Intelligent ball picking robot

Abstract

The invention provides an intelligent ball picking robot, and belongs to the technical field of stadium automation equipment. According to the invention, the self-balancing two-wheeled trolley which is in meshing transmission with a spur gear and is designed autonomously is adopted, technologies such as gyroscope balance sensing and following camera shooting pan-tilt are matched, and voice and visual control systems are combined, so that the automatic ball picking intelligent robot with functions of autonomous cruising, voice remote control, automatic following and visual positioning is researched and developed; an active mode and a following mode of ball picking in the court are achieved, man-machine interesting interaction is achieved with the assistance of an electronic screen, and the user experience feeling is enhanced.

Description

Technical Field

[0001] The invention belongs to the technical field of sports stadium automation equipment, and in particular relates to an intelligent ball picking robot. Background Art

[0002] Currently, the manual ball picking method in sports venues has problems such as low efficiency and labor consumption. Especially in sports such as tennis and table tennis that require frequent ball picking, players often need to spend a lot of time picking up balls, affecting the continuity and efficiency of training and competition. In addition, manual ball picking also increases the labor intensity of staff and the expenses of the stadium. This problem is particularly prominent in large-scale events or training venues.

[0003] At present, apart from the main manual ball picking method, the ball picking and collection devices on the market, such as table tennis ball picking machines and tennis ball picking cars, are relatively few in variety and mainly rely on manual operation, which has very limited effect on reducing the labor intensity of picking balls and has not substantially changed the manual participation in the ball picking process. In the current ball picking robot market, there is no fully automatic ball picking robot with strong applicability and high efficiency. At the same time, the existing ball picking robot structures are almost all concentrated on four-wheel or more ball picking structures. When facing some obstacles on the court, they are limited by their own mechanical structure and may be difficult to plan a good ball picking path. Therefore, it is particularly important to develop an intelligent device that can autonomously identify, locate, pick up balls, and move conveniently. Summary of the invention

[0004] The present invention mainly simulates an intelligent "caddy" according to the needs of picking up balls on the court (tennis, table tennis, etc.), and realizes the control functions of autonomous ball picking and accompanying ball picking at the same time. The present invention adopts a self-designed self-balancing two-wheeled car with spur gear meshing transmission, cooperates with gyroscope balance perception, follow-up camera pan and other technologies, and combines voice and visual control systems to develop an automatic ball picking intelligent robot with functions such as autonomous cruising, voice remote control, automatic following and visual positioning, realizing the active mode and following mode of picking up balls on the court, and at the same time, it is supplemented by an electronic screen to realize interesting human-computer interaction and enhance the user experience.

[0005] In order to achieve the above technical purpose, the technical solution adopted by the present invention is as follows:

[0006] An intelligent ball picking robot, with an upper plate 4 of the ball picking robot as the main structure, a TOF ranging module 2, a power supply system, a control system, a two-dimensional steering gear gimbal, and a head module are arranged above the upper plate 4 of the ball picking robot;

[0007] The TOF ranging module 2 provides the ball picking robot with distance information from obstacles in different directions to perform obstacle avoidance function; preferably, 4 TOF ranging modules are set.

[0008] The power supply system includes a battery protection shell 3 and a battery 49, which provide energy for the ball picking robot to work;

[0009] The control system is used to coordinate and control the overall work of the ball picking robot, including a motor drive board 46, a main controller 47, and a protective shell 17, wherein the protective shell 17 is used to protect the main controller 47 and the motor drive board 46;

[0010] The two-dimensional servo platform comprises an upper servo 10, an upper servo bracket 8, a lower servo 7, a lower servo bracket 6, two servo flanges 48 and a U-shaped bracket 11. The lower servo bracket 6 is fixed on the upper plate 4 and fixedly connected to the lower servo 7. One of the servo flanges 48 is fixedly connected to the rotatable output shaft of the lower servo 7 and the upper servo bracket 8. The upper servo bracket 8 is further fixedly connected to the upper servo 10, so that the rotation of the output shaft of the lower servo 7 can drive the movement of the upper servo 10. The other servo flange 48 is fixedly connected to the output shaft of the upper servo 10 and the U-shaped bracket 11. The U-shaped bracket 11 is connected to the head module, so that the rotation of the output shaft of the upper servo 10 can drive the movement of the U-shaped bracket 11, and indirectly drive the rotation of the head module. A single servo supports 270° rotation, which provides a large range of two-degree-of-freedom rotation space for the head module.

[0011] The head module includes a front head shell 14, a rear head shell 12, an Openart camera 15, and a capacitive touch display screen 16. The Openart camera 15 provides visual information for the ball picking robot. The capacitive touch display screen 16 is used to display dynamic graphics to express the expression of the ball picking robot and related ball picking robot status information to enhance the interest of human-computer interaction. The U-shaped bracket 11 of the two-dimensional servo gimbal is connected to the rear head shell 12. The head module utilizes the two-dimensional servo gimbal to perform two-degree-of-freedom rotation around the two-dimensional servo gimbal, which not only enhances the interest of human-computer interaction, but also expands the visual range of the Openart camera 15, which is conducive to the ball picking robot system to obtain a wider range of visual information.

[0012] Furthermore, a left-side wire clamping groove 18 and a right-side wire clamping groove 5 are installed below the upper plate 4, which can clamp the wires below the upper plate 4 while modifying the appearance of the ball picking robot, thereby playing a role in line protection.

[0013] Left and right power tire systems are arranged below the upper plate 4, and the upper plate 4 is respectively connected to the fixed brackets 1 on the left and right sides, and the fixed brackets 1 are connected to the middle plate 27, so that the upper plate 4 is connected to the left and right power tire systems;

[0014] Furthermore, the right logo shell 30 and the left logo shell 13 are respectively connected to the fixing brackets 1 on the left and right sides to play a decorative role;

[0015] The left and right sides of the ball picking robot are centered on the middle plate 27, forming the power systems on the left and right sides. One side of the middle plate 27 is connected to the motor mounting seat 43, which fixes the motor 29 and the bearing seat 44 at the same time, providing the first-level power output for the ball picking robot; two bevel gears 45 are used to connect the motor shaft and the connecting shaft 35 of the motor 29 respectively, and the two bevel gears 45 are tightly meshed to transmit the first-level power output to the large gear 31 connected to the connecting shaft 35, providing the second-level power output for the ball picking robot; the bearing seat bracket 33 is connected to one side of the middle plate 27 and the bearing seat 34, and the bearing seat 34 and the bearing seat 44 jointly fix and ensure the rotation of the connecting shaft 35. The outer ring inner gear 28 is meshed with the large gear 31 and the three small gears 25, and the second-level power is transmitted to the outer ring inner gear 28, providing the third-level power output to the ground for the ball picking robot, wherein each small gear 25 plays a supporting role, and the main objects of power transmission are the outer ring inner gear 28 and the large gear 31.

[0016] Furthermore, the motor 29 achieves the effect of an external reducer on the outside of the motor through the meshing transmission between the motor shaft and multiple gears. The reduction ratio between the motor shaft and the outer ring inner gear 28 is preferably 81:20, which increases the torque output of the motor to the outer ring inner gear 28, making the control of the outer ring inner gear 28 faster.

[0017] Furthermore, the inner end of the inner bracket 36 is fixed to the inner side of the middle disk 27, and the inner end of the outer bracket 26 is fixed to the outer side of the middle disk 27. The middle part of each inner bracket 36 and the middle part of the outer bracket 26 are fixedly connected by a hexagonal self-locking nut 37 and a plug screw 38. At the same time, the deep groove ball bearing 32 is fixed to the center of the gear 25 and installed on the optical axis of the plug screw 38. The deep groove ball bearing 32 can rotate freely on the optical axis of the plug screw 38, and the inner side surface of the inner bracket 36 and the inner side surface of the outer bracket 26 jointly ensure the verticality and positioning of the deep groove ball bearing 32. The inner bracket 36 and the outer bracket 26 simultaneously ensure the verticality and positioning of the pinion 25 and the outer ring inner gear 28, and the outer ring inner gear 28 and the three pinions 25 can rotate with each other.

[0018] The inner side of the middle plate 27 is connected to the suspension bracket 40; a hexagonal locking screw 39 is installed on the suspension bracket 40, and a spring 41 is installed on the smooth screw portion of the hexagonal locking screw nut 39, and a ring fisheye screw 42 that can move up and down along the smooth screw is installed below the spring 41 and on the smooth screw portion of the hexagonal locking screw nut 39. The cylindrical nut sleeve 21 connects the central steel pipe 9 with the ring fisheye screw 42. This design makes the ball picking inner cylinder device and the outer outer ring inner gear 28 not have the same axis.

[0019] The middle cylinder wheel 19 is arranged on the outer periphery of the outer ring inner gear 28. The middle cylinder wheel 19, the middle cylinder deep groove ball bearing 20, the stop ring 22, the cylindrical nut sleeve 21, and the central steel pipe 9 are connected in sequence from the outside to the inside. The middle cylinder deep groove ball bearing 20 is fixed on the cylindrical nut sleeve 21 by the stop ring 22. The stop ring 22 cooperates with the suspension bracket 40 to ensure that the middle cylinder wheel 19 located between the two is vertical and locked. The middle cylinder wheel 19 is sleeved on the middle cylinder deep groove ball bearing 20, so that the middle cylinder wheel 19 can rotate freely on the vertical plane around the middle cylinder deep groove ball bearing 20; the edge of the disk of the middle cylinder wheel 19 is distributed with holes of the same size and interval, and a small screw is fixed on the side of the corresponding hole close to the suspension bracket 40. The two ends of the double-pass nut sleeve 23 respectively fix the bolt part of the small screw that exceeds the middle cylinder wheel 19 and one end of the stud bolt 24, and the other side of the stud bolt 24 is fixed in the same way. By uniformly adjusting the spacing between adjacent stud bolts 24 in the hole, the ball picking inner cylinder device can selectively pick up balls of different sizes. Through the elasticity of the ball object and the stud bolts 24, the target ball object is pressed into the ball picking inner cylinder device to complete the ball picking operation. At the same time, the stud bolts 24 can be removed by simply screwing the double-pass nut sleeves 23 on both sides of the stud bolts 24 to the extent of disengaging the corresponding small screws connected to the middle cylinder large wheel 19, and then the ball picking operation can be carried out from the position where the spacing is enlarged.

[0020] Preferably, the number of holes is 60, for example, when picking up a tennis ball, the spacing between two stud bolts 24 is 4 holes. Thus, the cylindrical nut sleeve 21, the middle cylinder deep groove ball bearing 20, the limiting ring 22, the middle cylinder large wheel 19, the stud bolts 24, the double-pass nut sleeve 23, and the central steel pipe 9 together constitute the ball picking inner cylinder device of the ball picking robot.

[0021] A process of using an intelligent ball-picking robot comprises the following steps:

[0022] After starting the ball picking robot, the mobile phone Bluetooth or voice control can be used to issue relevant commands to the main controller 47. When it is a motion control instruction, the main controller 47 outputs the control signal to the motor drive board 46, and the motor drive board 46 outputs the corresponding voltage to the motors 29 on both sides to control the speed of the motors 29 on both sides. The motors 29 are meshed and transmitted between the motor shaft and multiple gears, and finally converted into speed control of the outer ring inner gear 28. At the same time, the main controller 47 will receive information from the motor encoder and the gyroscope when performing various movements, and operate the feedback link for the control of the motor speed to ensure the balanced upright state of the ball picking robot. When the main controller 47 receives the ball picking task of autonomous ball picking, the speed control part transmitted from the mobile phone Bluetooth end will be shielded, and the Openart camera 15 will transmit the relative coordinate information of the target ball to the main controller 47 in real time. The main controller 47 processes the ball coordinate information and plans the path using the relevant algorithm, and finally converts it into a control signal output for the speed of the left and right motors 29. When executing autonomous ball picking, if there is no target ball in the visual range of Openart camera 15, Openart15 will be moved up by a two-dimensional steering gear platform to a certain angle, and the visual range will be expanded to continue to look for the target ball. If there is no target ball in the visual range, the expression change of the capacitive touch display screen 16 is used to indicate that the target ball has been picked up. Using mobile phone Bluetooth control or voice control and other methods, the information displayed on the capacitive touch display screen 16 and related animated expressions, such as the number of balls picked up, the battery power and other information, can be switched. Only after closing the autonomous ball picking function, the specific speed control of the mobile phone Bluetooth to the ball picking robot can be started. When the obstacle avoidance mode is turned on, the main controller 47 will receive the distance information from the TOF range finding module 2 in each motion state, and perform the corresponding obstacle avoidance performance. In the dynamic motion process of the ball picking robot, the ball picking inner cylinder device realizes the differential synthesis motion of the left and right wheels under the different thrust effects of the left and right power systems. When the ball picking inner cylinder device meets the target ball, the target ball is quickly pressed into the cylinder by the stud bolt 24 and the elastic force of the target ball to complete the task of picking up the ball. The battery 49 provides overall power for the ball picking robot.

[0023] The beneficial effects of the present invention are:

[0024] (1) A new type of ball-picking robot with a self-balancing two-wheel motion mode using spur gear meshing transmission. The self-balancing two-wheel differential motion mode enables the ball-picking robot to take advantage of the 360° turn on the spot when facing some relatively small spaces on the court, so as to better complete the task of picking up the ball and move more flexibly.

[0025] (2) The load effect of the increased number of balls in the ball picking task on the entire device is greatly reduced, and the gravity of the device is transferred by the spring 41, so that the center of gravity of the ball picking robot moves upward to make the entire ball picking robot better balanced, and at the same time increase the friction of the ball picking inner cylinder device against the ground, so that the ball picking inner cylinder device can move better. When the ball picking robot is suspended in the air and not touching the ground, the eye-fisheye screw 42 will not be coaxial with the inner gear of the outer ring, but will be offset downward, so that the overall gravity of the ball picking inner cylinder device is basically borne by the ground, rather than the power system on the left and right sides; when the ball picking robot touches the ground, the contact point between the eye-fisheye screw 42 and the smooth screw of the hexagonal locking screw nut 39 will move upward, causing the spring 41 to deform and exert force on the upper and lower contact structures, which has the effect of transferring the gravity of the device, reducing the friction of the power systems on the left and right sides against the ground, and increasing the friction of the middle ball picking inner cylinder device against the ground. The specific description is as follows: As follows: On the one hand, the spring 41 generates a downward force on the eyelet screw 42, which can increase the friction between the ball picking inner cylinder device and the ground. Because the ball picking inner cylinder device is actually provided with a pure forward thrust by the left and right power systems during the ball picking process, increasing the friction between the ball picking inner cylinder device and the ground is beneficial for it to maintain good rotation during the ball picking process and the differential motion of the ball picking robot, rather than being dragged to remain stationary; on the other hand, the spring 41 provides an upward force to the suspension bracket 40, which increases the center of gravity of the left and right power systems and the main devices such as the upper plate 4, making it easier to control the balance of the ball picking robot.

[0026] (3) The spacing of the elastic rods (i.e., stud bolts 24) on the roller in the device is adjustable, and the user can select the appropriate spacing according to the need to pick up the ball. For example, when the spacing between the two elastic rods is 4 holes, tennis balls can be selectively picked up, and when the spacing is 3 holes, ping-pong balls can be picked up. This design greatly reduces the design cost and provides more optional ball picking effects.

[0027] (4) This device innovatively combines the Openart camera 15 and the capacitive touch display screen 16 with the use of a two-dimensional servo gimbal, which, on the one hand, broadens the visual range of the camera, allowing the ball-picking robot to obtain a wider range of visual information. At the same time, its small head shape enhances the fun of human-computer interaction.

[0028] (5) This device has an autonomous ball picking function. Compared with the traditional method of picking up balls on the court relying on manpower, this device uses vision to locate the target balls on the court and autonomously plans a path to pick up the balls, which greatly improves the ball picking efficiency and saves labor costs.

[0029] (6) The intelligent ball picking robot provided by the present invention can accurately identify target balls and autonomously complete the ball picking task on the court, greatly improving the ball picking efficiency and reliability.

[0030] (7) Different from conventional single-function ball-picking robots, the present invention has a unique design approach in terms of appearance design and human-computer interaction, which greatly improves the fun and appearance aesthetics. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of the intelligent ball-picking robot.

[0032] Figure 2 This is a schematic diagram of the internal structure of some of the intelligent ball-picking robots.

[0033] Figure 3 This is a schematic diagram of the inner side of the single-side tire power system of the intelligent ball-picking robot.

[0034] Figure 4 This is a schematic diagram of the outer side of the single-side tire power system of the intelligent ball-picking robot.

[0035] In the figure: 1 fixed bracket; 2 TOF distance measurement module; 3 battery protection shell; 4 upper plate; 5 right side wire slot; 6 lower side servo bracket; 7 lower side servo; 8 upper side servo bracket; 9 central steel pipe; 10 upper side servo; 11 U-shaped bracket; 12 head rear shell; 13 left side logo shell; 14 head front shell; 15 Openart camera; 16 capacitive touch display; 17 protective shell; 18 left side wire slot; 19 middle cylinder large wheel; 20 middle cylinder deep groove ball bearing; 21 cylindrical nut sleeve; 22 limit ring; 23 double-pass nut sleeve; 2 4 stud bolts; 25 small gear; 26 outer bracket; 27 middle plate; 28 outer ring inner gear; 29 motor; 30 right side logo shell; 31 large gear; 32 deep groove ball bearing; 33 bearing seat bracket; 34 bearing seat; 35 connecting shaft; 36 inner bracket; 37 hexagonal self-locking nut; 38 plug screw; 39 hexagonal locking screw; 40 suspension bracket; 41 spring; 42 lifting eye fisheye screw; 43 motor mounting seat; 44 homemade bearing seat; 45 bevel gear; 46 motor drive board; 47 main controller; 48 servo flange; 49 battery. DETAILED DESCRIPTION

[0036] The present invention is described in detail below with reference to the accompanying drawings and embodiments:

[0037] An intelligent ball picking robot comprises a fixed bracket 1, a TOF ranging module 2, a battery protection shell 3, an upper plate 4, a right-side wire slot 5, a lower-side steering gear bracket 6, a lower-side steering gear 7, an upper-side steering gear bracket 8, a central steel pipe 9, an upper-side steering gear 10, a U-shaped bracket 11, a head rear shell 12, a left-side logo shell 13, a head front shell 14, an Openart camera 15, a capacitive touch display screen 16, a protective shell 17, a left-side wire slot 18, a middle-tube large wheel 19, a middle-tube deep groove ball bearing 20, a cylindrical nut sleeve 21, a limit ring 22, and a double-pass nut Sleeve 23, stud bolt 24, pinion 25, outer bracket 26, middle plate 27, outer ring inner gear 28, motor 29, right side logo shell 30, large gear 31, deep groove ball bearing 32, bearing seat bracket 33, bearing seat 34, connecting shaft 35, outer bracket 36, hexagonal self-locking nut 37, plug screw 38, hexagonal locking screw 39, suspension bracket 40, spring 41, eyelet fisheye screw 42, motor mounting seat 43, self-made bearing seat 44, bevel gear 45, motor drive board 46, main controller 47, steering gear flange 48 and battery 49. It is characterized by:

[0038] The four TOF ranging modules 2 are fixed to the upper plate 4 at four positions by screws and kept horizontal. The battery protection shell 3 is directly connected to the upper plate 4, and at the same time covers the battery 49 placed in the groove part of the upper plate 4. The motor drive board 46 and the main controller 47 are fixed to the upper plate 4 by screws. The protective shell 17 is directly connected to the upper plate 4 and wraps the main controller 47 and the motor drive board 46 therein. The upper side servo 10, the upper side servo bracket 8 screws, the lower side servo 7, the lower side servo bracket 6, the two servo flanges 48, and the U-shaped bracket 11 are fixed by screws Together, the upper plate 4 is fixed to the lower servo bracket 6 by screws, the Openart camera 15 and the capacitive touch display screen 16 are fixed together through the front shell 14 of the head, the rear shell 12 of the head is fixed to the front shell 14 of the head by screws, the rear shell 12 of the head is fixed to the U-shaped bracket 11 by screws, the left wire card slot 18 and the right wire card slot 5 are directly connected to the upper plate 4, the upper plate 4 is respectively fixed to the fixed brackets 1 on the left and right sides by screws, and the left logo shell 30 and the right logo shell 9 are respectively directly connected to the fixed brackets 1 on the corresponding sides.

[0039] The features of the power output systems on the left and right sides are as follows: the fixed bracket 1 is fixed to the middle plate 27 by screws, the middle plate 27 is connected to the motor mounting seat 43 by screws, the motor mounting seat 43 is connected to the motor 29 and the self-made bearing seat 44 by screws, the two bevel gears 45 are connected to the motor 29 and the connecting shaft 35 by screws respectively, the connecting shaft 35 is directly fixed to the large gear 31, the two bevel gears 45 are connected by meshing, the bearing seat bracket 33 is connected to the middle plate 27 by screws, the bearing seat bracket 33 is connected to the bearing seat 34 by screws, and each middle plate 27 has the following three pairs of features: inner The side bracket 36 and the outer bracket 26 are fixed to the inner and outer sides of the middle plate respectively by screws, the inner bracket 36 is placed with a hexagonal self-locking nut 37, the plug screw 38 passes through the outer bracket 26 and is connected with the hexagonal self-locking nut 37, the deep groove ball bearing 32 is connected with the optical axis of the plug screw 38, the pinion 25 is sleeved on the outside of the deep groove ball bearing 32, the inner bracket 36 and the outer bracket 26 fix the pinion 25 and the deep groove ball bearing 32 at the same time; then, the outer ring inner gear 28 is meshed and connected with the large gear 31 and the three small gears 25, and the outer ring inner gear 28 is fixed by the inner bracket 36 and the outer bracket 26 at the same time.

[0040] The inner side of the middle plate 27 is connected to the suspension bracket 40 by screws, and the suspension bracket 40 is directly connected to the hexagonal locking screw 39. At the same time, the nut part of the hexagonal locking screw 39 is fixed by the suspension bracket 40. The spring 41 and the eye-eye screw 42 are both installed on the smooth screw of the hexagonal locking screw nut 39. The spring 41 is above the eye-eye screw 42. The cylindrical nut sleeve 21 is directly connected to the central steel pipe 9 and the eye-eye screw 42. The middle tube deep groove ball bearing 20 and the limit ring 22 are installed on the cylindrical nut sleeve 21. The middle tube deep groove ball bearing 20 is fixed to the cylindrical nut sleeve 21 by the limit ring 22. The threaded part on each side of the 12 stud bolts 24 is connected to the small screws fixed on the middle tube large wheel 19 through the double-through nut sleeve 23, and 4 holes on the middle tube large wheel 19 are separated by every two stud bolts 24.

[0041] Actual use of the autonomous exploration robot:

[0042] Powered by battery 49, it ensures that all functions of the ball-picking robot are realized. After the output shaft of the motor 29 on each side rotates, the power is transmitted to the outer ring inner gear 28 through two bevel gears 45, connecting shaft 35, and large gear 31 to drive the tire to rotate. The main controller 47 detects the rolling angle and angular velocity information of the ball-picking robot, and receives the speed information fed back by the encoder of the motor 29, performs attitude calculation in real time and outputs signals to control the power output of the two motors 29 through the motor drive board 46 to maintain the balance state of the ball-picking robot during movement. The 4 TOF ranging modules 2 transmit the distance information between the four directions and obstacles to the main controller 47 in real time. Relevant instructions can be issued directly to the main controller 47 through mobile phone Bluetooth and voice control. The capacitive touch display screen 16 can change expressions or display relevant information according to the instructions received by the main controller 47; the two-dimensional steering gear gimbal can perform relevant rotations, while driving the position changes of the Openart camera 15 and the capacitive touch display screen 16. The Openart camera 15 transmits the relative coordinate information of the target ball to the main controller 47 in real-time visual range. When performing the autonomous ball picking function, the intelligent ball picking robot can efficiently and quickly perform the task of picking up the target ball. During the ball picking process, the ball picking robot uses the elastic rod and the elastic force of the target ball to quickly press the target ball into the cylinder to complete the ball picking task. When picking up the ball, the user needs to remove a stud bolt 24 to perform the ball picking operation.

[0043] The above-described embodiments merely express the implementation methods of the present invention, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An intelligent ball picking robot, characterized in that: The upper plate (4) of the ball picking robot is used as the main structure, and a TOF distance measurement module (2), a power supply system, a control system, a two-dimensional steering gear platform, and a head module are arranged above the upper plate (4) of the ball picking robot; The TOF distance measurement module (2) provides the ball picking robot with distance information from obstacles in different directions, so as to perform obstacle avoidance. The power supply system comprises a battery protection shell (3) and a battery (49) to provide energy for the ball picking robot to work; The control system is used to coordinately control the overall operation of the ball picking robot, and comprises a motor drive board (46), a main controller (47), and a protective shell (17), wherein the protective shell (17) is used to protect the main controller (47) and the motor drive board (46); The two-dimensional steering gear platform comprises an upper steering gear (10), an upper steering gear bracket (8), a lower steering gear (7), a lower steering gear bracket (6), two steering gear flanges (48) and a U-shaped bracket (11); the lower steering gear bracket (6) is fixed on the upper plate (4) and fixedly connected to the lower steering gear (7); one of the steering gear flanges (48) is fixedly connected to a rotatable output shaft of the lower steering gear (7) and the upper steering gear bracket (8); and the upper steering gear bracket (8) is fixedly connected to the upper steering gear (10). , so that the rotation of the output shaft of the lower servo (7) can drive the movement of the upper servo (10), another servo flange (48) is fixedly connected to the output shaft of the upper servo (10) and the U-shaped bracket (11), and the U-shaped bracket (11) is connected to the head module, so that the rotation of the output shaft of the upper servo (10) can drive the movement of the U-shaped bracket (11), and indirectly drive the rotation of the head module, and a single servo supports 270° rotation, which provides a large range of two-degree-of-freedom rotation space for the head module; The head module comprises a front head shell (14), a rear head shell (12), an Openart camera (15), and a capacitive touch display screen (16). The Openart camera (15) provides visual information for the ball picking robot. The capacitive touch display screen (16) is used to display dynamic graphics to express the expression of the ball picking robot and related ball picking robot status information to enhance the fun of human-machine interaction. The U-shaped bracket (11) of the two-dimensional steering gear platform is connected to the rear head shell (12). The head module can rotate with two degrees of freedom around the two-dimensional steering gear platform using the two-dimensional steering gear platform, which not only enhances the fun of human-machine interaction, but also widens the visual range of the Openart camera (15), which is conducive to the ball picking robot system to obtain a wider range of visual information. Left and right power tire systems are arranged below the upper plate (4), the upper plate (4) is respectively connected to the fixed brackets (1) on the left and right sides, and the fixed brackets (1) are connected to the middle plate (27), so that the upper plate (4) is connected to the left and right power tire systems; The left and right sides of the ball picking robot are both centered on the middle plate (27) to form the power systems on the left and right sides; one side of the middle plate (27) is connected to the motor mounting seat (43), and the motor mounting seat (43) simultaneously fixes the motor (29) and the bearing seat (44) to provide the first-level power output for the ball picking robot; two bevel gears (45) are respectively connected to the motor shaft and the connecting shaft (35) of the motor (29), and the two bevel gears (45) are tightly meshed to transmit the first-level power output to the large gear (31) connected to the connecting shaft (35), so as to provide the ball picking robot with a first-level power output. The second-stage power output is realized; the bearing seat bracket (33) is connected to one side of the middle plate (27) and the bearing seat (34), and the bearing seat (34) and the bearing seat (44) together play the role of fixing and ensuring the rotation of the connecting shaft (35); the outer ring inner gear (28) is meshed with the large gear (31) and the three small gears (25) to transmit the second-stage power to the outer ring inner gear (28), providing the ball picking robot with the third-stage power output to the ground, wherein each small gear (25) plays a supporting role, and the main objects of power transmission are the outer ring inner gear (28) and the large gear (31); The inner end of the inner bracket (36) is fixed to the inner side of the middle plate (27), and the inner end of the outer bracket (26) is fixed to the outer side of the middle plate (27). The middle part of each inner bracket (36) and the middle part of the outer bracket (26) are fixedly connected by a hexagonal self-locking nut (37) and a plug screw (38). At the same time, the deep groove ball bearing (32) is fixed to the center of the gear (25) and installed on the optical axis of the plug screw (38). The deep groove ball bearing (32) can rotate freely on the optical axis of the plug screw (38), and the inner side surface of the inner bracket (36) and the inner side surface of the outer bracket (26) jointly ensure the verticality and positioning of the deep groove ball bearing (32). The inner bracket (36) and the outer bracket (26) simultaneously ensure the verticality and positioning of the pinion (25) and the outer ring inner gear (28). The outer ring inner gear (28) and the three pinions (25) can rotate with each other. The inner side of the middle plate (27) is connected to the suspension bracket (40); a hexagonal locking screw (39) is installed on the suspension bracket (40); a spring (41) is mounted on the smooth screw portion of the hexagonal locking screw nut (39); a lifting eye fisheye screw (42) that can move up and down along the smooth screw is mounted below the spring (41) and on the smooth screw portion of the hexagonal locking screw nut (39); a cylindrical nut sleeve (21) connects the central steel pipe (9) and the lifting eye fisheye screw (42); this design method makes the ball picking inner cylinder device and the outer outer ring inner gear (28) not have the same axis; The middle cylinder large wheel (19) is arranged on the outer periphery of the outer ring inner gear (28); the middle cylinder large wheel (19), the middle cylinder deep groove ball bearing (20), the limiting ring (22), the cylindrical nut sleeve (21), and the central steel pipe (9) are connected in sequence from the outside to the inside; the middle cylinder deep groove ball bearing (20) is fixed on the cylindrical nut sleeve (21) by the limiting ring (22); the limiting ring (22) cooperates with the suspension bracket (40) to ensure that the middle cylinder large wheel (19) located between the two is vertical and locked; the middle cylinder large wheel (19) is sleeved on the middle cylinder deep groove ball bearing (20) so that the middle cylinder large wheel (19) can rotate freely on the vertical plane around the middle cylinder deep groove ball bearing (20); the edge of the disk of the middle cylinder large wheel (19) is distributed with holes of the same size and interval, and on the side of the corresponding hole position close to the suspension bracket (40), the middle cylinder large wheel (19) is provided with a plurality of holes, each of which is provided with a plurality of holes. A small screw is fixed, and the two ends of the double-pass nut sleeve (23) respectively fix the bolt part of the small screw that exceeds the middle cylinder large wheel (19) and one end of the stud bolt (24), and the other side of the stud bolt (24) is fixed in the same way; by uniformly adjusting the spacing between adjacent stud bolts (24) in the hole position, the ball picking inner cylinder device can selectively pick up balls of different sizes, and through the elasticity of the ball object and the stud bolt (24), the target ball object is pressed into the ball picking inner cylinder device to complete the ball picking operation; at the same time, only the double-pass nut sleeve (23) on both sides of a stud bolt (24) needs to be screwed to the extent that it is separated from the corresponding small screw connected to the middle cylinder large wheel (19), and then the stud bolt (24) can be removed, and the ball picking operation can be performed from the position where the spacing is enlarged.

2. The intelligent ball picking robot according to claim 1, characterized in that: A left-side wire clamping groove (18) and a right-side wire clamping groove (5) are installed below the upper plate (4), which can clamp the wires below the upper plate (4) while modifying the appearance of the ball picking robot, thereby playing a role in line protection.

3. The intelligent ball picking robot according to claim 1, characterized in that: The right logo shell (30) and the left logo shell (13) are respectively connected to the fixed brackets (1) on the left and right sides to play a decorative role.

4. The intelligent ball picking robot according to claim 1, characterized in that: The motor (29) achieves the effect of an external reducer on the outside of the motor through meshing transmission between the motor shaft and multiple gears. The reduction ratio between the motor shaft and the outer ring inner gear (28) is preferably 81:20, which increases the torque output of the motor to the outer ring inner gear (28), making the control of the outer ring inner gear (28) faster.

5. The intelligent ball picking robot according to claim 1, characterized in that: The number of the holes is 60. For example, when picking up a tennis ball, the distance between two stud bolts (24) is 4 holes. Thus, the cylindrical nut sleeve (21), the middle cylinder deep groove ball bearing (20), the limiting ring (22), the middle cylinder large wheel (19), the stud bolts (24), the double-pass nut sleeve (23), and the central steel pipe (9) together constitute the ball picking inner cylinder device of the ball picking robot.

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