Vehicle-mounted mechanical arm ball pickup system based on SLAM and ball pickup method of ball pickup system

Abstract

The invention discloses a vehicle-mounted mechanical arm ball pickup system based on SLAM and a ball pickup method of the ball pickup system. The ball pickup system comprises a visual sub-system, a central processing sub-system, a driving sub-system, a ball catching sub-system and an energy sub-system, wherein the visual sub-system, on the basis of an SLAM technology, is used for constructing a field raster map and acquiring real-time positional information of a robot main body of the ball pickup system; the central processing sub-system is used for covering the raster map so as to find out atarget ball, and is used for planing a ball pickup movement track in accordance with relative positions of the target ball, an obstacle in the visual field and the robot main body and for transmittinga movement command; in addition, the central processing sub-system, as the robot main body reaches a target ball pickup position, is used for sending a ball catching command; the driving sub-system is used for driving the robot main body to move to the target position in accordance with the movement track; the ball catching sub-system is used for implementing a preset ball catching action after the ball catching command is received; the energy sub-system is used for offering power supply to the other sub-systems; and the central sub-system comprises a force control program based on a zero force control method and is used for compensating gravity force and friction force caused by movement in a ball catching process, so that control over ball catching force is achieved.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a SLAM-based vehicle-mounted mechanical arm ball picking system and a ball picking method thereof. Background technique [0002] my country is the kingdom of table tennis, with many table tennis fans and professional table tennis players. In the process of playing table tennis, they often encounter the situation of flying table tennis balls, and often need to pick up the table tennis balls that fly off the table. However, due to the good elasticity of the table tennis ball, the table tennis ball is likely to bounce around during the picking process, which makes the picking time too long, which is not conducive to consolidating the training effect, and it is easy to increase the fatigue of training, which greatly increases the possibility of sports injuries. . Therefore, there are more and more automatic ball picking robots on the market. [0003] For example, Chinese patent docume...

AI Technical Summary

Problems solved by technology

[0007] The main purpose of the present invention is to propose a vehicle-mounted manipulator arm ball picking system and its ball catching method that can accurately control the ball-grabbing force. By applying the zero-force control method, during the movement of the mechanical arm, the central controller compensates for the impact caused by the movement. Gravity and friction, to achieve stable grasping, to solve the problem that the ball is grasped and deformed or unable to grasp the ball due to the inability of the existing ball-picking robot to accurately control the force of grasping the ball

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