CN107097229A - The working method of binocular vision remote control ball picking robot system - Google Patents

Abstract

The invention discloses a working mode of a binocular vision remote control ball picking robot system. The system is composed of a binocular vision based remote control ball picking robot and an embedded handle. The binocular vision remote control ball picking robot is controlled by the binocular vision system. , environmental perception system, ball picking system, motion system, and control system. The embedded handle is composed of a display screen, a joystick, and a wireless module; the robot can work in remote control mode; the robot uses binocular vision technology to expand the effective The recognition range improves the recognition efficiency; the layout of the sensors in the environment perception system of the robot is reasonable, and the recognition efficiency is high; the circuit structure of the robot control system is simplified and the operation is accurate. The system has the advantages of wide recognition range and high ball picking efficiency.

Description

The working method of binocular vision remote control ball picking robot system

technical field

The invention relates to an intelligent ball-picking robot used in tennis, table tennis and other venues, in particular to a working mode of binocular vision remote control ball-picking robot system.

Background technique

The work of picking up balls in table tennis and tennis courts is a heavy physical labor. Manual picking up balls is time-consuming and labor-intensive, and the efficiency is not high. In recent years, people have been trying to use intelligent robots instead of humans to do this work.

At present, the authorized patent of a dual-mode intelligent ball picking robot control system (patent number: ZL201320227287.2) proposes a combination of automatic ball picking mode and remote control ball picking mode to solve the problem of intelligent picking up table tennis to a certain extent. Balls and tennis balls, but the automatic ball picking mode adopted by the robot is a purposeless, blind search type of picking up the ball, and the ball picking efficiency is low. In addition, when the robot is working in the remote control ball picking mode, the operator must Visually observe the stadium, and the remote control handle uses infrared technology to transmit control commands, all of which lead to the operator having to control the robot at close range, which cannot be controlled at a long distance, and the control has relatively large limitations. Therefore, it is very necessary to develop a binocular vision remote control ball-picking robot system to realize the non-line-of-sight control of the operator to pick the ball and improve the ball-picking efficiency.

Contents of the invention

Purpose of the invention: The purpose of the present invention is to provide a binocular vision remote control ball picking robot system to solve the problem that when the existing robot works in the remote control ball picking mode, the operator must use visual observation of the field, and the remote control handle uses infrared technology The transmission of control commands all lead to the problem that the operator must control the robot at a short distance, and cannot control it at a long distance, and the control limitation is relatively large.

Technical solution: The present invention provides the following technical solutions: the working mode of the binocular vision remote control ball picking robot system, which is characterized in that: the system is composed of a binocular vision remote control ball picking robot and an embedded handle; The ball robot is composed of binocular vision system, environment perception system, ball picking system, motion system and control system;

The binocular vision remote control ball picking robot can work in remote control mode;

The operator can control the motion path of the binocular vision remote control ball picking robot through the embedded handle and pick up the ball; through the first camera and the second camera on the top of the binocular vision remote control ball picking robot to collect image information of the stadium, The first infrared sensor, the second infrared sensor, the third infrared sensor, and the fourth infrared sensor sense the surrounding obstacles, and send the image information and surrounding obstacle information to the display screen in the embedded handle in real time. The stadium information displayed on the screen, through the joystick to control the rotation of the first steering gear, the second steering gear, the third steering gear, and the fourth steering gear, and then control the binocular vision to remotely control the trajectory of the ball picking robot and pick up the ball.

As an optimization, the binocular vision system is connected to the control system, which includes a first camera and a second camera, wherein the first camera and the second camera are located on the top of the binocular vision remote control ball-picking robot, and the angle between them and the symmetrical plane of the robot Both are 30 degrees.

As an optimization, the environmental perception system is connected with the control system, which includes a first infrared sensor, a second infrared sensor, a third infrared sensor, and a fourth infrared sensor, wherein the first infrared sensor, the second infrared sensor, the third infrared sensor, The fourth infrared sensor is respectively located in four directions of the diagonal line of the robot.

As optimization, the motion system is connected with the control system, which includes the first tire, the second tire, the third tire, the fourth tire, the first steering gear, the second steering gear, the third steering gear, and the fourth steering gear, wherein, The first steering gear controls the first tire, the second steering gear controls the second tire, the third steering gear controls the third tire, and the fourth steering gear controls the fourth tire; the first tire, the second tire, the third tire, the fourth tire The angle between the tire and the symmetry plane of the binocular vision remote control ball picking robot is 0 degrees.

As an optimization, the control system includes a first MCU, a first wireless module, a first power supply module, a first USB, and a second USB, wherein the first power supply module provides the first MCU, the first wireless module, the first USB, and the second USB The power required for USB work; the embedded handle controls the first MCU through the first wireless module, so that the binocular vision remote control ball-picking robot works in the remote control mode; the first MCU uses an ARM Cortex-A9 processor.

As an optimization, the embedded handle is composed of a second wireless module, a display screen, a second MCU, a joystick, and a second power supply module; the third MCU uses an ARM Cortex-A9 processor.

Beneficial effect: compared with the prior art, the present invention:

The binocular vision remote control ball picking robot system adopts binocular vision technology to expand the field of view of the robot to observe the field and improve the robot's ball picking efficiency; the visual remote control method allows the operator to control the robot in a non-line-of-sight situation Picking up the sphere greatly enriches the application scenarios of the robot.

Description of drawings

Fig. 1 is a system structure diagram;

Fig. 2 is a robot structural diagram;

Fig. 3 is a bottom sectional view of the robot;

Figure 4 is a front view of the robot;

Fig. 5 is a structural diagram of the system control circuit;

Figure 6 is a structural diagram of the embedded handle circuit.

Each label in the figure means:

1 Binocular vision remote control ball picking robot 2 Embedded handle

1-1 First camera 1-2 Second camera

1-3 Control system 1-4 Ball pickup impeller

1-5 first infrared sensor 1-6 second infrared sensor

1-7 The third infrared sensor 1-8 The fourth infrared sensor

1-9 First tire 1-10 Second tire

1-11 third tire 1-12 fourth tire

1-13 baffle 1-14 baffle

1-15 sphere 1-16 ball storage box

1-17 The first steering gear 1-18 The second steering gear

1-19 The third steering gear 1-20 The fourth steering gear

1-21 The fifth servo 1-22 The first wireless module

1-23 First USB 1-24 Second USB

1-25 The first power module 1-26 The first MCU

2-1 Second power supply module 2-2 Display screen

2-3 Second MCU 2-4 Joystick

2-5 Second power module

detailed description

The present invention is specifically set forth below by means of specific embodiments:

As shown in FIG. 1 , the binocular vision remote control ball picking robot system of the present invention consists of a binocular vision remote control ball picking robot 1 and an embedded handle 2 .

As shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the binocular vision remote control ball picking robot 1 is composed of a binocular vision system, an environment perception system, a ball picking system, a motion system, and a control system 1-3.

As shown in Figure 2, Figure 3, and Figure 4, the binocular vision system of the binocular vision remote control ball picking robot 1 is connected to the control system, which includes a first camera 1-1 and a second camera 1-2, which are characterized in that : The first camera 1-1 and the second camera 1-2 are located at the top of the dual-mode intelligent ball-picking robot 1 based on binocular vision, and the included angles with the robot symmetry plane are 30 degrees.

As shown in Figure 3, the environmental perception system of the binocular vision remote control ball picking robot 1 is connected with the control system, which includes a first infrared sensor 1-5, a second infrared sensor 1-6, a third infrared sensor 1-7, The fourth infrared sensor 1-8 is characterized in that: the first infrared sensor 1-5, the second infrared sensor 1-6, the third infrared sensor 1-7, and the fourth infrared sensor 1-8 are respectively located on the diagonal of the robot. in four directions.

As shown in Figure 2, Figure 3 and Figure 4, the ball picking system of the binocular vision remote control ball picking robot 1 is connected to the control system, which includes ball picking impellers 1-4, ball blocking plates 1-13, and ball blocking plates 1 -14, the fifth steering gear 1-21, the ball storage box 1-16, are characterized in that: the fifth steering gear 1-21 controls the ball picking impeller 1-4 to roll up the ball 1-15 in the process of rotation. Ball blocking plate 1-13 rolls and slides down in ball storage box 1-16 through blocking ball plate 1-14.

As shown in Figure 3, the kinematic system of the binocular vision remote control ball picking robot 1 is connected to the control system, which includes the first tire 1-9, the second tire 1-10, the third tire 1-11, and the fourth tire 1 -12, the first steering gear 1-17, the second steering gear 1-18, the third steering gear 1-19, the fourth steering gear 1-20, which is characterized in that the first steering gear 1-17 controls the first tire 1-9. The second steering gear 1-18 controls the second tire 1-10. The third steering gear 1-19 controls the third tire 1-11. The fourth steering gear 1-20 controls the fourth tire 1-12. The included angles between the first tire 1-9, the second tire 1-10, the third tire 1-11, the fourth tire 1-12 and the symmetry plane of the binocular vision-based dual-mode intelligent ball-picking robot 1 are all 0 degrees.

As shown in Figure 5, the control system 1-3 of the binocular vision remote control ball picking robot 1 includes a first MCU1-26, a first wireless module 1-22, a first power supply module 1-25, a first USB1-23, The second USB1-24, wherein the first power supply module 1-25 provides the power required for the first MCU1-26, the first wireless module 1-22, the first USB1-23, and the second USB1-24 to work; the embedded handle 2 Through the first wireless module 1-22, the first MCU1-26 is controlled, so that the dual-mode intelligent ball-picking robot 1 based on binocular vision works in the remote control mode; the first MCU1-26 adopts the ARM Cortex-A9 processor .

As shown in Figure 6, the embedded handle 2 of the binocular vision remote control ball picking robot 1 includes a second wireless module 2-1, a display screen 2-2, a second MCU 2-3, a joystick 2-4, and a second power supply Module 2-5 is characterized in that: the second MCU 2-3 adopts ARM Cortex-A9 processor.

Concrete picking up ball process of the present invention is:

When working in the remote control mode: by being positioned at the first camera 1-1 and the second camera 1-2 on the top of the dual-mode intelligent ball-picking robot 1 based on binocular vision to collect field image information, the first infrared sensor 1-5, the second The second infrared sensor 1-6, the third infrared sensor 1-7, and the fourth infrared sensor 1-8 sense the surrounding obstacles, and the first MCU1-26 sends the image information and surrounding obstacle information to the embedded handle 2 in real time The display screen 2-3, the operator controls the first steering gear 1-17, the second steering gear 1-18, and the third steering gear 1-19 through the joystick 2-4 according to the stadium information displayed on the display screen 2-3. 1. The fourth steering gear 1-20 rotates, and then controls the trajectory of the dual-mode intelligent ball picking robot 1 based on binocular vision and picks up the ball.

The above embodiment is only one implementation mode of the present invention, and its description is relatively specific and detailed, but it should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims (6)

1. the working method of binocular vision remote control ball picking robot system, it is characterised in that：The system is remote by binocular vision Journey manipulation ball picking robot (1) and embedded handle (2) composition；Binocular vision remote control ball picking robot (1) is by binocular vision Feel system, context aware systems, pick up ball system, kinematic system, control system (1-3) composition；

Binocular vision remote control ball picking robot (1) can work under distance control mode；

Operator can control the motion road of binocular vision remote control ball picking robot (1) by embedded handle (2) Footpath, and pick spheroid；Pass through the first camera (1-1) at the top of binocular vision remote control ball picking robot (1), second Camera (1-2) gathers court image information, the first infrared sensor (1-5), the second infrared sensor (1-6), the 3rd infrared Sensor (1-7), the 4th infrared sensor (1-8) are perceived to peripheral obstacle, and by image information and peripheral obstacle Information is sent to the display screen (2-3) in embedded handle (2), court of the operator according to display screen (2-3) display in real time Information, the first steering wheel (1-17), the second steering wheel (1-18), the 3rd steering wheel (1-19), the 4th steering wheel are controlled by rocking bar (2-4) (1-20) is rotated, and then is controlled the movement locus of binocular vision remote control ball picking robot (1) and picked spheroid.

2. the working method of binocular vision remote control ball picking robot system according to claim 1, it is characterised in that： Binocular vision system is connected with control system (1-3), and it includes the first camera (1-1), second camera (1-2), wherein, the One camera (1-1), second camera (1-2) are located at the top of binocular vision remote control ball picking robot (1), and and robot The angle of the plane of symmetry is 30 degree.

3. the working method of binocular vision remote control ball picking robot system according to claim 1, it is characterised in that： Context aware systems are connected with control system (1-3), and it includes the first infrared sensor (1-5), the second infrared sensor (1- 6), the 3rd infrared sensor (1-7), the 4th infrared sensor (1-8), wherein, it is the first infrared sensor (1-5), second infrared Sensor (1-6), the 3rd infrared sensor (1-7), the 4th infrared sensor (1-8) are located at cornerwise four of robot respectively On direction.

4. the working method of binocular vision remote control ball picking robot system according to claim 1, it is characterised in that： Kinematic system is connected with control system (1-3), and it includes first tire (1-9), the second tire (1-10), third round tire (1- 11), fourth round tire (1-12), the first steering wheel (1-17), the second steering wheel (1-18), the 3rd steering wheel (1-19), the 4th steering wheel (1- 20), wherein, the first steering wheel (1-17) control first tire (1-9), the second steering wheel (1-18) control the second tire (1-10), the Three steering wheels (1-19) control third round tire (1-11), the 4th steering wheel (1-20) control fourth round tire (1-12)；First tire (1- 9), the second tire (1-10), third round tire (1-11), fourth round tire (1-12) and binocular vision remote control ball picking robot (1) plane of symmetry angle is 0 degree.

5. the working method of binocular vision remote control ball picking robot system according to claim 1, it is characterised in that： Control system (1-3) includes the first MCU (1-26), the first wireless module (1-22), the first power module (1-25), the first USB (1-23), the 2nd USB (1-24), wherein, the first power module (1-25) provides the first MCU (1-26), the first wireless module (1- 22), power supply needed for the first USB (1-23), the 2nd USB (1-24) work；Embedded handle (2) passes through the first wireless module (1- 22) the first MCU (1-26) is controlled, binocular vision remote control ball picking robot (1) is operated in distance control mode； First MCU (1-26) uses ARM Cortex-A9 processors.

6. the working method of binocular vision remote control ball picking robot system according to claim 1, it is characterised in that： Embedded handle (2) is by the second wireless module (2-1), display screen (2-2), the 2nd MCU (2-3), rocking bar (2-4), second source Module (2-5) is constituted；3rd MCU (2-1) uses ARM Cortex-A9 processors.