Tennis ball collecting robot

Abstract

The invention relates to a tennis ball collecting robot which at least comprises a machine vision module used for obtaining current position information of at least one tennis ball in a preset area, a motion control module used for planning an advancing path according to the acquired current position information about the tennis ball and the current positioning information of the tennis ball collecting robot, a picking mechanism used for being matched with the motion control module to actively pick up at least one tennis ball after the tennis ball collecting robot arrives at the target position, and releasing the collected tennis balls at the designated position. According to the tennis ball collecting robot, the tennis ball collecting path is short, the continuous use time is long, other impurities cannot be introduced in the tennis ball collecting process, equipment maintenance is simple, and the service life is long. Requirements on tennis ball positioning accuracy are very low, noise is low, and a plurality of tennis balls can be collected at the same time.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a tennis ball collecting robot. Background technique [0002] Tennis courts occupy a large area, and it is inconvenient to rely on manpower to bend over to pick up the ball during tennis training, which not only consumes time, but also consumes more energy. In this regard, relevant researchers have proposed a large number of intelligent ball-picking technology solutions and some of them have been put into use in the market. They can be roughly divided into two categories: one is a suction-type intelligent ball-picking robot that mainly relies on suction to actively collect tennis balls. Tennis balls have high gravity and are easy to roll, which requires a large enough negative pressure, resulting in high power consumption and short duration of use when picking up the ball, and under the action of high negative pressure, dust or debris will be sucked into the robot or e...

AI Technical Summary

Problems solved by technology

[0002] The tennis court covers a large area, and it is inconvenient to rely on manpower to bend over to pick up the ball during tennis training, which not only consumes time, but also consumes more energy

In this regard, relevant researchers have proposed a large number of intelligent ball-picking technology solutions and some of them have been put into use in the market. They can be roughly divided into two categories: one is a suction-type intelligent ball-picking robot that mainly relies on suction to actively collect tennis balls. Tennis balls have high gravity and are easy to roll, which requires a large enough negative pressure, resulting in high power consumption and short duration of use when picking up the ball, and under the action of high negative pressure, dust or debris will be sucked into the robot or even Cyclone equipment, on the contrary, increases the user's equipment maintenance burden, and the service life of the equipment is severely limited

[0003] Another type is the mechanical intelligent ball-picking robot that mainly relies on the operation of the mechanical arm to actively collect tennis balls. Some of them use the precise mechanical arm to identify the ball through intelligent vision, hold the tennis ball and put it into the ball-picking storage room. For example, the public number is The ball-picking system proposed by CN104801023B’s patent literature using a two-degree-of-freedom mechanical arm has low ball-picking efficiency and cannot maintain a stable gripping accuracy, and has a short service life and high cost; some of them use a swinging mechanical arm to push tennis balls Rolling towards the ball picking entrance, such as the tennis ball picking machine proposed by the patent document CN105963936A, although compared with the precise mechanical arm, it has improved single ball picking efficiency and service life, but the swing type The robotic arm needs to collect the ball and then send it to the ball storage room. The single swing range is very large, resulting in a very low overall ball picking efficiency

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