under the control of control system, dock and charge with charging device; The control system acquisition is also handled the image information in whole place, and moves underlying carrier through wireless telecommunications control and look for ball, pick up ball, fall ball and charging operations;
Said mobile underlying carrier comprises picks up ball mechanism, the mechanism of falling the ball and mobile platform; Wherein, pick up ball mechanism and comprise that picking up ball brushes, picks up ball mechanism housing, picks up ball inlet (19), picks up ball outlet (20), picks up ball driving shaft (22) and pick up ball motor (13); And pick up ball mechanism housing and comprise housing sidewall (16), case top lid (17) and pick up the ball baffle plate,, push pick up ball to the ball baffle plate, and the ball brush rotates and rising gradually along with picking up, and realizes picking up the ball function through the rotation that the ball brush is picked up in the control of control system; The said ball mechanism housing sidewall (16) of picking up is for semicircle, and housing sidewall (16) is vertically installed, and makes semicircular straight flange vertical ground; Case top lid (17) is an arc surface, and case top lid (17) is installed to sidewall camber line limit, lower edge from housing sidewall (16) peak; The said ball baffle plate (18) of picking up is an arc surface; Picking up ball baffle plate (18) installs to sidewall camber line limit, upper edge from housing sidewall (16) minimum point; The upper edge of picking up ball baffle plate (18) is than picking up the low Δ H in ball mechanism housing sidewall (16) center of circle, and Δ H value need be adjusted according to the volume of ball; Pick up ball mechanism case top lid (17) and pick up between the ball baffle plate (18) and export (20) for picking up ball inlet (19) and picking up ball; Pick up ball driving shaft (22) and be installed in two and pick up between the ball mechanism housing sidewall (16), pick up the center of circle that the mounting points of ball driving shaft (22) on housing sidewall (16) is positioned at housing sidewall, pick up ball driving shaft (22) and drive, can rotate around the sidewall center of circle by picking up ball motor (13); Pick up ball brush (21) and be installed in and pick up on the ball driving shaft (22), the length that ball brush (21) is picked up in adjustment makes picks up ball brush (21) and just in time contacts and pick up ball baffle plate (18) inner surface; Pick up ball motor (13) and be equipped with reduction box and encoder, the mode through forward flange is installed in picks up on the ball mechanism housing sidewall (16);
The said mechanism of falling the ball pours out ball under the control of control system in the appointed place; The mechanism of falling the ball comprises ball basket (8), the driving shaft of falling the ball (25), the blade of falling the ball (24) and the ball motor (12) that falls, and wherein ball basket (8) comprises ball basket ball hole (26), ball basket ball mouth (28) and ball basket bottom surface (27); Ball basket bottom surface (27) is downward-sloping to ball mouth (28) from ball basket ball hole (26), becomes the α angle with ground, and the α angle value need be adjusted according to the volume of ball; The driving shaft of falling the ball (25) is installed in ball basket ball mouth (28) upper end, and between two ball basket sidewalls (23), the driving shaft of falling the ball (25) can the mounting points on sidewall be rotated by the driving of falling the ball motor (12); The blade of falling the ball (24) is installed on the driving shaft of falling the ball (25), and the area approximation of the blade of falling the ball (24) equals ball basket ball mouth (28) cross section, and the initial position of the blade of falling the ball (24) is position perpendicular to the ground, thereby ball basket outlet (28) is blocked; The ball motor (12) that falls is equipped with reduction box and encoder, is installed on the ball basket sidewall (23) through forward flange; Said mobile platform comprises the mobile platform main frame, driving wheel (6), driven pulley (7), drive motors, control system box (9) and charging plug (10), and wherein the mobile platform main frame is that each mechanism of system provides installation to support; Driving wheel (6) is installed in the mobile platform main frame front end left and right sides, by drive motor drives; Driven pulley (7) is installed in the left and right sides, mobile platform main frame rear end, but optional turning only plays a supportive role; Drive motors is equipped with reduction box and encoder, is installed on the mobile platform main frame through forward flange; Control system box (9) is installed in ball basket (8) top, and controlling circuit system for part provides installation to support, and the The whole control system box is equivalent to the loam cake of ball basket (8), can The whole control system box (9) be started the internal state of inspection ball basket (8) during debugging; Charging plug (10) is installed in control system box (9) and is on the panel that moves underlying carrier afterbody one side;
Said mobile platform provides to install and supports for picking up ball mechanism, the mechanism of falling the ball, and mobile down in the control of control system;
Said charging device (3) comprises charging device main panel (29), charging device sidewall (30), charging device inlet (31) and charging socket (32), and charging device is installed in the next door in place; Charging device main panel (29) is vertically installed, and width is wideer than mobile underlying carrier, and the wide amplitude that goes out is definite according to the precision of image recognition; Charging device sidewall (30) is a broken line shape, is installed in the right ends of charging device main panel (29); Charging device inlet (31) ecto-entad diminishes gradually, and the place is decreased to the main panel width in charging device sidewall (30) broken line flex point, inwardly no longer changes since then; Charging socket (32) divides positive and negative polarities, is installed on the charging device main panel (29), and setting height(from bottom) is consistent with the height of charging plug (10), and the sectional area of charging socket (32) is greater than the cross section of charging plug (10), to make things convenient for both butt joints;
Said control system comprises main processor modules, sub-processor module and self-shield module; The main processor modules collection is also handled the image information in whole place, and carry out communication through wireless telecommunications and sub-processor module; The sub-processor module is installed in and moves on the underlying carrier, gathers and handle the image information of subrange, carries out wireless telecommunications with main processor modules and controls moving underlying carrier;
Said main processor modules comprises primary processor, overall vision sensor (1) and wireless communication module first (2); Overall situation vision sensor (1) is installed in the top, place, gathers the image information in whole place; Primary processor is installed in the next door in place, accepts and handle the image information output of overall vision sensor (1); Wireless communication module first (2) is installed in the next door, place, and primary processor carries out wireless telecommunications through wireless communication module first (2);
Said sub-processor module is installed in and moves on the underlying carrier, and the sub-processor module comprises sub-processor, local visual sensor (5), wireless communication module second (11), human-computer interaction module (14), power management module and motor driver; Said human-computer interaction module (14) comprises display screen, display driver, button and keystroke interface circuit, and local visual sensor (5) is installed in to be picked up on the ball mechanism case top lid (17), gathers the image information that moves in the subrange of underlying carrier the place ahead; Sub-processor is installed in the control system box (9), and sub-processor receives and handle the image output from local visual sensor (5); Wireless communication module second (11) is installed in control system box (9) upper top cover, and sub-processor carries out communication through wireless communication module second (11) and primary processor; Display screen is installed in the upper top cover of control system box (9); Display driver is installed in the control system box (9), and sub-processor is through display driver control display screen; Button is installed in control system box (9) upper top cover, and button links to each other with sub-processor through the keystroke interface circuit, and sub-processor is gathered keying input information; Power management module is installed in the control system box (9), and power management module links to each other with sub-processor, and charging plug (10) links to each other with battery through power management module, and power management module detects voltage between the charging plug constantly; Motor driver is installed in control system box (9), motor driver and drive motors, picks up ball motor (13) and falls ball motor (12) and link to each other, and sub-processor passes through the rotation that motor driver is controlled motor;
Said self-shield module comprises current-limiting protection circuit and urgent button (15), and current-limiting protection circuit is installed in the control system box (9), and current-limiting protection circuit is connected in the powered battery loop, detects current value; Urgent button (15) is installed in control system box (9) upper top cover, is connected in the powered battery loop, can control the break-make of current supply circuit;
The control of said control system moves that underlying carrier is looked for ball, picked up ball, the method for ball and charging operations of falling comprises:
1) control system control is moved the underlying carrier completion and independently looked for the step of ball ball task to be: overall vision sensor (1) is gathered the image information in the whole field range; Primary processor moves the position of underlying carrier, the position of ball and the position of barrier according to global image information preliminary judgement, and the course of action footpath is picked up in planning then; Local visual sensor (5) is gathered the image information that moves in the subrange of underlying carrier the place ahead simultaneously; Sub-processor is to result the replenishing as global image information processing result of local image information; When both results matched, sub-processor was carried out the control command that primary processor sends; When both results misfit; Sub-processor sends the major punishment signal through wireless communication module second (11) to primary processor, and primary processor handles and send once more control command again to global image information, if still can not coincide; Then send the major punishment signal once more; Still can not coincide behind the triplicate, then think noise, abandon processing this point;
2) step that underlying carrier completion automatic ball-picking task is moved in control system control is: when sub-processor is received the control command that primary processor sends; And when consistent with control command, move underlying carrier and directly go along the course of action of picking up of primary processor planning by sub-processor control to the result of local image information for sub-processor; When showing, global image information picks up between ball mechanism and the object ball apart from starting distance less than picking up ball; And when topography's information was also found object ball, sub-processor control was moved underlying carrier and is moved on, and ball motor (13) rotation is picked up in control; Picking up ball brush (21) rotates counterclockwise; The ball that ball inlet (19) is picked up in arrival is pushed into picks up ball baffle plate (18), and the ball brush (21) of picking up of rotation forms and makes a concerted effort with picking up ball baffle plate (18), and the ball of picking up ball brush (21) and picking up between the ball baffle plate (18) is constantly risen; Ball reaches when picking up ball outlet (20); Pick up the low Δ H in global shell sidewall (16) center of circle owing to pick up ball baffle plate (18) upper edge ratio, the ball brush (21) of picking up this moment tilts, so ball rolls out under the self gravitation effect and picks up ball mechanism; In global image information, move underlying carrier coverage goal ball position fully, and the ball in topography's information disappears also, primary processor thinks that this time picking up the ball task accomplishes, and will pick up the ball number and add one, begins next object ball carried out to pick up the ball exercise work;
3) control system control is moved underlying carrier and is accomplished the step of the autonomous task of falling the ball and be: when the primary processor record pick up the ball number near the capacity of ball basket (8) time, primary processor starts the independently program of falling the ball; Primary processor confirms to move underlying carrier position, (4) position, the place of falling the ball and barrier position according to overall visual pattern information, and the planning footpath of falling the course of action makes mobile underlying carrier can arrive the place of falling the ball (4) with the fastest mode then; The primary processor guiding is moved underlying carrier and is arrived the place ahead, the place of falling the ball (4); The direction of motion of underlying carrier is moved in adjustment, make to move the underlying carrier afterbody and aim at the place of falling the ball (4), then sub-processor control ball motor (12) rotate counterclockwise; The blade of falling the ball (24) upwards rotates the β angle from initial position; Because the ball motor (12) that falls is furnished with encoder, therefore can control the slewing area of the blade of falling the ball (24) through the feedback of encoder, the β angle value need be confirmed according to the volume of ball; Because ball basket bottom surface (27) tilts, after the blade of falling the ball (24) turned to a high position, the ball in the ball basket (8) just fell into down ball (4) from ball basket ball mouth (28); Behind the no ball, the sub-processor control blade of falling the ball (24) is swung down to initial position, blocks ball basket ball mouth (28) in the ball basket (8), accomplishes the task of falling the ball;
4) step that the mobile underlying carrier of control system control is accomplished autonomous charging task is: power management module detects battery electric quantity constantly; In case find just to send the electric weight shortage signal when battery electric quantity is lower than a certain threshold value of specified electric quantity, have sufficient electric weight to move to charging device (3) from the job site so that move underlying carrier to sub-processor; After primary processor is received the electric weight shortage signal that sub-processor sends; At first confirm to move the position of underlying carrier, the position and the barrier position of charging device (3) according to global image information, planning charging driving path makes mobile underlying carrier arrive charging device (3) with the fastest speed; That judges robot then picks up the ball job schedule; When mobile underlying carrier distance objective ball pick up ball start apart from the time, directly suspend the present ball work of picking up, drive towards charging device (3) then; If move underlying carrier distance objective ball smaller or equal to pick up ball start apart from the time, move underlying carrier and accomplish earlier and this time pick up ball exercise and do, and then drive towards charging device (3); Move and at first adjust the direction of motion after underlying carrier arrives charging device (3), make and move underlying carrier afterbody aligning charging device inlet (31), reversing gets into charging device (3) then; When charging plug (10) and charging socket (32) are stable dock after; Power management module detects between the charging plug (10) and has voltage, just sends to sub-processor and successfully docks signal, and sub-processor control is moved underlying carrier and stopped to retreat; Power management module control battery breaks off the current supply circuit that moves underlying carrier; And with line connection between charging plug (10) and the battery plus-negative plate, beginning is charging automatically, treats that battery is full of; Power management module breaks off line between charging plug (10) and the battery plus-negative plate again; Then battery is connected the current supply circuit that moves underlying carrier, mobile underlying carrier rolls charging device (3) away from, accomplishes autonomous charging task;
The method that underlying carrier carries out man-machine interaction is moved in the control of said control system: the real-time display device people of the sub-processor control display screen state of working; People when the robot operation irregularity, check the detail parameters of robot through this mode, so that the system failure is diagnosed through the detailed operation parameter of button inquiry robot;
Said control system realizes that the method for self-protection function is: the current value of current-limiting protection circuit real-time detecting system current supply circuit, and when overcurrent condition occurring, current-limiting protection circuit cuts off current supply circuit, with the safety of protection system circuit; Can promptly stop the operation of robot through urgent button (15).
2. automatic ball-picking robot according to claim 1; It is characterized in that; When said automatic ball-picking robot works in the unit operation pattern; Comprise single mobile underlying carrier, single charging device and control system, described control system comprises single main processor modules, single sub-processor module; When said automatic ball-picking robot works in the multimachine collaboration mode, comprise a plurality of mobile underlying carriers, a plurality of charging device and control system, said control system comprises single main processor modules, a plurality of sub-processor module.
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| CN2008101832334A CN101579857B (en) | 2008-12-12 | 2008-12-12 | Automatic ball-picking robot |
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| CN2008101832334A CN101579857B (en) | 2008-12-12 | 2008-12-12 | Automatic ball-picking robot |
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| JP2003175481A (en) * | 2001-12-11 | 2003-06-24 | Ricoh Co Ltd | Handling device |
| CN1589934A (en) * | 2003-07-18 | 2005-03-09 | 大连理工大学 | Hand controlled ball picking robot |
| CN1846951A (en) * | 2005-04-11 | 2006-10-18 | 中国科学院自动化研究所 | Control device and method for intelligent mobile robot capable of picking up article automatically |
| CN101161425A (en) * | 2007-11-27 | 2008-04-16 | 江南大学 | Intellectual moving robot for picking up ball |
-
2008
- 2008-12-12 CN CN2008101832334A patent/CN101579857B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4985846A (en) * | 1989-05-11 | 1991-01-15 | Fallon Patrick J | Acoustical/optical bin picking system |
| JP2002120178A (en) * | 2000-10-11 | 2002-04-23 | Sony Corp | Robot device and operation control method for robot device |
| JP2003175481A (en) * | 2001-12-11 | 2003-06-24 | Ricoh Co Ltd | Handling device |
| CN1589934A (en) * | 2003-07-18 | 2005-03-09 | 大连理工大学 | Hand controlled ball picking robot |
| CN1846951A (en) * | 2005-04-11 | 2006-10-18 | 中国科学院自动化研究所 | Control device and method for intelligent mobile robot capable of picking up article automatically |
| CN101161425A (en) * | 2007-11-27 | 2008-04-16 | 江南大学 | Intellectual moving robot for picking up ball |
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| Publication number | Publication date |
|---|---|
| CN101579857A (en) | 2009-11-18 |
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