Intelligent ball picking robot

Abstract

The invention relates to the technical field of robots, and discloses an intelligent ball picking robot which comprises a power input module, a ball picking module, a ball picking module and a ball picking module. The input module is used for detecting the type of a key input signal, generating a control signal in a remote control mode or an automatic mode, receiving a high-level pulse signal transmitted by the control module and triggering distance measurement; the control module module is used for receiving the control signal, analyzing and calculating the ideal speed of the three-wheel omnidirectional chassis of the intelligent ball picking robot, receiving the high level duration time transmitted by the input module module and calculating the actual distance of an obstacle; the driving chassis module is used for receiving the ideal speed, capturing an encoder signal transmitted by a motor encoder, executing a speed PID method, combining closed-loop PID speed regulation and generating an optimized pulse width modulation signal, so that the actual rotating speed of the motor tracks the ideal speed to control the movement direction of the intelligent ball picking robot; according to the invention, flexible movement and obstacle avoidance functions of small ball pickup are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an intelligent ball picking robot. BACKGROUND

[0002] With the rapid development of artificial intelligence, machine learning and perception technology, intelligent robot technology has shown great potential and application prospects in various fields. Intelligent ball picking robots, as one of the most eye-catching application scenarios, have attracted much attention. In sports venues, training sites and other places, it is often necessary to pick up balls scattered on the ground, but the traditional manual ball picking method is inefficient and time-consuming. SUMMARY

[0003] In view of the above shortcomings in the prior art, the present application provides an intelligent ball picking robot to solve the problems of low efficiency and high labor cost in the traditional manual ball picking method.

[0004] In order to achieve the above-mentioned application purposes, the technical scheme adopted by the present application is as follows: An intelligent ball picking robot comprises: A power input module for supplying power to each module; An input module for detecting the type of key input signal according to the key input signal, generating a control signal in remote control mode or automatic mode, and transmitting it to the control module, while receiving the high-level pulse signal transmitted by the control module, triggering the ultrasonic sensor to emit ultrasonic pulses for obstacle ranging, and returning the high-level duration to the control module to return the obstacle distance; A control module for receiving the control signal transmitted by the input module, calculating the ideal speed of the three-wheel omnidirectional chassis of the intelligent ball picking robot through signal analysis, and transmitting it to the drive chassis module, while receiving the high-level duration transmitted by the input module, calculating the actual distance of the obstacle, and realizing the obstacle avoidance function in the ball picking process; A drive chassis module for receiving the ideal speed transmitted by the control module, while capturing the encoder signal transmitted by the motor encoder, executing the speed PID method, combining the closed-loop PID controller for speed regulation, generating the optimized pulse width modulation signal, making the actual speed of the motor track the ideal speed, controlling the movement direction of the intelligent ball picking robot, and finally realizing the omnidirectional flexible movement of the intelligent ball picking robot.

[0005] The present application has the following advantages: The intelligent ball-picking robot proposed in the present invention can not only realize the functions of flexible movement and small ball picking, but also realize the obstacle avoidance function during the ball picking process. At the same time, it can accurately obtain the position of the small ball and realize precise movement direction control during intelligent ball picking, thereby reducing labor cost expenditure and improving ball picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a structural diagram of an intelligent ball-picking robot proposed in the present invention; Figure 2 Schematic diagram of the motion coordinate system of the three-wheel omnidirectional chassis in the embodiment; Figure 3 Schematic diagram of the process of performing PID speed regulation on the motor in the driving chassis module in the embodiment. DETAILED DESCRIPTION

[0007] The specific embodiments of the present invention are described below to facilitate understanding of the present invention by those skilled in the art. However, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the appended claims, these changes are obvious, and all inventions and creations utilizing the concepts of the present invention are protected.

[0008] like Figure 1 As shown, an intelligent ball-picking robot comprises: The power input module is used to supply power to each module.

[0009] In this embodiment, the entire intelligent ball-picking robot requires electrical energy to maintain operation. According to needs, a lithium battery pack consisting of three 18650 lithium batteries is selected as the power input module, and its rated voltage is 12.6V and the rated capacity is 6000mAh, which can provide sufficient power and long-lasting endurance for the intelligent ball-picking robot.

[0010] The input module is used to detect the type of key input signal according to the key input signal, generate the control signal in remote control mode or automatic mode, and transmit it to the control module. At the same time, it receives the high-level pulse signal transmitted by the control module, triggers the ultrasonic sensor to emit ultrasonic pulses for obstacle ranging, and returns the high-level duration to the control module to transmit the obstacle distance.

[0011] In this embodiment, the input module mainly includes a visual module, a Bluetooth module, and an ultrasonic module; among them, the OpenMV camera is used as the visual module for image recognition processing, the HC-SR04 ultrasonic module is used for distance detection to achieve the function of avoiding obstacles, and the HC-04 Bluetooth serial port communication module is used to communicate with the host computer (the mobile phone is selected as the host computer in this invention); and the detailed functions of each module are as follows: The visual module is used to perform image recognition processing when the key input signal type is automatic mode, generate control signal data after image recognition, and transmit it to the control module; wherein the control signal data after image recognition includes coordinate offset data of the target ball; In this embodiment, the visual module adopts OpenMV camera (Open Machine Vision) for the following reasons: OpenMV is a programmable single-chip camera with image processing function, which can perform image recognition and more difficult visual processing, such as color recognition, shape recognition, matrix recognition, intelligent ball picking robot line patrol, face recognition, edge detection, landmark tracking, etc.; considering that the visual module needs to be placed at a higher position to obtain a good field of view, a module that is too large or too heavy is not easy to place, and considering the lightweight characteristics of OpenMV, it is selected as the visual module to perform image recognition processing, thereby generating control signal data after image recognition; wherein, after generating image recognition, The process of receiving the control signal data is as follows: 1) Initialize the screen, sensor, and serial port (the serial port is connected to the control module); 2) Set the pixel format, image size, and white balance mode; 3) Set the color threshold of the target ball; 4) Acquire the image and detect the color block; 5) Determine whether the color block is within the target threshold. If so, execute step 6); otherwise, return to step 4); 6) Determine whether the shape of the color block is circular. If so, execute step 7); otherwise, return to step 4); 7) Calculate the coordinate difference between the target ball and the central axis; 8) The serial port sends the offset (i.e., the control signal data after image recognition) to the control module.

[0012] The Bluetooth module is used to receive control instructions sent by the host computer and transmit them to the control module when the key input signal type is remote control mode.

[0013] In this embodiment, the Bluetooth module uses the HC-04 Bluetooth serial port communication module, which is a new generation of dual-mode data transmission module based on the SPP&BLE Bluetooth protocol, supports BLE5.0, and its wireless operating frequency band is 2.4GHz ISM, the modulation mode is GFSK, the maximum transmission power is 6dBm, and the receiving sensitivity is -92dBm; in addition, the Bluetooth serial port communication modules of the same series include HC-02, HC-07, HC-08, HC-09, HC-42, etc., the difference lies in the Bluetooth protocol used, transmission rate, and transmission distance. After comprehensive comparison, HC-04 is easy to use, has strong compatibility, low power consumption, fast transmission speed and low cost, which best meets the needs of the intelligent ball picking robot designed by the present invention. Therefore, the present invention uses the HC-04 Bluetooth serial port communication module to control the transmission of control instructions sent by the host computer, specifically: using the SPP protocol to complete The control command transmission from the mobile phone to the control module (main control module) of the intelligent ball-picking robot, that is, before using the Bluetooth module, first insert the HC-04 module into the HC-T test stand and connect it to the computer; on the computer, use the HC-T serial port assistant program to enter the AT mode and set the baud rate and master-slave mode of the HC-04 module; because the control command used in this design is only two hexadecimal characters and does not require very high-speed transmission, the baud rate is set to 1200, which has been tested to meet the requirements of this design; in this design, the Bluetooth module is part of the input module and needs to receive control commands from the host computer, so it is set to slave mode. Finally, to facilitate Bluetooth pairing, set the Bluetooth name to ZCW-04. That is, on the host computer, that is, on the mobile phone, use the Bluetooth debugger APP to connect to the Bluetooth device with the paired Bluetooth name ZCW-04, and use the custom button to control the movement of the robot. The button is set to send different control information when pressed and released. For example, the "forward" instruction is 0x11, plus a stop bit of 0x5B, and the complete instruction sent is 0x115B. The "stop" instruction is 0x00, and the complete instruction is 0x005B. Therefore, the "forward" button is set to send 0x115B when pressed and 0x005B when released; using the same logic, edit the data sent when the control button is pressed corresponding to different motion behaviors, including controlling the intelligent ball picking robot to move left, right, counterclockwise, clockwise, forward, left, right, backward, and stop. In addition, the HC-04 Bluetooth module is connected to the control module through the serial port. After pressing the button to enter the remote control mode, the corresponding mode indicator light will light up and the serial port will be enabled to facilitate the transmission of control commands. Different control commands represent different behavior modes of the driving chassis, which will be parsed by the control module to control the motor accordingly.

[0014] Therefore, when in remote control mode, the visual module is in sleep mode and the Bluetooth module is running; when in automatic mode, the Bluetooth module is in sleep mode and the visual module is running; this design saves energy consumption.

[0015] The ultrasonic module is used to receive the high-level pulse signal transmitted by the control module, trigger the ultrasonic sensor to emit ultrasonic pulses to measure the obstacle distance, and return the high-level duration to the control module to transmit the obstacle distance.

[0016] In this embodiment, the present invention considers that the distance that the obstacle avoidance module needs to detect is about 30~35cm, and selects the HC-SR04 ultrasonic obstacle avoidance module with a wider monitoring range as the obstacle avoidance module used by the intelligent ball picking robot proposed by the present invention. At the same time, the selected HC-SR04 ultrasonic module includes four pins, namely VCC, Trig (control end), Echo (sending echo signal), and GND; and the working principle of the HC-SR04 ultrasonic module is: (1) the control module sends a high-level pulse signal of at least 10us to the Trig pin of the ultrasonic module through the serial port, triggering the distance measurement and starting the ultrasonic sensor transmitter to transmit the ultrasonic pulse signal; (2) the ultrasonic sensor emitter sends the ultrasonic pulse signal; (3) the ultrasonic sensor emits the ultrasonic pulse signal; (4) the ultrasonic sensor emits the ultrasonic pulse signal; (5) the ultrasonic sensor emits the ultrasonic pulse signal; (6) the ultrasonic sensor emits the ultrasonic pulse signal; (7) the ultrasonic sensor emits the ultrasonic pulse signal; (8) the ultrasonic sensor emits the ultrasonic pulse signal; (9) the ultrasonic sensor emits the ultrasonic pulse signal; (10) the ultrasonic sensor emits the ultrasonic pulse signal; (11) the control module sends a high-level pulse signal of at least 10us to the Trig pin of the ultrasonic module through the serial port, triggering the distance measurement and starting the ultrasonic sensor emitter to transmit the ultrasonic pulse signal; (12) the ultrasonic sensor emits the ultrasonic pulse signal; (13) the ultrasonic sensor emits the ultrasonic pulse signal; (14) the ultrasonic sensor emits the ultrasonic pulse signal; (15) the ultrasonic sensor emits the ultrasonic pulse signal; (16) the ultrasonic sensor emits the ultrasonic pulse signal; (17) the ultrasonic sensor emits the ultrasonic pulse signal; (18) the ultrasonic sensor emits the ultrasonic pulse signal; (19) the ultrasonic sensor emits the ultrasonic pulse signal; (20) the ultrasonic sensor emits the ultrasonic pulse signal; (21) the ultrasonic sensor emits the ultrasonic pulse signal; (22) the ultrasonic sensor emits the ultrasonic pulse signal; (23) The acoustic module automatically sends 8 40KHz cycle levels and detects the echo. Once an echo signal is detected, it outputs an echo signal and then converts the echo signal to a high level. The duration of the high level is the time from the ultrasonic wave is emitted to the return; (3) The ultrasonic module returns the high level duration to the serial port of the control module through the Echo pin, and transmits the obstacle distance back. The control module then converts it to generate the actual distance; (4) The high level duration received by the control module is the time it takes for the ultrasonic wave to go back and forth. Divide this time by two and multiply it by the speed of sound to get the measured distance; thus, it can be seen that: test distance = high level time / 2×sound speed (340m / s).

[0017] The control module is used to receive the control signal transmitted by the input module, calculate the ideal speed of the three-wheeled omnidirectional chassis of the intelligent ball-picking robot through signal analysis, and transmit it to the drive chassis module. At the same time, it receives the high-level duration transmitted by the input module and calculates the actual distance to the obstacle to realize the obstacle avoidance function during the ball picking process.

[0018] In this embodiment, the control module module uses an STM32F103 single-chip microcomputer (i.e., an STM32F103 ZET6 core board) so that the control module module is responsible for data collection, processing, and motion control of the entire intelligent ball-picking robot. The control module module includes: receiving data from the input module module, obtaining the ideal speed through processing, and outputting the corresponding variable to control the operation of the drive motor. At the same time, when receiving data, the control module module is provided with a mode indicator light. That is, after detecting the key input signal, if the key input signal type is determined to be automatic mode, the serial port connected to the vision module is enabled to light up, and then the serial port transmits the control signal data transmitted by the vision module. If the key input signal type is determined to be remote control mode, the serial port connected to the Bluetooth module is enabled to light up, and then the serial port transmits the host computer control information transmitted by the Bluetooth module. Finally, the control module module parses the received signal information so as to subsequently execute the speed PID method to control the movement of the motor.

[0019] In addition, during the control process, the intelligent ball-picking robot selects a three-wheeled omnidirectional chassis for movement. Because the three-wheeled omnidirectional chassis is different from a conventional drive chassis with side-by-side tires, in order to achieve motion control of the three-wheeled omnidirectional chassis, it is necessary to perform an inverse kinematic analysis of the three-wheeled omnidirectional chassis. The specific process is as follows: First, consider the entire chassis as an ideal model and assume that: (1) The omnidirectional chassis has uniform mass distribution, and each wheel has the same size and mass; (2) The distances from the three omnidirectional wheels to the center are equal, and the angle between them is 120 degrees; (3) The omnidirectional chassis will not slip.

[0020] Then, a world coordinate system X′O′Y′ is established, and then the coordinate system XOY of the intelligent ball-picking robot itself is established. Figure 2 As shown, let the distance from the center to the wheel be a constant , the angular velocity of the mobile platform itself is , assuming clockwise is the positive direction of angular velocity, the speeds of each wheel are 、 、 ; The component velocity of the mobile platform in its own coordinate system is 、 ;wheel Movement direction and the coordinate system of the intelligent ball-picking robot Axis angle ,wheel Movement direction and the coordinate system of the intelligent ball-picking robot Axis angle , is the angle between the two coordinate systems; The so-called inverse solution is to find the speed of each wheel of the three-wheeled omnidirectional chassis in order to make the intelligent ball-picking robot reach the speed vector in the world coordinate system. The following linear equations can be listed through simple velocity vector calculations, namely:

[0021]

[0022]

[0023] in, represents the cosine function, represents the sine function; Transform the above linear equations into matrix form, namely: ; Since the solution is in the coordinate system of the intelligent ball-picking robot itself, it needs to be converted when applied to the actual scene, that is, it needs to be multiplied by a rotation matrix. Now assume The size of is known, then the rotation matrix from X′O′Y′ to XOY can be obtained for: ; Then the rotation matrix from XOY to X′O′Y′ is The inverse matrix of is: ; So we have: ; Will Substituting into the linear equations, we have: ; in, 、 They represent the coordinate system of the intelligent ball-picking robot itself Axis direction, The translation speed in the axis direction, represents the angular velocity of the intelligent ball-picking robot around its own center; By simplifying the above formula, we can finally get the movement speed of each wheel when the three-wheeled omnidirectional chassis is moving, which is also the ideal speed of the three-wheeled omnidirectional chassis of the intelligent ball-picking robot, namely: ; Therefore, the wheel motion speed (ideal speed) can be obtained from the above formula in order to send the correct speed control instructions to each motor.

[0024] The driving chassis module is used to receive the ideal speed transmitted by the control module, capture the encoder signal transmitted by the motor encoder, execute the speed PID method, combine with the closed-loop PID controller for speed regulation, and generate an optimized pulse width modulation signal to make the actual speed of the motor track the ideal speed. By controlling the movement direction of the intelligent ball picking robot, the intelligent ball picking robot can finally achieve omnidirectional and flexible movement.

[0025] Specifically, the driving chassis module includes a motor driving module.

[0026] The motor drive module is used to receive the ideal speed transmitted by the control module and the encoder signal transmitted by the motor encoder. It executes the speed PID method and combines it with the closed-loop PID controller for speed regulation to generate an optimized pulse width modulation signal. The actual speed of the drive motor tracks the ideal speed. By controlling the motor torque, the movement direction of the intelligent ball picking robot is controlled, ultimately realizing the omnidirectional and flexible movement of the intelligent ball picking robot.

[0027] Specifically, the closed-loop PID controller adopts a position PID controller.

[0028] Specifically, the closed-loop PID controller is used to adjust the speed and generate the optimized pulse width modulation signal using the following calculation formula:

[0029] in, Indicates the The optimized pulse width modulation signal output by the closed-loop PID controller at the moment, represents the proportional gain coefficient, represents the integral gain coefficient, represents the differential gain coefficient, Indicates the The deviation of the closed-loop PID controller output at the moment, The output of the closed-loop PID controller deviation, Indicates the The deviation of the closed-loop PID controller output at time t.

[0030] Specifically, the motor drive module adopts the TB6612FNG four-way motor drive module.

[0031] In this embodiment, the motor driver module uses the TB6612FNG four-channel motor driver module. This is mainly because the TB6612FNG used in it has much higher efficiency than the traditional L298N, and is also significantly smaller in size. In addition, within the rated range, the chip basically does not generate heat. The TB6612FNG is a dual-channel DC motor driver module commonly used to control the rotation and speed of DC motors. The TB6612FNG four-channel motor driver module includes four common motor interfaces and two TB6612FNG chips, which provide convenient interfaces and functions, specifically: (1) Four-channel drive: supports simultaneous control of four DC motors, with each channel capable of outputting a maximum continuous current of 1.2A (3.2A peak); the speed and direction of the motor can be controlled by a pulse width modulation signal (PWM signal) to achieve precise speed regulation; (2) Built-in protection, with overheat protection and overcurrent protection functions, can protect the motor and drive from damage; (3) Wide power supply range and wide operating voltage range, usually between 2.7V and 5.5V; (4) The interface is simple, usually only a few pins are needed to connect to a microcontroller or other control device, making wiring easy.

[0032] When using the TB6612FNG four-way motor driver module, it is necessary to connect the motor's power supply and control signals, as well as the communication line with the microcontroller; by sending appropriate pulse-width modulation signals and control instructions, operations such as starting, stopping, steering, and speed regulation of the motor can be achieved.

[0033] Therefore, the TB6612FNG four-way motor driver module is a DC motor driver module with stable performance and rich functions. It is suitable for various motor control applications, such as smart cars, robots, model airplanes, etc., and fully meets the design requirements of the intelligent ball-picking robot proposed in this invention.

[0034] In addition, if you want to control a motor to rotate at a certain speed, you first need a motor driver module. In this invention, the TB6612FNG four-way motor driver module is selected. Each motor requires three signals for control: two signals that determine the direction of rotation and a pulse width modulation signal that determines the output power. In order to achieve more precise motion control of the intelligent ball-picking robot, the PID method is added on the basis of basic motor control to regulate the speed of each motor. Specifically: Since the open-loop control has very limited precise control over the speed, in order to achieve precise direction control of the overall motion of the intelligent ball-picking robot, a closed-loop PID speed control is added to the motor speed control of the present invention. Figure 3The closed-loop PID controller (also known as a position PID controller) shown in the figure is:

[0035] in, Indicates the The output signal of the PID controller at time represents the proportional gain, and It is inversely proportional to the proportionality. Indicates the The difference between the given value and the measured value at the moment, represents the integration time constant, Represents the differential time constant.

[0036] In order to optimize the precise control of speed, the present invention introduces a closed-loop position PID controller and performs speed regulation by optimizing the pulse width modulation signal.

[0037] also, Figure 3 The middle encoder, installed on the motor (DC reduction motor), is the core feedback unit for driving the chassis module's motion control. It ensures the intelligent ball-picking robot's motion accuracy, energy efficiency, and obstacle avoidance reliability through actual speed monitoring and closed-loop regulation. The encoder's workflow is as follows: (1) Data acquisition: When the motor is running, the encoder continuously outputs a pulse signal, i.e., the encoder signal. For example, a 500-line encoder generates 2000 pulses per revolution. The control module then captures the encoder signal frequency through a timer to calculate the actual speed in rpm. (2) Closed-loop speed regulation: The main control chip compares the ideal speed (target speed) and the actual speed fed back by the encoder to generate an error value. Through the position-based PID controller, the duty cycle of the PWM signal (pulse width modulation signal) is dynamically adjusted to drive the motor drive module to control the motor torque to control the movement direction of the intelligent ball-picking robot, ultimately achieving omnidirectional and flexible movement of the intelligent ball-picking robot.

[0038] Therefore, the drive chassis module is the motion execution core of the intelligent ball-picking robot, and is responsible for the three core tasks of the intelligent ball-picking robot: mobile bearing, direction control, and power transmission. Its design goal is to achieve omnidirectional flexible movement, including forward, backward, lateral translation, and on-the-spot rotation, and to support the weight of the entire machine's mechanical structure and electronic modules.

[0039] To sum up, the intelligent ball-picking robot proposed in the present invention can not only realize the functions of flexible movement and small ball picking, but also realize the obstacle avoidance function during the ball picking process. At the same time, it can accurately obtain the position of the ball and realize precise movement direction control during intelligent ball picking, thereby reducing labor cost expenditure and improving ball picking efficiency.

[0040] Specific embodiments are used in the present invention to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

[0041] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and it should be understood that the scope of protection of the present invention is not limited to such specific descriptions and embodiments. Those skilled in the art can make various other specific variations and combinations based on the technical teachings disclosed in the present invention without departing from the essence of the present invention, and such variations and combinations are still within the scope of protection of the present invention.

Claims

1. An intelligent ball-picking robot, characterized in that: include: Power input module, used to realize power supply of each module; The input module is used to detect the type of key input signals according to the key input signals, generate control signals in remote control mode or automatic mode, and transmit them to the control module. At the same time, it receives the high-level pulse signals transmitted by the control module, triggers the ultrasonic sensor to emit ultrasonic pulses for obstacle ranging, and returns the high-level duration to the control module to transmit the obstacle distance. The control module is used to receive the control signal transmitted by the input module, calculate the ideal speed of the three-wheeled omnidirectional chassis of the intelligent ball-picking robot through signal analysis, and transmit it to the drive chassis module. At the same time, it receives the high-level duration transmitted by the input module and calculates the actual distance to the obstacle to achieve obstacle avoidance during the ball-picking process; The driving chassis module is used to receive the ideal speed transmitted by the control module, capture the encoder signal transmitted by the motor encoder, execute the speed PID method, combine with the closed-loop PID controller for speed regulation, and generate an optimized pulse width modulation signal to make the actual speed of the motor track the ideal speed. By controlling the movement direction of the intelligent ball picking robot, the intelligent ball picking robot can finally achieve omnidirectional and flexible movement.

2. The intelligent ball-picking robot according to claim 1, characterized in that: The input module includes a visual module, a Bluetooth module, and an ultrasonic module; The visual module is used to perform image recognition processing when the key input signal type is automatic mode, generate control signal data after image recognition, and transmit it to the control module; wherein the control signal data after image recognition includes coordinate offset data of the target ball; The Bluetooth module is used to receive the control instructions sent by the host computer and transmit them to the control module when the key input signal type is the remote control mode; The ultrasonic module is used to receive the high-level pulse signal transmitted by the control module, trigger the ultrasonic sensor to emit ultrasonic pulses to measure the obstacle distance, and return the high-level duration to the control module to transmit the obstacle distance.

3. The intelligent ball-picking robot according to claim 2, characterized in that: The visual module uses an OpenMV camera.

4. The intelligent ball-picking robot according to claim 2, characterized in that: The Bluetooth module uses the HC-04 Bluetooth serial communication module.

5. The intelligent ball-picking robot according to claim 1, characterized in that: The control module uses STM32F103 microcontroller.

6. The intelligent ball-picking robot according to claim 1, characterized in that: The formula for calculating the ideal speed of the three-wheeled omnidirectional chassis of the intelligent ball-picking robot is: in, 、 、 Represent the wheels of the three-wheeled omnidirectional chassis ,wheel and wheels The ideal speed in the world coordinate system, It represents the angle between the world coordinate system and the coordinate system of the intelligent ball-picking robot. Indicates wheels Movement direction and the coordinate system of the intelligent ball-picking robot Axis angle, Indicates wheels Movement direction and the coordinate system of the intelligent ball-picking robot Axis angle, represents the cosine function, represents the sine function, Indicates the distance from the center of the three-wheeled omnidirectional chassis to each wheel. 、 They represent the coordinate system of the intelligent ball-picking robot itself Axis direction, The translation speed in the axis direction, Represents the angular velocity of the intelligent ball-picking robot around its own center.

7. The intelligent ball-picking robot according to claim 1, characterized in that: The driving chassis module includes a motor driving module; The motor drive module is used to receive the ideal speed transmitted by the control module and the encoder signal transmitted by the motor encoder. It executes the speed PID method and combines it with the closed-loop PID controller for speed regulation to generate an optimized pulse width modulation signal. The actual speed of the drive motor tracks the ideal speed. By controlling the motor torque, the movement direction of the intelligent ball picking robot is controlled, ultimately realizing the omnidirectional and flexible movement of the intelligent ball picking robot.

8. The intelligent ball-picking robot according to claim 7, characterized in that: The closed-loop PID controller adopts a position PID controller.

9. The intelligent ball-picking robot according to claim 7, characterized in that: The motor driver module uses the TB6612FNG four-way motor driver module.

10. The intelligent ball-picking robot according to claim 7, characterized in that: Combined with the closed-loop PID controller for speed regulation, the calculation formula for generating the optimized pulse width modulation signal is: in, Indicates the The optimized pulse width modulation signal output by the closed-loop PID controller at the moment, represents the proportional gain coefficient, represents the integral gain coefficient, represents the differential gain coefficient, Indicates the The deviation of the closed-loop PID controller output at the moment, The output of the closed-loop PID controller deviation, Indicates the The deviation of the closed-loop PID controller output at time t.

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