Intelligent wheel-type multi-manipulator ball picking-up robot

Abstract

The invention discloses an intelligent wheel-type multi-manipulator ball picking-up robot which comprises a carriage main body, a localizer, distance detection sensors, a camera, a manipulator and a ball storage mechanism; a wheel-type chassis is arranged at the bottom of the carriage main body; a protective cover is arranged at the periphery of the carriage main body; the localizer is arranged at the top of the protective cover, and is used for carrying out navigation and location; the distance detection sensors are arranged at the periphery of the protective cover, and comprise infrared sensor parts and ultrasonic wave sensor parts; in a plane, the infrared sensor parts and the ultrasonic wave sensor parts are designed in a staggered manner, are arranged in a layering manner, and are used for detecting the distances of obstacles and avoiding the obstacles; the camera is arranged on a bracket at the upper part of the carriage main body, and is used for carrying out recognition and location on balls; the manipulator is arranged on the carriage main body, is used for picking up the balls, and comprises two front manipulator parts and two rear manipulator parts; and the two front manipulator parts are arranged at the middle part of the front end of the carriage main body, and the two rear manipulator parts are arranged on the two sides of the rear end of the carriage main body, so that picking-up zone boundaries of the four manipulator parts are adjacent.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, in particular to an intelligent ball-picking robot with multiple manipulators. Background technique [0002] As a kind of service robot, the ball-picking robot has become a hot spot in the field of robot research in the past five years. Based on the summary and analysis of research status at home and abroad, it can be seen that there are relatively few research results on small ball picking robots. Foreign research units include the University of Minho in Spain, MIT in the United States, University of Bradford in the United Kingdom, and Vrije University in the Netherlands. The main domestic research units are Shanghai Jiaotong University, Southeast University, Beijing University of Posts and Telecommunications, Beijing Institute of Technology, Shenzhen Lvrui Golf Technology Co., Ltd., Shenzhen Glory Golf Products Co., Ltd., and Guangzhou Hufa Golf Products Co., Ltd., etc., mainly devel...

AI Technical Summary

Problems solved by technology

[0004] At present, the robot for picking up small ball objects mainly relies on methods such as visual navigation, infrared obstacle avoidance, and RRT path planning. It can realize autonomous navigation operations in indoor or outdoor limited areas. path planning strategy, but it is impossible to plan the overall path of picking up the ball, and it is also impossible to perform real-time navigation and positioning of the robot. The adaptability to larger environments such as golf training grounds is relatively poor. If the image collected by the centralized global camera is directly used for the global calculation method, there will be a large amount of calculation, poor real-time performance, and large calculation errors. Therefore, the movement path of the robot picking up the ball should also be reasonably planned. The navigation technology of sensor information fusion ensures the practicability of navigation, such as automatic navigation technology suitable for outdoor large-scale GPS satellite positioning and machine vision, suitable for indoor or outdoor small-scale (within 100m) RFID radio frequency identification and machine vision positioning technology and the combination of infrared and ultrasonic obstacle avoidance technology, etc.

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